HH
4 年前
当前提交
307ea28d
共有 29 个文件被更改，包括 2925 次插入 和 0 次删除
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1Project/Packages/manifest.json
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8Project/Assets/ML-Agents/Examples/FPS_Game.meta
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8Project/Assets/ML-Agents/Examples/FPS_Game/Prefabs.meta
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867Project/Assets/ML-Agents/Examples/FPS_Game/Prefabs/PlayerCubeWithGun.prefab
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7Project/Assets/ML-Agents/Examples/FPS_Game/Prefabs/PlayerCubeWithGun.prefab.meta
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129Project/Assets/ML-Agents/Examples/FPS_Game/Prefabs/Projectile.prefab
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7Project/Assets/ML-Agents/Examples/FPS_Game/Prefabs/Projectile.prefab.meta
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8Project/Assets/ML-Agents/Examples/FPS_Game/Scenes.meta
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764Project/Assets/ML-Agents/Examples/FPS_Game/Scenes/FPS_Game.unity
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7Project/Assets/ML-Agents/Examples/FPS_Game/Scenes/FPS_Game.unity.meta
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8Project/Assets/ML-Agents/Examples/FPS_Game/Scripts.meta
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81Project/Assets/ML-Agents/Examples/FPS_Game/Scripts/AgentCubeGroundCheck.cs
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11Project/Assets/ML-Agents/Examples/FPS_Game/Scripts/AgentCubeGroundCheck.cs.meta
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205Project/Assets/ML-Agents/Examples/FPS_Game/Scripts/AgentCubeMovement.cs
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11Project/Assets/ML-Agents/Examples/FPS_Game/Scripts/AgentCubeMovement.cs.meta
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355Project/Assets/ML-Agents/Examples/FPS_Game/Scripts/AvgCenterOfMass.cs
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11Project/Assets/ML-Agents/Examples/FPS_Game/Scripts/AvgCenterOfMass.cs.meta
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135Project/Assets/ML-Agents/Examples/FPS_Game/Scripts/CollisionCallbacks.cs
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11Project/Assets/ML-Agents/Examples/FPS_Game/Scripts/CollisionCallbacks.cs.meta
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84Project/Assets/ML-Agents/Examples/FPS_Game/Scripts/Projectile.cs
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11Project/Assets/ML-Agents/Examples/FPS_Game/Scripts/Projectile.cs.meta
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32Project/Assets/ML-Agents/Examples/FPS_Game/Scripts/RandomTorqueEveryXSec.cs
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11Project/Assets/ML-Agents/Examples/FPS_Game/Scripts/RandomTorqueEveryXSec.cs.meta
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142Project/Assets/ML-Agents/Examples/FPS_Game/Scripts/ShootProjectiles.cs
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11Project/Assets/ML-Agents/Examples/FPS_Game/Scripts/ShootProjectiles.cs.meta
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//Standardized ground check for the Agent Cube
|
|||
using UnityEngine; |
|||
|
|||
namespace MLAgents |
|||
{ |
|||
|
|||
/// <summary>
|
|||
/// Perform Groundcheck using a Physics OverlapBox
|
|||
/// </summary>
|
|||
[DisallowMultipleComponent] |
|||
public class AgentCubeGroundCheck : MonoBehaviour |
|||
{ |
|||
public bool debugDrawGizmos; |
|||
public Collider[] hitGroundColliders = new Collider[3]; |
|||
public Vector3 groundCheckBoxLocalPos = new Vector3(0, -0.52f, 0); |
|||
public Vector3 groundCheckBoxSize = new Vector3(0.99f, 0.1f, 0.99f); |
|||
public bool isGrounded; |
|||
public float ungroundedTime; //amount of time agent hasn't been grounded
|
|||
public float groundedTime; //amount of time agent has been grounded
|
|||
|
|||
void FixedUpdate() |
|||
{ |
|||
DoGroundCheck(); |
|||
if (!isGrounded) |
|||
{ |
|||
ungroundedTime += Time.deltaTime; |
|||
groundedTime = 0; |
|||
} |
|||
else |
|||
{ |
|||
groundedTime += Time.deltaTime; |
|||
ungroundedTime = 0; |
|||
} |
|||
} |
|||
|
|||
/// <summary>
|
|||
/// Does the ground check.
|
|||
/// </summary>
|
|||
/// <returns><c>true</c>, if the agent is on the ground,
|
|||
/// <c>false</c> otherwise.</returns>
|
|||
/// <param name="smallCheck"></param>
|
|||
public void DoGroundCheck() |
|||
{ |
|||
isGrounded = false; |
|||
if (Physics.OverlapBoxNonAlloc( |
|||
transform.TransformPoint(groundCheckBoxLocalPos), |
|||
groundCheckBoxSize / 2, |
|||
hitGroundColliders, |
|||
transform.rotation) > 0) |
|||
{ |
|||
foreach (var col in hitGroundColliders) |
|||
{ |
|||
if (col != null && col.transform != transform && |
|||
(col.CompareTag("walkableSurface") |
|||
|| col.CompareTag("ground") |
|||
|| col.CompareTag("block"))) |
|||
{ |
|||
isGrounded = true; //then we're grounded
|
|||
break; |
|||
} |
|||
} |
|||
} |
|||
//empty the array
|
|||
for (int i = 0; i < hitGroundColliders.Length; i++) |
|||
{ |
|||
hitGroundColliders[i] = null; |
|||
} |
|||
} |
|||
|
|||
//Draw the Box Overlap as a gizmo to show where it currently is testing.
