GitHub
4 年前
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3fbcc26c
共有 18 个文件被更改，包括 1253 次插入 和 1005 次删除
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342Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab
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245Project/Assets/ML-Agents/Examples/FoodCollector/Scenes/FoodCollector.unity
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693com.unity.ml-agents.extensions/Runtime/Sensors/GridSensor.cs
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2com.unity.ml-agents.extensions/Runtime/Sensors/GridSensorComponent.cs.meta
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128com.unity.ml-agents.extensions/Tests/Editor/Sensors/ChannelHotPerceiveTests.cs
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20com.unity.ml-agents.extensions/Tests/Editor/Sensors/ChannelHotShapeTests.cs
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128com.unity.ml-agents.extensions/Tests/Editor/Sensors/ChannelPerceiveTests.cs
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16com.unity.ml-agents.extensions/Tests/Editor/Sensors/ChannelShapeTests.cs
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45com.unity.ml-agents.extensions/Tests/Editor/Sensors/CountingGridSensorPerceiveTests.cs
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8com.unity.ml-agents.extensions/Tests/Editor/Sensors/CountingGridSensorShapeTests.cs
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35com.unity.ml-agents.extensions/Tests/Editor/Sensors/GridObservationPerceiveTests.cs
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14com.unity.ml-agents.extensions/Tests/Editor/Sensors/GridSensorTestUtils.cs
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50com.unity.ml-agents.extensions/Tests/Utils/GridObsTestComponents/SimpleTestGridSensor.cs
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121com.unity.ml-agents.extensions/Editor/GridSensorComponentEditor.cs
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11com.unity.ml-agents.extensions/Editor/GridSensorComponentEditor.cs.meta
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286com.unity.ml-agents.extensions/Runtime/Sensors/GridSensorComponent.cs
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114com.unity.ml-agents.extensions/Runtime/Sensors/CountingGridSensor.cs
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0/com.unity.ml-agents.extensions/Runtime/Sensors/GridSensorComponent.cs.meta
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using UnityEditor; |
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using UnityEngine; |
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using Unity.MLAgents.Editor; |
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using Unity.MLAgents.Extensions.Sensors; |
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namespace Unity.MLAgents.Extensions.Editor |
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{ |
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[CustomEditor(typeof(GridSensorComponent))] |
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[CanEditMultipleObjects] |
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internal class GridSensorComponentEditor : UnityEditor.Editor |
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{ |
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public override void OnInspectorGUI() |
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{ |
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var so = serializedObject; |
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so.Update(); |
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// Drawing the GridSensorComponent
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EditorGUI.BeginChangeCheck(); |
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EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties()); |
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{ |
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// These fields affect the sensor order or observation size,
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// So can't be changed at runtime.
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EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_SensorName)), true); |
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EditorGUILayout.LabelField("Grid Settings", EditorStyles.boldLabel); |
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EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_CellScale)), true); |
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// We only supports 2D GridSensor now so display gridNumSide as Vector2
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var gridNumSide = so.FindProperty(nameof(GridSensorComponent.m_GridNumSide)); |
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var gridNumSide2d = new Vector2Int(gridNumSide.vector3IntValue.x, gridNumSide.vector3IntValue.z); |
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var newGridNumSide = EditorGUILayout.Vector2IntField("Grid Num Side", gridNumSide2d); |
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gridNumSide.vector3IntValue = new Vector3Int(newGridNumSide.x, 1, newGridNumSide.y); |
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EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_RootReference)), true); |
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} |
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EditorGUI.EndDisabledGroup(); |
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EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_RotateWithAgent)), true); |
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EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties()); |
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{ |
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EditorGUILayout.LabelField("Channel Settings", EditorStyles.boldLabel); |
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EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_DepthType)), true); |
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// channel depth
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var channelDepth = so.FindProperty(nameof(GridSensorComponent.m_ChannelDepth)); |
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var newDepth = EditorGUILayout.IntField("Channel Depth", channelDepth.arraySize); |
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if (newDepth != channelDepth.arraySize) |
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{ |
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channelDepth.arraySize = newDepth; |
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} |
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EditorGUI.indentLevel++; |
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for (var i = 0; i < channelDepth.arraySize; i++) |
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{ |
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var objectTag = channelDepth.GetArrayElementAtIndex(i); |
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EditorGUILayout.PropertyField(objectTag, new GUIContent("Channel " + i + " Depth"), true); |
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} |
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EditorGUI.indentLevel--; |
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// detectable objects
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var detectableObjects = so.FindProperty(nameof(GridSensorComponent.m_DetectableObjects)); |
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var newSize = EditorGUILayout.IntField("Detectable Objects", detectableObjects.arraySize); |
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if (newSize != detectableObjects.arraySize) |
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{ |
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detectableObjects.arraySize = newSize; |
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} |
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EditorGUI.indentLevel++; |
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for (var i = 0; i < detectableObjects.arraySize; i++) |
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{ |
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var objectTag = detectableObjects.GetArrayElementAtIndex(i); |
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EditorGUILayout.PropertyField(objectTag, new GUIContent("Tag " + i), true); |
