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add kill-first env

/develop/teammanager
Ruo-Ping Dong 3 年前
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28a5ac70
共有 8 个文件被更改，包括 3278 次插入 和 0 次删除
  1. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/ZombiePushBlockDeathFreezeCollabArea.prefab
  2. 7
      Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/ZombiePushBlockDeathFreezeCollabArea.prefab.meta
  3. 860
      Project/Assets/ML-Agents/Examples/PushBlock/Scenes/2ZombieVs3AgentsPushBlockFreeze.unity
  4. 7
      Project/Assets/ML-Agents/Examples/PushBlock/Scenes/2ZombieVs3AgentsPushBlockFreeze.unity.meta
  5. 377
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockDeathFreezeEnvController.cs
  6. 11
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockDeathFreezeEnvController.cs.meta
  7. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockFreeze.onnx
  8. 14
      Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockFreeze.onnx.meta

1001
Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/ZombiePushBlockDeathFreezeCollabArea.prefab
文件差异内容过多而无法显示
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7
Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/ZombiePushBlockDeathFreezeCollabArea.prefab.meta
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860
Project/Assets/ML-Agents/Examples/PushBlock/Scenes/2ZombieVs3AgentsPushBlockFreeze.unity
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Project/Assets/ML-Agents/Examples/PushBlock/Scenes/2ZombieVs3AgentsPushBlockFreeze.unity.meta
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Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockDeathFreezeEnvController.cs
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using System.Collections;
using System.Collections.Generic;
using Unity.MLAgents;
using Unity.MLAgents.Extensions.Teams;
using UnityEngine;
public class ZombiePushBlockDeathFreezeEnvController : MonoBehaviour
{
[System.Serializable]
public class AgentInfo
{
public PushAgentCollab Agent;
[HideInInspector]
public Vector3 StartingPos;
[HideInInspector]
public Quaternion StartingRot;
[HideInInspector]
public Rigidbody Rb;
[HideInInspector]
public Collider Col;
}
[System.Serializable]
public class ZombieInfo
{
public SimpleNPC Agent;
[HideInInspector]
public Vector3 StartingPos;
[HideInInspector]
public Quaternion StartingRot;
[HideInInspector]
public Rigidbody Rb;
[HideInInspector]
public Collider Col;
}
[System.Serializable]
public class BlockInfo
{
public Transform T;
[HideInInspector]
public Vector3 StartingPos;
[HideInInspector]
public Quaternion StartingRot;
[HideInInspector]
public Rigidbody Rb;
}
/// <summary>
/// Max Academy steps before this platform resets
/// </summary>
/// <returns></returns>
[Header("Max Environment Steps")] public int MaxEnvironmentSteps = 25000;
private int m_ResetTimer;
/// <summary>
/// The area bounds.
/// </summary>
[HideInInspector]
public Bounds areaBounds;
/// <summary>
/// The ground. The bounds are used to spawn the elements.
/// </summary>
public GameObject ground;
public GameObject area;
Material m_GroundMaterial; //cached on Awake()
/// <summary>
/// We will be changing the ground material based on success/failue
/// </summary>
Renderer m_GroundRenderer;
public List<AgentInfo> AgentsList = new List<AgentInfo>();
public List<ZombieInfo> ZombiesList = new List<ZombieInfo>();
public List<BlockInfo> BlocksList = new List<BlockInfo>();
public bool UseRandomAgentRotation = true;
public bool UseRandomAgentPosition = true;
public bool UseRandomBlockRotation = true;
public bool UseRandomBlockPosition = true;
public bool UseTeamManager = true;
public bool UseTeamReward = true;
public float TeamRewardDiscount = 1;
PushBlockSettings m_PushBlockSettings;
private BaseTeamManager m_TeamManager;
void Start()
{
// Get the ground's bounds
areaBounds = ground.GetComponent<Collider>().bounds;
// Get the ground renderer so we can change the material when a goal is scored
m_GroundRenderer = ground.GetComponent<Renderer>();
// Starting material
m_GroundMaterial = m_GroundRenderer.material;
m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
foreach (var item in BlocksList)
{
item.StartingPos = item.T.transform.position;
item.StartingRot = item.T.transform.rotation;
item.Rb = item.T.GetComponent<Rigidbody>();
}
// Initialize TeamManager
if (UseTeamManager)
{
if (UseTeamReward)
{
m_TeamManager = new PushBlockTeamManager();
var pushManager = (PushBlockTeamManager)m_TeamManager;
pushManager.SetRewardDiscount(TeamRewardDiscount);
}
else
{
m_TeamManager = new BaseTeamManager();
}
}
foreach (var item in AgentsList)
{
item.StartingPos = item.Agent.transform.position;
item.StartingRot = item.Agent.transform.rotation;
item.Rb = item.Agent.GetComponent<Rigidbody>();
item.Col = item.Agent.GetComponent<Collider>();
// Add to team manager
if (UseTeamManager)
{
item.Agent.SetTeamManager(m_TeamManager);
}
}
foreach (var item in ZombiesList)
{
item.StartingPos = item.Agent.transform.position;
item.StartingRot = item.Agent.transform.rotation;
item.Col = item.Agent.GetComponent<Collider>();
}
ResetScene();
}
// Update is called once per frame
void FixedUpdate()
{
m_ResetTimer += 1;
if (m_ResetTimer >= MaxEnvironmentSteps)
{
ResetScene();
}
}
// Kill/disable an agent
public void KillAgent(Collision col, Transform t)
{
// Disable killed Agent