|
|||
void OnDrawGizmos() |
|||
{ |
|||
if (debugDrawGizmos) |
|||
{ |
|||
Gizmos.color = Color.red; |
|||
Gizmos.matrix = transform.localToWorldMatrix; |
|||
Gizmos.DrawWireCube(groundCheckBoxLocalPos, groundCheckBoxSize); |
|||
} |
|||
} |
|||
} |
|||
} |
|||
|
|||
fileFormatVersion: 2 |
|||
guid: 10d5e726b74514f6ebff817a3a2a3b28 |
|||
MonoImporter: |
|||
externalObjects: {} |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|||
|
|||
//Standardized movement controller for the Agent Cube
|
|||
|
|||
using System; |
|||
using Unity.Mathematics; |
|||
using UnityEngine; |
|||
|
|||
namespace MLAgents |
|||
{ |
|||
public class AgentCubeMovement : MonoBehaviour |
|||
{ |
|||
[Header("RIGIDBODY")] public float maxAngularVel = 50; |
|||
[Header("RUNNING")] public ForceMode runningForceMode = ForceMode.Impulse; |
|||
//speed agent can run if grounded
|
|||
public float agentRunSpeed = 10; |
|||
public float agentTerminalVel = 20; |
|||
//speed agent can run if not grounded
|
|||
public float agentRunInAirSpeed = 7f; |
|||
|
|||
[Header("DASH")] |
|||
public float dashBoostForce = 20f; |
|||
public ForceMode dashForceMode = ForceMode.Impulse; |
|||
public bool dashPressed; |
|||
|
|||
[Header("IDLE")] |
|||
//coefficient used to dampen velocity when idle
|
|||
//the purpose of this is to fine tune agent drag
|
|||
//...and prevent the agent sliding around while grounded
|
|||
//0 means it will instantly stop when grounded
|
|||
//1 means no drag will be applied
|
|||
public float agentIdleDragVelCoeff = .9f; |
|||
|
|||
[Header("GROUND POUND")] |
|||
public ForceMode groundPoundForceMode = ForceMode.Impulse; |
|||
public float groundPoundForce = 35f; |
|||
|
|||
[Header("SPIN ATTACK")] |
|||
public float spinAttackSpeed = 20f; |
|||
private bool spinAttack; |
|||
|
|||
[Header("BODY ROTATION")] |
|||
//body rotation speed
|
|||
public float agentRotationSpeed = 35f; |
|||
|
|||
[Header("JUMPING")] |
|||
//upward jump velocity magnitude
|
|||
public float agentJumpVelocity = 15f; |
|||
|
|||
[Header("FALLING FORCE")] |
|||
//force applied to agent while falling
|
|||
public float agentFallingSpeed = 50f; |
|||
|
|||
public Camera cam; |
|||
private Vector3 lookDir; |
|||
private Rigidbody rb; |
|||
private AgentCubeGroundCheck groundCheck; |
|||
void Awake() |
|||
{ |
|||
rb = GetComponent<Rigidbody>(); |
|||
groundCheck = GetComponent<AgentCubeGroundCheck>(); |
|||
rb.maxAngularVelocity = maxAngularVel; |
|||
} |
|||
|
|||
void Update() |
|||
{ |
|||
var camForward = cam.transform.forward; |
|||
camForward.y = 0; |
|||
var camRight = cam.transform.right; |
|||
lookDir = Vector3.zero; |
|||
lookDir += Input.GetKey(KeyCode.D) ? Vector3.right : Vector3.zero; |
|||
lookDir += Input.GetKey(KeyCode.W) ? Vector3.forward : Vector3.zero; |
|||
lookDir += Input.GetKey(KeyCode.A) ? Vector3.left : Vector3.zero; |
|||
lookDir += Input.GetKey(KeyCode.S) ? Vector3.back : Vector3.zero; |
|||
|
|||
|
|||
if (Input.GetKeyDown(KeyCode.Space)) |
|||
{ |
|||
if (groundCheck) |
|||
{ |
|||
if (groundCheck.isGrounded) |
|||
{ |
|||
Jump(rb); |
|||
} |
|||
else |
|||
{ |
|||
rb.AddForce(Vector3.down * groundPoundForce, groundPoundForceMode); |
|||
} |
|||
} |
|||
} |
|||
|
|||
spinAttack = Input.GetKey(KeyCode.H); |
|||
|
|||
|
|||
dashPressed = Input.GetKeyDown(KeyCode.K); |
|||
if (dashPressed) |
|||
{ |
|||
// dashPressed = false;
|
|||
// rb.AddForce(rb.transform.forward * dashBoostForce, dashForceMode);
|
|||
rb.AddTorque(rb.transform.right * dashBoostForce, dashForceMode); |
|||
print("dashPressed"); |
|||
} |
|||
// if (Input.GetKey(KeyCode.D))
|
|||
// {
|
|||
// discreteActionsOut[0] = 3;
|
|||
// }
|
|||
// else if (Input.GetKey(KeyCode.W))
|
|||
// {
|
|||
// discreteActionsOut[0] = 1;
|
|||
// }
|
|||
// else if (Input.GetKey(KeyCode.A))
|
|||
// {
|
|||
// discreteActionsOut[0] = 4;
|
|||
// }
|
|||
// else if (Input.GetKey(KeyCode.S))
|
|||
// {
|
|||
// discreteActionsOut[0] = 2;
|
|||
// }
|
|||
} |
|||
|
|||
void FixedUpdate() |
|||
{ |
|||
if (spinAttack) |
|||
{ |
|||