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} |
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EditorGUI.indentLevel--; |
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EditorGUILayout.LabelField("Collider and Buffer", EditorStyles.boldLabel); |
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EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_MaxColliderBufferSize)), true); |
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EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_InitialColliderBufferSize)), true); |
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} |
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EditorGUI.EndDisabledGroup(); |
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EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_ObserveMask)), true); |
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EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties()); |
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{ |
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EditorGUILayout.LabelField("Sensor Settings", EditorStyles.boldLabel); |
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EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_ObservationStacks)), true); |
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} |
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EditorGUI.EndDisabledGroup(); |
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EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_CompressionType)), true); |
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EditorGUILayout.LabelField("Debug Gizmo", EditorStyles.boldLabel); |
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EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_ShowGizmos)), true); |
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EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_GizmoYOffset)), true); |
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// detectable objects
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var debugColors = so.FindProperty(nameof(GridSensorComponent.m_DebugColors)); |
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var detectableObjectSize = so.FindProperty(nameof(GridSensorComponent.m_DetectableObjects)).arraySize; |
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if (detectableObjectSize != debugColors.arraySize) |
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{ |
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debugColors.arraySize = detectableObjectSize; |
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} |
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EditorGUI.indentLevel++; |
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for (var i = 0; i < debugColors.arraySize; i++) |
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{ |
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var debugColor = debugColors.GetArrayElementAtIndex(i); |
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EditorGUILayout.PropertyField(debugColor, new GUIContent("Tag " + i + " Color"), true); |
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} |
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EditorGUI.indentLevel--; |
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var requireSensorUpdate = EditorGUI.EndChangeCheck(); |
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so.ApplyModifiedProperties(); |
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if (requireSensorUpdate) |
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{ |
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UpdateSensor(); |
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} |
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} |
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void UpdateSensor() |
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{ |
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var sensorComponent = serializedObject.targetObject as GridSensorComponent; |
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sensorComponent?.UpdateSensor(); |
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} |
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} |
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} |
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fileFormatVersion: 2 |
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guid: 62dc58d0ddf584affa1f269e9c5791c2 |
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MonoImporter: |
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externalObjects: {} |
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serializedVersion: 2 |
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defaultReferences: [] |
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executionOrder: 0 |
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icon: {instanceID: 0} |
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userData: |
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assetBundleName: |
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assetBundleVariant: |
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using UnityEngine; |
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using Unity.MLAgents.Sensors; |
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namespace Unity.MLAgents.Extensions.Sensors |
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{ |
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/// <summary>
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/// A SensorComponent that creates a <see cref="GridSensor"/>.
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/// </summary>
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[AddComponentMenu("ML Agents/Grid Sensor", (int)MenuGroup.Sensors)] |
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public class GridSensorComponent : SensorComponent |
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{ |
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protected GridSensor m_Sensor; |
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[HideInInspector, SerializeField] |
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internal string m_SensorName = "GridSensor"; |
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// <summary>
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/// Name of the generated <see cref="GridSensor"/> object.
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/// Note that changing this at runtime does not affect how the Agent sorts the sensors.
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/// </summary>
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public string SensorName |
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{ |
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get { return m_SensorName; } |
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set { m_SensorName = value; } |
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} |
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[HideInInspector, SerializeField] |
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internal Vector3 m_CellScale = new Vector3(1f, 0.01f, 1f); |
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/// <summary>
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/// The scale of each grid cell.
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/// Note that changing this after the sensor is created has no effect.
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/// </summary>
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public Vector3 CellScale |
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{ |
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get { return m_CellScale; } |
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set { m_CellScale = value; } |
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} |
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[HideInInspector, SerializeField] |
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internal Vector3Int m_GridNumSide = new Vector3Int(16, 1, 16); |
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/// <summary>
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/// The number of grid on each side.
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/// Note that changing this after the sensor is created has no effect.
