add simple training scene

4 年前 · 1f8aa5c3
--- a/Project/Assets/ML-Agents/Examples/Dodgeball/Prefabs/DodgeballAgent.prefab
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--- a/Project/Assets/ML-Agents/Examples/Dodgeball/Scripts/DodgeBallAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/Dodgeball/Scripts/DodgeBallAgent.cs
        //        m_Cam = Camera.main;
        m_AgentRb = GetComponent<Rigidbody>();
        input = GetComponent<DodgeBallAgentInput>();
-        m_GameController = FindObjectOfType<DodgeBallGameController>();
+        m_GameController = GetComponentInParent<DodgeBallGameController>();
        m_StartingPos = transform.position;
        m_StartingRot = transform.rotation;
        m_Initialized = true;
            sensor.AddObservation(ThrowController.coolDownWait); //Held DBs Normalized
            sensor.AddObservation((float)currentNumberOfBalls/4); //Held DBs Normalized
            sensor.AddObservation((float)HitPointsRemaining/(float)NumberOfTimesPlayerCanBeHit); //Remaining Hit Points Normalized
-        //     //            var localVelocity = transform.InverseTransformDirection(m_AgentRb.velocity);
+            sensor.AddObservation(Vector3.Dot(m_AgentRb.velocity, m_AgentRb.transform.forward));
+            sensor.AddObservation(Vector3.Dot(m_AgentRb.velocity, m_AgentRb.transform.right));
+            // sensor.AddObservation(Vector3.Dot(m_AgentRb.angularVelocity, m_AgentRb.transform.forward));
+            // sensor.AddObservation(Vector3.Dot(m_AgentRb.velocity, m_AgentRb.transform.right));
+            //     //            var localVelocity = transform.InverseTransformDirection(m_AgentRb.velocity);
        //     //            sensor.AddObservation(localVelocity.x);
        //     //            sensor.AddObservation(localVelocity.z);
        //     //            sensor.AddObservation(m_Frozen);
--- a/Project/Assets/ML-Agents/Examples/Dodgeball/Scripts/DodgeBallGameController.cs
+++ b/Project/Assets/ML-Agents/Examples/Dodgeball/Scripts/DodgeBallGameController.cs
    //     public List<DodgeBall> currentlyHeldBalls;
    // }

+
+
    [Serializable]
    public class AgentInfo
    {
        var HitByTeamList = hitTeamID == 1 ? Team0Players : Team1Players;
        // int hitByTeamID = hitTeamID == 0? 1: 0; //assumes only 2 teams

+            HitByTeamList[0].Agent.AddReward(1);
        if (info.HitPointsRemaining == 1)
        {
            //RESET ENV
            // agent.AddReward(-1f); //you lost penalty
-            HitByTeamList[0].Agent.AddReward(1);
            if (info.TeamID == 0)
            {
                print($"Team 1 Won");
            info.HitPointsRemaining--;
            //ASSIGN REWARDS
            // agent.AddReward(-.1f); //small hit penalty
-            HitByTeamList[0].Agent.AddReward(.1f);
+            // HitByTeamList[0].Agent.AddReward(.1f);
        }
            // ResetScene();

    {
        m_ResetTimer = 0;