// rb.AddTorque(Vector3.up * spinAttackSpeed);
|
|||
rb.angularVelocity = Vector3.up * spinAttackSpeed; |
|||
} |
|||
if (lookDir != Vector3.zero) |
|||
{ |
|||
var dir = cam.transform.TransformDirection(lookDir); |
|||
dir.y = 0; |
|||
var rot = quaternion.LookRotation(dir, Vector3.up); |
|||
if (!spinAttack) |
|||
{ |
|||
rb.rotation = Quaternion.Lerp(rb.rotation, rot, agentRotationSpeed * Time.deltaTime); |
|||
} |
|||
// RunOnGround(rb, dir.normalized);
|
|||
// var dirToGo = rb.transform.forward;
|
|||
var dirToGo = dir; |
|||
// RunOnGround(rb, dirToGo);
|
|||
if (!groundCheck.isGrounded) |
|||
{ |
|||
// RunInAir(rb, dirToGo.normalized);
|
|||
} |
|||
else |
|||
{ |
|||
RunOnGround(rb, dirToGo.normalized); |
|||
} |
|||
// rb.MoveRotation(rb.rotation * Quaternion.AngleAxis(agentRotationSpeed, rotationAxis));
|
|||
} |
|||
else //is idle
|
|||
{ |
|||
if (groundCheck && groundCheck.isGrounded && !dashPressed) |
|||
{ |
|||
AddIdleDrag(rb); |
|||
} |
|||
} |
|||
|
|||
if (groundCheck && !groundCheck.isGrounded) |
|||
{ |
|||
AddFallingForce(rb); |
|||
} |
|||
|
|||
|
|||
} |
|||
|
|||
public void Jump(Rigidbody rb) |
|||
{ |
|||
Vector3 velToUse = rb.velocity; |
|||
velToUse.y = agentJumpVelocity; |
|||
rb.velocity = velToUse; |
|||
} |
|||
|
|||
public void RotateBody(Rigidbody rb, Vector3 rotationAxis) |
|||
{ |
|||
rb.MoveRotation(rb.rotation * Quaternion.AngleAxis(agentRotationSpeed, rotationAxis)); |
|||
} |
|||
|
|||
public void RunOnGround(Rigidbody rb, Vector3 dir) |
|||
{ |
|||
var vel = rb.velocity.magnitude; |
|||
float adjustedSpeed = Mathf.Clamp(agentRunSpeed - vel, 0, agentTerminalVel); |
|||
rb.AddForce(dir.normalized * adjustedSpeed, |
|||
runningForceMode); |
|||
} |
|||
|
|||
public void RunInAir(Rigidbody rb, Vector3 dir) |
|||
{ |
|||
var vel = rb.velocity.magnitude; |
|||
float adjustedSpeed = Mathf.Clamp(agentRunInAirSpeed - vel, 0, agentTerminalVel); |
|||
rb.AddForce(dir.normalized * adjustedSpeed, |
|||
runningForceMode); |
|||
} |
|||
|
|||
public void AddIdleDrag(Rigidbody rb) |
|||
{ |
|||
rb.velocity *= agentIdleDragVelCoeff; |
|||
} |
|||
|
|||
public void AddFallingForce(Rigidbody rb) |
|||
{ |
|||
rb.AddForce( |
|||
Vector3.down * agentFallingSpeed, ForceMode.Acceleration); |
|||
} |
|||
} |
|||
|
|||
} |
|||
|
|||
fileFormatVersion: 2 |
|||
guid: 0b86732e5cf714ed6ba8b18dd80f458c |
|||
MonoImporter: |
|||
externalObjects: {} |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|||
|
|||
using System.Collections.Generic; |
|||
using UnityEngine; |
|||
|
|||
/// <summary>
|
|||
/// Used for visualizing the average center of mass of a ragdoll
|
|||
/// </summary>
|
|||
[DisallowMultipleComponent] |
|||
[ExecuteInEditMode] |
|||
public class AvgCenterOfMass : MonoBehaviour |
|||
{ |
|||
[System.Serializable] |
|||
public class ShiftCom |
|||
{ |
|||
public Rigidbody rb; |
|||
public Vector3 shiftComAmount; |
|||
} |
|||
/// <summary>
|
|||
/// Enable to show a green spehere at the current center of mass.
|
|||
/// </summary>
|
|||
[Tooltip("Enable to show a green spehere at the current center of mass.")] |
|||
public bool active; |
|||
public bool showCOMGizmos = true; |
|||
public Vector3 avgCOMWorldSpace; |
|||
public Vector3 avgCOMVelocityWorldSpace; |
|||
public Vector3 previousAvgCOM; |
|||
public Color avgCOMColor = Color.green; |
|||
public Color bodyPartCOMColor = Color.yellow; |
|||
List<Rigidbody> rbList = new List<Rigidbody>(); |
|||
public float totalMass; |
|||
[Tooltip("Visualize Relative Pos")] |
|||
public bool showBPPosRelToBody; |
|||
public bool useTransformPoint = true; |
|||
public bool useTransformVector; |
|||
public bool useTransformDir; |
|||
public bool showRBPos; |
|||
public bool showRelPosVectorOnly; |
|||
public bool showInverseTransformPointUnscaledRelToBody; |
|||
public bool showInverseTransformPointRelToBody; |
|||
public bool showInverseTransformVectorRelToBody; |
|||
public bool showInverseTransformDirRelToBody; |
|||
public Transform body_T; |
|||
[Tooltip("ShiftCom")] public bool updateShiftCom; |
|||
