Update CrawlerDynamic and CrawlerStatic scenes

5 年前 · 375bdd52
--- a/Project/Assets/ML-Agents/Examples/Crawler/Prefabs/DynamicPlatform.prefab
+++ b/Project/Assets/ML-Agents/Examples/Crawler/Prefabs/DynamicPlatform.prefab
--- a/Project/Assets/ML-Agents/Examples/Crawler/Prefabs/FixedPlatform.prefab
+++ b/Project/Assets/ML-Agents/Examples/Crawler/Prefabs/FixedPlatform.prefab
--- a/Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerDynamicTarget.unity
+++ b/Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerDynamicTarget.unity
--- a/Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerStaticTarget.unity
+++ b/Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerStaticTarget.unity
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--- a/Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs
    [Header("Target To Walk Towards")]
    [Space(10)]
    public Transform target;
+    Vector3 m_WalkDir; //Direction to the target
+    Quaternion m_WalkDirLookRot; //Will hold the rotation to our target

    [Space(10)]
    [Header("Orientation Cube")]
        oCubePos.y = -.45f;
        m_OrientationCube = Instantiate(Resources.Load<GameObject>("OrientationCube"), oCubePos, Quaternion.identity);
        m_OrientationCube.transform.SetParent(transform);
+        UpdateOrientationCube();

        m_JdController = GetComponent<JointDriveController>();

        bpDict[leg2Lower].SetJointStrength(vectorAction[++i]);
        bpDict[leg3Lower].SetJointStrength(vectorAction[++i]);
    }
-
+    void UpdateOrientationCube()
+    {
+        //FACING DIR
+        m_WalkDir = target.position - m_OrientationCube.transform.position;
+        m_WalkDir.y = 0; //flatten dir on the y
+        m_WalkDirLookRot = Quaternion.LookRotation(m_WalkDir); //get our look rot to the target
+        
+        //UPDATE ORIENTATION CUBE POS & ROT
+        m_OrientationCube.transform.position = body.position;
+        m_OrientationCube.transform.rotation = m_WalkDirLookRot;
+    }
+    
    void FixedUpdate()
    {
        if (detectTargets)
                    TouchedTarget();
                }
            }
+            
+            UpdateOrientationCube();
        }

        // If enabled the feet will light up green when the foot is grounded.
        {
            bodyPart.Reset(bodyPart);
        }
-        transform.Rotate(Vector3.up, Random.Range(0.0f, 360.0f));
+        
+        //Random start rotation to help generalize
+        transform.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
-        if (!targetIsStatic)
+        UpdateOrientationCube();
+
+        if (detectTargets && !targetIsStatic)
        {
            GetRandomTargetPos();
        }
--- a/Project/Assets/ML-Agents/Examples/Crawler/Prefabs/Crawler.prefab
+++ b/Project/Assets/ML-Agents/Examples/Crawler/Prefabs/Crawler.prefab
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