foreach (var item in AgentsList)
{
if (item.Col == col.collider)
{
item.Agent.EndEpisode();
item.Col.gameObject.SetActive(false);
break;
}
}
bool allZombiesDead = true;
// Kill zombies
foreach (var item in ZombiesList)
{
if (item.Agent.transform == t)
{
item.Agent.gameObject.SetActive(false);
}
if (item.Agent.gameObject.activeSelf)
{
allZombiesDead = false;
}
}
// Disable killed Zombie
foreach (var item in ZombiesList)
{
if (item.Agent.transform == t)
{
item.Agent.gameObject.SetActive(false);
break;
}
}
// If all zombies dead, unfreeze block
if (allZombiesDead)
{
foreach (var item in BlocksList)
{
// Unfreeze block's motion when zombies are killed
item.Rb.constraints &= RigidbodyConstraints.FreezePositionX;
item.Rb.constraints &= RigidbodyConstraints.FreezePositionZ;
item.Rb.constraints &= RigidbodyConstraints.FreezeRotationY;
}
}
}
/// <summary>
/// Use the ground's bounds to pick a random spawn position.
/// </summary>
public Vector3 GetRandomSpawnPos(float boundsX = 2.5f, float boundsZ = 2.5f)
{
var foundNewSpawnLocation = false;
var randomSpawnPos = Vector3.zero;
while (foundNewSpawnLocation == false)
{
var randomPosX = Random.Range(-areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier,
areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier);
var randomPosZ = Random.Range(-areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier,
areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier);
randomSpawnPos = ground.transform.position + new Vector3(randomPosX, 1f, randomPosZ);
if (Physics.CheckBox(randomSpawnPos, new Vector3(boundsX, 0.01f, boundsZ)) == false)
{
foundNewSpawnLocation = true;
}
}
return randomSpawnPos;
}
/// <summary>
/// Resets the block position and velocities.
/// </summary>
void ResetBlock(BlockInfo block)
{
// Get a random position for the block.
block.T.position = GetRandomSpawnPos(3f, 3f);
// Reset block velocity back to zero.
block.Rb.velocity = Vector3.zero;
// Reset block angularVelocity back to zero.
block.Rb.angularVelocity = Vector3.zero;
}
/// <summary>
/// Swap ground material, wait time seconds, then swap back to the regular material.
/// </summary>
IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
{
m_GroundRenderer.material = mat;
yield return new WaitForSeconds(time); // Wait for 2 sec
m_GroundRenderer.material = m_GroundMaterial;
}
/// <summary>
/// Called when the agent moves the block into the goal.
/// </summary>
public void ScoredAGoal(Collider col, float score)
{
// Give Agent Rewards
if (UseTeamManager && UseTeamReward)
{
var pushManager = (PushBlockTeamManager)m_TeamManager;
pushManager.AddTeamReward(score);
}
else
{
foreach (var item in AgentsList)
{
if (item.Agent.gameObject.activeInHierarchy)
{
item.Agent.AddReward(score);
}
}
}
// Swap ground material for a bit to indicate we scored.
StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.goalScoredMaterial, 0.5f));
ResetScene();
}
public void ZombieTouchedBlock()
{
//Give Agent Rewards
if (UseTeamManager && UseTeamReward)
{
var pushManager = (PushBlockTeamManager)m_TeamManager;
pushManager.AddTeamReward(-1);
}
else
{
foreach (var item in AgentsList)
{
if (item.Agent.gameObject.activeInHierarchy)
{
item.Agent.AddReward(-1);
}
}
}
// Swap ground material for a bit to indicate we scored.
StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.failMaterial, 0.5f));
ResetScene();
}
Quaternion GetRandomRot()
{
return Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
}
void ResetScene()
{
m_ResetTimer = 0;
// Random platform rot
var rotation = Random.Range(0, 4);
var rotationAngle = rotation * 90f;
area.transform.Rotate(new Vector3(0f, rotationAngle, 0f));
// End Episode
foreach (var item in AgentsList)
{
if (!item.Agent)
{
return;
}
item.Agent.gameObject.SetActive(false);
}
if (UseTeamManager && UseTeamReward)
{
var pushManager = (PushBlockTeamManager)m_TeamManager;
pushManager.OnTeamDone();
}
// Reset Agents
foreach (var item in AgentsList)
{
var pos = UseRandomAgentPosition ? GetRandomSpawnPos() : item.StartingPos;
var rot = UseRandomAgentRotation ? GetRandomRot() : item.StartingRot;
item.Agent.transform.SetPositionAndRotation(pos, rot);
item.Rb.velocity = Vector3.zero;
item.Rb.angularVelocity = Vector3.zero;
item.Agent.gameObject.SetActive(true);
}
// Reset Blocks
foreach (var item in BlocksList)
{
var pos = UseRandomBlockPosition ? GetRandomSpawnPos(3f, 3f) : item.StartingPos;
var rot = UseRandomBlockRotation ? GetRandomRot() : item.StartingRot;
item.T.transform.SetPositionAndRotation(pos, rot);
item.Rb.velocity = Vector3.zero;
item.Rb.angularVelocity = Vector3.zero;
item.T.gameObject.SetActive(true);
// Freeze block's motion until zombies are killed
item.Rb.constraints |= RigidbodyConstraints.FreezePositionX | RigidbodyConstraints.FreezePositionZ; ;
item.Rb.constraints |= RigidbodyConstraints.FreezeRotationY;
}
// Reset Zombies
foreach (var item in ZombiesList)
{
if (!item.Agent)
{
return;
}
// item.Agent.EndEpisode();
item.Agent.transform.SetPositionAndRotation(item.StartingPos, item.StartingRot);
item.Agent.SetRandomWalkSpeed();
item.Agent.gameObject.SetActive(true);
}
}
}

11
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockDeathFreezeEnvController.cs.meta
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Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockFreeze.onnx.meta
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