public List<ShiftCom> shiftComList = new List<ShiftCom>(); |
|||
void OnEnable() |
|||
{ |
|||
SetUpRigidbodies(); |
|||
} |
|||
|
|||
void SetUpRigidbodies() |
|||
{ |
|||
rbList.Clear(); |
|||
totalMass = 0; |
|||
foreach (var item in GetComponentsInChildren<Rigidbody>()) |
|||
{ |
|||
rbList.Add(item); |
|||
totalMass += item.mass; |
|||
} |
|||
foreach (var item in shiftComList) |
|||
{ |
|||
item.rb.centerOfMass = item.shiftComAmount; |
|||
} |
|||
} |
|||
|
|||
// void FixedUpdate()
|
|||
// {
|
|||
// if(Application.isPlaying)
|
|||
// {
|
|||
// avgCOMWorldSpace = Vector3.zero;
|
|||
|
|||
// foreach(var item in rbList)
|
|||
// {
|
|||
// if (item)
|
|||
// {
|
|||
// avgCOMWorldSpace += item.worldCenterOfMass;
|
|||
// }
|
|||
// }
|
|||
|
|||
// //DRAW AVG GIZMOS
|
|||
// avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
|
|||
// }
|
|||
// }
|
|||
|
|||
public Vector3 GetCoMWorldSpace() |
|||
{ |
|||
Vector3 CoM = Vector3.zero; |
|||
avgCOMWorldSpace = Vector3.zero; |
|||
float c = 0f; |
|||
|
|||
foreach (var item in rbList) |
|||
{ |
|||
CoM += item.worldCenterOfMass * item.mass; |
|||
c += item.mass; |
|||
} |
|||
avgCOMWorldSpace = CoM / c; |
|||
avgCOMVelocityWorldSpace = (avgCOMWorldSpace - previousAvgCOM) / Time.fixedDeltaTime; |
|||
// Debug.DrawRay(avgCOMWorldSpace, avgCOMVelocityWorldSpace, Color.green,Time.fixedDeltaTime);
|
|||
// Debug.DrawRay(avgCOMWorldSpace, Vector3.ProjectOnPlane( avgCOMVelocityWorldSpace, Vector3.up), Color.green,Time.fixedDeltaTime);
|
|||
|
|||
previousAvgCOM = avgCOMWorldSpace; |
|||
return avgCOMWorldSpace; |
|||
} |
|||
|
|||
|
|||
void FixedUpdate() |
|||
{ |
|||
|
|||
|
|||
if (Application.isPlaying) |
|||
{ |
|||
// avgCOMWorldSpace = Vector3.zero;
|
|||
// foreach(var item in rbList)
|
|||
// {
|
|||
// if (item)
|
|||
// {
|
|||
// avgCOMWorldSpace += item.worldCenterOfMass;
|
|||
// }
|
|||
// }
|
|||
// //DRAW AVG GIZMOS
|
|||
// avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
|
|||
|
|||
// if (active)
|
|||
// {
|
|||
GetCoMWorldSpace(); |
|||
// }
|
|||
|
|||
|
|||
// Vector3 CoM = Vector3.zero;
|
|||
// avgCOMWorldSpace = Vector3.zero;
|
|||
// float c = 0f;
|
|||
//
|
|||
// foreach(var item in rbList)
|
|||
// {
|
|||
// CoM += item.worldCenterOfMass * item.mass;
|
|||
// c += item.mass;
|
|||
// }
|
|||
// avgCOMWorldSpace = CoM/c;
|
|||
// avgCOMVelocityWorldSpace = previousAvgCOM - avgCOMWorldSpace;
|
|||
// Debug.DrawRay(avgCOMWorldSpace, avgCOMVelocityWorldSpace, Color.green,Time.fixedDeltaTime);
|
|||
//
|
|||
// previousAvgCOM = avgCOMWorldSpace;
|
|||
// // CoM /= c;
|
|||
//
|
|||
|
|||
if (showBPPosRelToBody) |
|||
{ |
|||
var pos = body_T.position; |
|||
Matrix4x4 bodyMatrix = body_T.localToWorldMatrix; |
|||
// get position from the last column
|
|||
var bodyPos = new Vector3(bodyMatrix[0, 3], bodyMatrix[1, 3], bodyMatrix[2, 3]); |
|||
Debug.DrawRay(bodyPos, Vector3.up, Color.yellow, Time.fixedDeltaTime); |
|||
foreach (var rb in rbList) |
|||
{ |
|||
if (showRBPos) |
|||
{ |
|||
Debug.DrawRay(rb.position, Vector3.up, Color.green, Time.fixedDeltaTime); |
|||
} |
|||
if (rb.transform != body_T) |
|||
{ |
|||
if (showRelPosVectorOnly) |
|||
{ |
|||
var relPosVector = rb.position - body_T.position; |
|||
// Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
|
|||
Debug.DrawRay(body_T.position + relPosVector, Vector3.up, Color.red, Time.fixedDeltaTime); |
|||
// Vector3 currentLocalPosRelToMatrix = bodyMatrix.inverse.MultiplyPoint(rb.position);
|
|||
Vector3 currentLocalPosRelToMatrix = bodyMatrix.inverse.MultiplyVector(rb.position - bodyPos); |
|||
|
|||
Debug.DrawRay(body_T.position + currentLocalPosRelToMatrix, Vector3.up, Color.green, Time.fixedDeltaTime); |
|||
} |
|||
if (showInverseTransformPointUnscaledRelToBody) |
|||
{ |
|||
// Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
|
|||
// Debug.DrawRay(body_T.position + body_T.InverseTransformPointUnscaled(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
|
|||
// Debug.DrawRay(body_T.position + body_T.InverseTransformPointUnscaled(rb.transform.position), Vector3.up, Color.red,Time.fixedDeltaTime);