+        print($"Resetting {gameObject.name}");
        //Reset Balls
        foreach (var item in AllBallsList)
        {
--- a/Project/ProjectSettings/DynamicsManager.asset
+++ b/Project/ProjectSettings/DynamicsManager.asset
  m_BounceThreshold: 2
  m_SleepThreshold: 0.005
  m_DefaultContactOffset: 0.01
-  m_DefaultSolverIterations: 12
-  m_DefaultSolverVelocityIterations: 12
+  m_DefaultSolverIterations: 6
+  m_DefaultSolverVelocityIterations: 1
-  m_QueriesHitTriggers: 1
+  m_QueriesHitTriggers: 0
  m_EnableAdaptiveForce: 0
  m_ClothInterCollisionDistance: 0
  m_ClothInterCollisionStiffness: 0
  m_ClothInterCollisionSettingsToggle: 0
  m_ClothGravity: {x: 0, y: -9.81, z: 0}
  m_ContactPairsMode: 0
-  m_BroadphaseType: 0
+  m_BroadphaseType: 2
  m_WorldBounds:
    m_Center: {x: 0, y: 0, z: 0}
    m_Extent: {x: 250, y: 250, z: 250}
-  m_EnableUnifiedHeightmaps: 1
-  m_SolverType: 0
+  m_EnableUnifiedHeightmaps: 0
+  m_SolverType: 1
  m_DefaultMaxAngularSpeed: 25
--- a/Project/ProjectSettings/TimeManager.asset
+++ b/Project/ProjectSettings/TimeManager.asset
 --- !u!5 &1
 TimeManager:
  m_ObjectHideFlags: 0
-  Fixed Timestep: 0.02
-  Maximum Allowed Timestep: 0.33333334
+  Fixed Timestep: 0.01333
+  Maximum Allowed Timestep: 0.15
  m_TimeScale: 1
  Maximum Particle Timestep: 0.03
--- a/config/ppo/DodgeBall.yaml
+++ b/config/ppo/DodgeBall.yaml
    keep_checkpoints: 5
    max_steps: 2000000
    time_horizon: 64
-    summary_freq: 60000
+    summary_freq: 5000
    threaded: true
--- a/Project/Assets/ML-Agents/Examples/Dodgeball/Scripts/DodgeBallPlatform.cs
+++ b/Project/Assets/ML-Agents/Examples/Dodgeball/Scripts/DodgeBallPlatform.cs
+// using System.Collections;
+// using System.Collections.Generic;
+// using UnityEngine;
+//
+// public class DodgeBallPlatform : MonoBehaviour
+// {
+//
+//     [Header("BALLS")] public GameObject BallPrefab;
+//     public float BallSpawnRadius = 3;
+//     public Transform BallSpawnPosition;
+//     public int NumberOfBallsToSpawn = 10;
+//
+//     // Start is called before the first frame update
+//     void Start()
+//     {
+//
+//     }
+//
+//     void Initialize()
+//     {
+//
+//         //SPAWN DODGE BALLS
+//         for (int i = 0; i < NumberOfBallsToSpawn; i++)
+//         {
+//             GameObject g = Instantiate(BallPrefab, BallSpawnPosition.position + Random.insideUnitSphere * BallSpawnRadius,
+//                 Quaternion.identity);
+//             DodgeBall db = g.GetComponent<DodgeBall>();
+//             AllBallsList.Add(db);
+//             g.SetActive(true);
+//         }
+//
+//         //INITIALIZE AGENTS
+//         foreach (var item in Team0Players)
+//         {
+//             item.Agent.Initialize();
+//             item.HitPointsRemaining = PlayerMaxHitPoints;
+//             item.Agent.m_BehaviorParameters.TeamId = 0;
+//             item.TeamID = 0;
+//             PlayersDict.Add(item.Agent, item);
+//         }
+//         foreach (var item in Team1Players)
+//         {
+//             item.Agent.Initialize();
+//             item.HitPointsRemaining = PlayerMaxHitPoints;
+//             item.Agent.m_BehaviorParameters.TeamId = 1;
+//             item.TeamID = 1;
+//             PlayersDict.Add(item.Agent, item);
+//         }
+//
+//         m_Initialized = true;
+//     }
+//
+//     void ResetScene()
+//     {
+//         m_ResetTimer = 0;
+//
+//         //Reset Balls
+//         foreach (var item in AllBallsList)
+//         {
+//             item.gameObject.SetActive(true);
+//             item.transform.position = BallSpawnPosition.position + Random.insideUnitSphere * BallSpawnRadius;
+//         }
+//
+//         //End Episode
+//         foreach (var item in Team0Players)
+//         {
+//             if (item.Agent.enabled)
+//             {
+//                 item.Agent.EndEpisode();
+//                 item.HitPointsRemaining = PlayerMaxHitPoints;
+//             }
+//         }
+//         foreach (var item in Team1Players)
+//         {
+//             if (item.Agent.enabled)
+//             {
+//                 item.Agent.EndEpisode();
+//                 item.HitPointsRemaining = PlayerMaxHitPoints;
+//             }
+//         }
+//     // Update is called once per frame
+//     void Update()
+//     {
+//         if (!m_Initialized)
+//         {
+//             Initialize();
+//         }
+//     }
+// }
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