|
|||
} |
|||
if (showInverseTransformPointRelToBody) |
|||
{ |
|||
// Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
|
|||
Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red, Time.fixedDeltaTime); |
|||
} |
|||
if (showInverseTransformDirRelToBody) |
|||
{ |
|||
Debug.DrawRay(body_T.InverseTransformDirection(rb.position), Vector3.up, Color.red, Time.fixedDeltaTime); |
|||
} |
|||
if (showInverseTransformVectorRelToBody) |
|||
{ |
|||
Debug.DrawRay(body_T.position + body_T.InverseTransformVector(rb.position - body_T.position), Vector3.up, Color.red, Time.fixedDeltaTime); |
|||
} |
|||
// var localPosRelToBody = body.InverseTransformPoint(rb.position);
|
|||
// Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
|
|||
// Debug.DrawRay(body_T.position + rb.transform.TransformVector(rb.transform.localPosition), Vector3.up, Color.cyan,Time.fixedDeltaTime);
|
|||
// Debug.DrawRay(rb.transform.TransformPoint(rb.position), Vector3.up, Color.green,Time.fixedDeltaTime);
|
|||
|
|||
|
|||
// Debug.DrawRay(body_T.position + body_T.InverseTransformVector(rb.transform.position), Vector3.up, Color.red,Time.fixedDeltaTime);
|
|||
// Debug.DrawRay(body_T.position + body_T.InverseTransformDirection(rb.transform.position), Vector3.up, Color.red,Time.fixedDeltaTime);
|
|||
// Debug.DrawRay(body_T.position + body_T.TransformPoint(rb.transform.localPosition), Vector3.up, Color.red,Time.fixedDeltaTime);
|
|||
|
|||
if (useTransformPoint) |
|||
{ |
|||
|
|||
} |
|||
else if (useTransformVector) |
|||
{ |
|||
|
|||
} |
|||
else if (useTransformDir) |
|||
{ |
|||
|
|||
} |
|||
|
|||
} |
|||
} |
|||
|
|||
} |
|||
} |
|||
|
|||
|
|||
} |
|||
|
|||
|
|||
|
|||
// private void OnDrawGizmosSelected()
|
|||
private void OnDrawGizmos() |
|||
{ |
|||
if (updateShiftCom) |
|||
{ |
|||
foreach (var item in shiftComList) |
|||
{ |
|||
item.rb.centerOfMass = item.shiftComAmount; |
|||
} |
|||
|
|||
updateShiftCom = false; |
|||
} |
|||
if (!Application.isPlaying) |
|||
{ |
|||
if (showCOMGizmos) |
|||
{ |
|||
Vector3 CoM = Vector3.zero; |
|||
float c = 0f; |
|||
// avgCOMWorldSpace = Vector3.zero;
|
|||
//SHOW BODY PART GIZMOS
|
|||
foreach (var item in rbList) |
|||
{ |
|||
// if (item)
|
|||
// {
|
|||
Gizmos.color = bodyPartCOMColor; |
|||
float drawCOMRadius = item.mass / totalMass; |
|||
Gizmos.DrawSphere(item.worldCenterOfMass, drawCOMRadius); |
|||
// Gizmos.DrawWireSphere(item.worldCenterOfMass, drawCOMRadius);
|
|||
CoM += item.worldCenterOfMass * item.mass; |
|||
c += item.mass; |
|||
// avgCOMWorldSpace += item.worldCenterOfMass;
|
|||
// }
|
|||
} |
|||
|
|||
//DRAW AVG GIZMOS
|
|||
avgCOMWorldSpace = CoM / c; |
|||
// avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
|
|||
float avgCOMRadius = 0.5f; //radius of gizmo
|
|||
Gizmos.color = avgCOMColor; |
|||
Gizmos.DrawWireSphere(avgCOMWorldSpace, avgCOMRadius); |
|||
} |
|||
} |
|||
else |
|||
{ |
|||
if (showCOMGizmos) |
|||
{ |
|||
// avgCOMWorldSpace = Vector3.zero;
|
|||
|
|||
//SHOW BODY PART GIZMOS
|
|||
foreach (var item in rbList) |
|||
{ |
|||
// if (item)
|
|||
// {
|
|||
Gizmos.color = bodyPartCOMColor; |
|||
float drawCOMRadius = item.mass / totalMass; |
|||
Gizmos.DrawSphere(item.worldCenterOfMass, drawCOMRadius); |
|||
// Gizmos.DrawWireSphere(item.worldCenterOfMass, drawCOMRadius);
|
|||
// avgCOMWorldSpace += item.worldCenterOfMass;
|
|||
// }
|
|||
} |
|||
|
|||
//DRAW AVG GIZMOS
|
|||
// avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
|
|||
float avgCOMGizmoRadius = 0.5f; //radius of gizmo
|
|||
Gizmos.color = avgCOMColor; |
|||
Gizmos.DrawWireSphere(avgCOMWorldSpace, avgCOMGizmoRadius); |
|||
|
|||
|
|||
|
|||
|
|||
|
|||
|
|||
|
|||
|
|||
|
|||
|
|||
} |
|||
|
|||
} |
|||
} |
|||
// {
|
|||
// if(!Application.isPlaying)
|
|||
// {
|
|||
// if (showCOMGizmos)
|
|||
// {
|
|||
// avgCOMWorldSpace = Vector3.zero;
|
|||
|
|||
// //SHOW BODY PART GIZMOS
|
|||
// foreach(var item in rbList)
|
|||
// {
|
|||
// if (item)
|
|||
// {
|
|||
// Gizmos.color = bodyPartCOMColor;
|
|||
// float drawCOMRadius = item.mass/totalMass;
|
|||
// Gizmos.DrawWireSphere(item.worldCenterOfMass, drawCOMRadius);
|
|||
// avgCOMWorldSpace += item.worldCenterOfMass;
|
|||
// }
|
|||
// }
|
|||
|
|||
// //DRAW AVG GIZMOS
|
|||
// avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
|
|||
// float avgCOMRadius = 0.1f; //radius of gizmo
|
|||
// Gizmos.color = avgCOMColor;
|
|||
// Gizmos.DrawSphere(avgCOMWorldSpace, avgCOMRadius);
|
|||
// }
|
|||
// }
|
|||
// else
|
|||
// {
|
|||
// if (showCOMGizmos)
|
|||
// {
|
|||
// // avgCOMWorldSpace = Vector3.zero;
|
|||
|
|||
// //SHOW BODY PART GIZMOS
|
|||
// foreach(var item in rbList)
|
|||
// {
|
|||
// if (item)
|
|||
// {
|
|||
// Gizmos.color = bodyPartCOMColor;
|
|||
// float drawCOMRadius = item.mass/totalMass;
|
|||
// Gizmos.DrawWireSphere(item.worldCenterOfMass, drawCOMRadius);
|
|||
// // avgCOMWorldSpace += item.worldCenterOfMass;
|
|||
// }
|
|||
// }
|
|||
|
|||
// //DRAW AVG GIZMOS
|
|||
// // avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
|
|||
// float avgCOMGizmoRadius = 0.1f; //radius of gizmo
|
|||
// Gizmos.color = avgCOMColor;
|
|||
// Gizmos.DrawSphere(avgCOMWorldSpace, avgCOMGizmoRadius);
|
|||
// }
|
|||
|
|||
// }
|
|||
// }
|
|||
} |
|||
|
|||
fileFormatVersion: 2 |
|||
guid: d0b24baa8ea3848dbb7585d3a0c9f225 |
|||
MonoImporter: |
|||
externalObjects: {} |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|||
|
|||
using UnityEngine; |
|||
using Random = UnityEngine.Random; |
|||
using Unity.MLAgents; |
|||
using UnityEngine.Events; |
|||
|
|||
namespace Unity.MLAgentsExamples |
|||
{ |
|||
/// <summary>
|
|||
/// Utility class to allow target placement and collision detection with an agent
|
|||
/// Add this script to the target you want the agent to touch.
|
|||
/// Callbacks will be triggered any time the target is touched with a collider tagged as 'tagToDetect'
|
|||
/// </summary>
|
|||
public class CollisionCallbacks : MonoBehaviour |
|||
{ |
|||
|
|||
[Header("Collider Tag To Detect")] |
|||
public string tagToDetect = "agent"; //collider tag to detect
|
|||
|
|||
[Header("Target Placement")] |
|||
public float spawnRadius; //The radius in which a target can be randomly spawned.
|
|||
public bool respawnIfTouched; //Should the target respawn to a different position when touched
|
|||
|
|||
[Header("Target Fell Protection")] |
|||
public bool respawnIfFallsOffPlatform = true; //If the target falls off the platform, reset the position.
|
|||
public float fallDistance = 5; //distance below the starting height that will trigger a respawn
|
|||
|
|||
|
|||
private Vector3 m_startingPos; //the starting position of the target
|
|||
private Agent m_agentTouching; //the agent currently touching the target
|
|||
|
|||
[System.Serializable] |
|||
public class TriggerEvent : UnityEvent<Collider> |
|||
{ |
|||
} |
|||
|
|||
[Header("Trigger Callbacks")] |
|||
public TriggerEvent onTriggerEnterEvent = new TriggerEvent(); |
|||
public TriggerEvent onTriggerStayEvent = new TriggerEvent(); |
|||
public TriggerEvent onTriggerExitEvent = new TriggerEvent(); |
|||
|
|||
[System.Serializable] |
|||
public class CollisionEvent : UnityEvent<Collision> |
|||
{ |
|||
} |
|||
|
|||
[Header("Collision Callbacks")] |
|||
public CollisionEvent onCollisionEnterEvent = new CollisionEvent(); |
|||
public CollisionEvent onCollisionStayEvent = new CollisionEvent(); |
|||
public CollisionEvent onCollisionExitEvent = new CollisionEvent(); |
|||
|
|||
// Start is called before the first frame update
|
|||
void OnEnable() |
|||
{ |
|||
m_startingPos = transform.position; |
|||
if (respawnIfTouched) |
|||
{ |
|||
MoveTargetToRandomPosition(); |
|||
} |
|||
} |
|||
|
|||
void Update() |
|||
{ |
|||
if (respawnIfFallsOffPlatform) |
|||
{ |
|||
if (transform.position.y < m_startingPos.y - fallDistance) |
|||
{ |
|||
Debug.Log($"{transform.name} Fell Off Platform"); |
|||
MoveTargetToRandomPosition(); |
|||
} |
|||
} |
|||
} |
|||
|
|||
/// <summary>
|
|||
/// Moves target to a random position within specified radius.
|
|||
/// </summary>
|
|||
public void MoveTargetToRandomPosition() |
|||
{ |
|||
var newTargetPos = m_startingPos + (Random.insideUnitSphere * spawnRadius); |
|||
newTargetPos.y = m_startingPos.y; |
|||
transform.position = newTargetPos; |
|||
} |
|||
|
|||
private void OnCollisionEnter(Collision col) |
|||
{ |
|||
if (col.transform.CompareTag(tagToDetect)) |
|||
{ |
|||
onCollisionEnterEvent.Invoke(col); |
|||
if (respawnIfTouched) |
|||
{ |
|||
MoveTargetToRandomPosition(); |
|||
} |
|||
} |
|||
} |
|||
|
|||
private void OnCollisionStay(Collision col) |
|||
{ |
|||
if (col.transform.CompareTag(tagToDetect)) |
|||
{ |
|||
onCollisionStayEvent.Invoke(col); |
|||
} |
|||
} |
|||
|
|||
private void OnCollisionExit(Collision col) |
|||
{ |
|||
if (col.transform.CompareTag(tagToDetect)) |
|||
{ |
|||
onCollisionExitEvent.Invoke(col); |
|||
} |
|||
} |
|||
|
|||
private void OnTriggerEnter(Collider col) |
|||
{ |
|||
if (col.CompareTag(tagToDetect)) |
|||
{ |
|||
onTriggerEnterEvent.Invoke(col); |
|||
} |
|||
} |
|||
|
|||
private void OnTriggerStay(Collider col) |
|||
{ |
|||
if (col.CompareTag(tagToDetect)) |
|||
{ |
|||
onTriggerStayEvent.Invoke(col); |
|||
} |
|||
} |
|||
|
|||
private void OnTriggerExit(Collider col) |
|||
{ |
|||
if (col.CompareTag(tagToDetect)) |
|||
{ |
|||
onTriggerExitEvent.Invoke(col); |
|||
} |
|||
} |
|||
} |
|||
} |
|||
|
|||
fileFormatVersion: 2 |
|||
guid: 2ed24226cdbc041688942d373ab17f59 |
|||
MonoImporter: |
|||
externalObjects: {} |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|||
|
|||
using UnityEngine; |
|||
|
|||
|
|||
//This script handles the logic to determine whether an active projectile
|
|||
//...should be remain active after it has been shot by an enemy
|
|||
public class Projectile : MonoBehaviour |
|||
{ |
|||
public float aliveTime; |
|||
[HideInInspector] public Rigidbody rb; |
|||
// private ObstacleTowerAgent agent;
|
|||
public bool selfDestructNow; |
|||
public float maxTimeToLive = 3; |
|||
public float pauseCollisionDetectionWaitTime = .5f; |
|||
[HideInInspector] public ShootProjectiles projectileController; |
|||
|
|||
|
|||
void Awake() |
|||
{ |
|||
rb = GetComponent<Rigidbody>(); |
|||
// agent = FindObjectOfType<ObstacleTowerAgent>();
|
|||
} |
|||
|
|||
|
|||
void OnEnable() |
|||
{ |
|||
if (!rb) |
|||
{ |
|||
rb = GetComponent<Rigidbody>(); |
|||
} |
|||
|
|||
aliveTime = 0; |
|||
selfDestructNow = false; |
|||
// if (agent)
|
|||
// {
|
|||
// agent.CompletedFloorAction += SelfDestruct;
|
|||
// }
|
|||
} |
|||
|
|||
|
|||
void OnDisable() |
|||
{ |
|||
aliveTime = 0; |
|||
// if (agent)
|
|||
// {
|
|||
// agent.CompletedFloorAction -= SelfDestruct;
|
|||
// }
|
|||
} |
|||
|
|||
//Turn the projectile off
|
|||
void SelfDestruct() |
|||
{ |
|||
gameObject.SetActive(false); |
|||
// rb.velocity = Vector3.zero;
|
|||
// rb.angularVelocity = Vector3.zero;
|
|||
} |
|||
|
|||
void FixedUpdate() |
|||
{ |
|||
// if (
|
|||
// (agent && agent.IsDone()) //if the agent is done projectiles can die
|
|||
// || aliveTime > maxTimeToLive //we lived too long. time to die
|
|||
// )
|
|||
if (aliveTime > maxTimeToLive) //we lived too long. time to die
|
|||
{ |
|||
selfDestructNow = true; |
|||
} |
|||
|
|||
if (selfDestructNow) |
|||
{ |
|||
SelfDestruct(); |
|||
} |
|||
|
|||
aliveTime += Time.fixedDeltaTime; |
|||
} |
|||
|
|||
|
|||
void OnCollisionEnter() |
|||
{ |
|||
if (aliveTime > pauseCollisionDetectionWaitTime) |
|||
{ |
|||
selfDestructNow = true; |
|||
} |
|||
} |
|||
} |
|||
|
|||
fileFormatVersion: 2 |
|||
guid: 760a84ae2ce8446b28d91ff804e233cf |
|||
MonoImporter: |
|||
externalObjects: {} |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|||
|
|||
using System.Collections; |
|||
using System.Collections.Generic; |
|||
using UnityEngine; |
|||
|
|||
public class RandomTorqueEveryXSec : MonoBehaviour |
|||
{ |
|||
public Vector3 maxTorque; |
|||
private Vector3 torqueToUse; |
|||
public float randomizeTorqueEveryXSec = 10; |
|||
public ForceMode forceMode; |
|||
|
|||
private Rigidbody rb; |
|||
|
|||
// Start is called before the first frame update
|
|||
void OnEnable() |
|||
{ |
|||
rb = GetComponent<Rigidbody>(); |
|||
InvokeRepeating("SetRandomTorque", 0, randomizeTorqueEveryXSec); |
|||
} |
|||
|
|||
void SetRandomTorque() |
|||
{ |
|||
torqueToUse = new Vector3(Random.Range(-maxTorque.x, maxTorque.x), Random.Range(-maxTorque.y, maxTorque.y), |
|||
Random.Range(-maxTorque.z, maxTorque.z)); |
|||
} |
|||
|
|||
// Update is called once per frame
|
|||
void FixedUpdate() |
|||
{ |
|||
rb.AddRelativeTorque(torqueToUse, forceMode); |
|||
} |
|||
} |
|||
|
|||
fileFormatVersion: 2 |
|||
guid: 9ad9211e1047944af9e717b0f43b3f25 |
|||
MonoImporter: |
|||
externalObjects: {} |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|||
|
|||
using System.Collections.Generic; |
|||
using UnityEngine; |
|||
|
|||
|
|||
/// <summary>
|
|||
/// Logic for robot projectiles.
|
|||
/// </summary>
|
|||
public class ShootProjectiles : MonoBehaviour |
|||
{ |
|||
public bool initialized; //has this robot been initialized
|
|||
public GameObject projectilePrefab; |
|||
public int numberOfProjectilesToPool = 25; |
|||
|
|||
private List<Projectile> projectilePoolList = new List<Projectile>(); //projectiles to shoot
|
|||
public Transform projectileStartingPos; //the transform the projectile will originate from
|
|||
public float projectileLaunchAngle = 5; //the angle at which the projectile will launch
|
|||
public float shootingRate = .02f; //can shoot every shootingRate seconds. ex: .5 can shoot every .5 seconds
|
|||
private float shootTimer; |
|||
public bool coolDownWait; |
|||
|
|||
//for standalone projectiles
|
|||
public bool autoShootEnabled; |
|||
public float autoShootDistance = 30; |
|||
|
|||
public bool useStandaloneInput = false; |
|||
public KeyCode shootKey = KeyCode.J; |
|||
void Start() |
|||
{ |
|||
if (!initialized) |
|||
{ |
|||
Initialize(); |
|||
} |
|||
} |
|||
|
|||
void OnEnable() |
|||
{ |
|||
if (!initialized) |
|||
{ |
|||
Initialize(); |
|||
} |
|||
} |
|||
|
|||
|
|||
void Initialize() |
|||
{ |
|||
projectilePoolList.Clear(); //clear list in case it's not empty
|
|||
for (var i = 0; i < numberOfProjectilesToPool; i++) |
|||
{ |
|||
GameObject obj = Instantiate(projectilePrefab, transform.position, Quaternion.identity); |
|||
Projectile p = obj.GetComponent<Projectile>(); |
|||
projectilePoolList.Add(p); |
|||
p.transform.position = projectileStartingPos.position; |
|||
p.projectileController = this; |
|||
p.gameObject.SetActive(false); |
|||
} |
|||
|
|||
initialized = true; |
|||
} |
|||
|
|||
void Update() |
|||
{ |
|||
if (Input.GetKey(shootKey)) |
|||
{ |
|||
Shoot(projectileStartingPos.position, |
|||
projectileStartingPos.TransformPoint(Vector3.forward * autoShootDistance)); |
|||
} |
|||
} |
|||
|
|||
void FixedUpdate() |
|||
{ |
|||
coolDownWait = shootTimer > shootingRate ? false : true; |
|||
shootTimer += Time.fixedDeltaTime; |
|||
if (autoShootEnabled) |
|||
{ |
|||
Shoot(projectileStartingPos.position, |
|||
projectileStartingPos.TransformPoint(Vector3.forward * autoShootDistance)); |
|||
Debug.DrawRay(projectileStartingPos.TransformPoint(Vector3.forward * autoShootDistance), Vector3.up); |
|||
} |
|||
} |
|||
|
|||
|
|||
public void Shoot(Vector3 startPos, Vector3 targetPos) |
|||
{ |
|||
if (coolDownWait) |
|||
{ |
|||
return; |
|||
} |
|||
|
|||
shootTimer = 0; //reset timer
|
|||
|
|||
//shoot first available projectile in the pool
|
|||
foreach (var item in projectilePoolList) |
|||
{ |
|||
if (!item.gameObject.activeInHierarchy) |
|||
{ |
|||
LaunchProjectile(item.rb, startPos, targetPos); //shoot
|
|||
break; |
|||
} |
|||
} |
|||
} |
|||
|
|||
|
|||
public void LaunchProjectile(Rigidbody rb, Vector3 startPos, Vector3 targetPos) |
|||
{ |
|||
rb.transform.position = startPos; |
|||
rb.transform.rotation = Quaternion.identity; |
|||
|
|||
rb.velocity = Vector3.zero; |
|||
rb.angularVelocity = Vector3.zero; |
|||
rb.gameObject.SetActive(true); |
|||
Vector3 p = targetPos; |
|||
|
|||
float gravity = Physics.gravity.magnitude; |
|||
|
|||
// Selected angle in radians
|
|||
float angle = projectileLaunchAngle * Mathf.Deg2Rad; |
|||
|
|||
// Positions of this object and the target on the same plane
|
|||
Vector3 planarTarget = new Vector3(p.x, 0, p.z); |
|||
Vector3 planarPostion = new Vector3(startPos.x, 0, startPos.z); |
|||
|
|||
// Planar distance between objects
|
|||
float distance = Vector3.Distance(planarTarget, planarPostion); |
|||
// Distance along the y axis between objects
|
|||
float yOffset = startPos.y - p.y; |
|||
|
|||
float initialVelocity = (1 / Mathf.Cos(angle)) * |
|||
Mathf.Sqrt((0.5f * gravity * Mathf.Pow(distance, 2)) / |
|||
(distance * Mathf.Tan(angle) + yOffset)); |
|||
|
|||
Vector3 velocity = new Vector3(0, initialVelocity * Mathf.Sin(angle), initialVelocity * Mathf.Cos(angle)); |
|||
|
|||
// Rotate our velocity to match the direction between the two objects
|
|||
float angleBetweenObjects = |
|||
Vector3.Angle(Vector3.forward, planarTarget - planarPostion) * (p.x > startPos.x ? 1 : -1); |
|||
Vector3 finalVelocity = Quaternion.AngleAxis(angleBetweenObjects, Vector3.up) * velocity; |
|||
if (!float.IsNaN(finalVelocity.x)) //NaN checked
|
|||
{ |
|||
rb.velocity = finalVelocity; |
|||
} |
|||
} |
|||
} |
|||
|
|||
fileFormatVersion: 2 |
|||
guid: f25a3868f6567418d8fca3276794e44a |
|||
MonoImporter: |
|||
externalObjects: {} |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|||
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