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/// </summary>
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public Vector3Int GridNumSide |
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{ |
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get { return m_GridNumSide; } |
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set |
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{ |
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if (value.y != 1) |
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{ |
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m_GridNumSide = new Vector3Int(value.x, 1, value.z); |
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} |
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else |
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{ |
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m_GridNumSide = value; |
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} |
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} |
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} |
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[HideInInspector, SerializeField] |
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internal bool m_RotateWithAgent = true; |
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/// <summary>
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/// Rotate the grid based on the direction the agent is facing.
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/// </summary>
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public bool RotateWithAgent |
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{ |
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get { return m_RotateWithAgent; } |
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set { m_RotateWithAgent = value; } |
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} |
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[HideInInspector, SerializeField] |
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internal int[] m_ChannelDepth = new int[] { 1 }; |
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/// <summary>
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/// Array holding the depth of each channel.
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/// Note that changing this after the sensor is created has no effect.
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/// </summary>
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public int[] ChannelDepth |
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{ |
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get { return m_ChannelDepth; } |
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set { m_ChannelDepth = value; } |
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} |
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[HideInInspector, SerializeField] |
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internal string[] m_DetectableObjects; |
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/// <summary>
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/// List of tags that are detected.
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/// Note that changing this after the sensor is created has no effect.
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/// </summary>
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public string[] DetectableObjects |
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{ |
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get { return m_DetectableObjects; } |
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set { m_DetectableObjects = value; } |
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} |
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[HideInInspector, SerializeField] |
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internal LayerMask m_ObserveMask; |
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/// <summary>
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/// The layer mask.
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/// </summary>
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public LayerMask ObserveMask |
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{ |
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get { return m_ObserveMask; } |
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set { m_ObserveMask = value; } |
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} |
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[HideInInspector, SerializeField] |
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internal GridDepthType m_DepthType = GridDepthType.Channel; |
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/// <summary>
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/// The data layout that the grid should output.
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/// Note that changing this after the sensor is created has no effect.
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/// </summary>
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public GridDepthType DepthType |
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{ |
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get { return m_DepthType; } |
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set { m_DepthType = value; } |
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} |
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[HideInInspector, SerializeField] |
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internal GameObject m_RootReference; |
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/// <summary>
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/// The reference of the root of the agent. This is used to disambiguate objects with the same tag as the agent. Defaults to current GameObject.
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/// Note that changing this after the sensor is created has no effect.
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/// </summary>
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public GameObject RootReference |
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{ |
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get { return m_RootReference == null ? gameObject : m_RootReference; } |
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set { m_RootReference = value; } |
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} |
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[HideInInspector, SerializeField] |
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internal int m_MaxColliderBufferSize = 500; |
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/// <summary>
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/// The absolute max size of the Collider buffer used in the non-allocating Physics calls. In other words
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/// the Collider buffer will never grow beyond this number even if there are more Colliders in the Grid Cell.
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/// Note that changing this after the sensor is created has no effect.
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/// </summary>
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public int MaxColliderBufferSize |
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{ |
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get { return m_MaxColliderBufferSize; } |
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set { m_MaxColliderBufferSize = value; } |
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} |
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[HideInInspector, SerializeField] |
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internal int m_InitialColliderBufferSize = 4; |
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/// <summary>
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/// The Estimated Max Number of Colliders to expect per cell. This number is used to
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/// pre-allocate an array of Colliders in order to take advantage of the OverlapBoxNonAlloc
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/// Physics API. If the number of colliders found is >= InitialColliderBufferSize the array
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/// will be resized to double its current size. The hard coded absolute size is 500.
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/// Note that changing this after the sensor is created has no effect.
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/// </summary>
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public int InitialColliderBufferSize |
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{ |
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get { return m_InitialColliderBufferSize; } |
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set { m_InitialColliderBufferSize = value; } |
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} |
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[HideInInspector, SerializeField] |
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internal Color[] m_DebugColors; |
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/// <summary>
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/// Array of Colors used for the grid gizmos.
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/// </summary>
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public Color[] DebugColors |
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{ |
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get { return m_DebugColors; } |
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set { m_DebugColors = value; } |
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} |
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[HideInInspector, SerializeField] |
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internal float m_GizmoYOffset = 0f; |
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/// <summary>
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/// The height of the gizmos grid.
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/// </summary>
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public float GizmoYOffset |
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{ |
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get { return m_GizmoYOffset; } |
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set { m_GizmoYOffset = value; } |
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} |
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[HideInInspector, SerializeField] |
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internal bool m_ShowGizmos = false; |
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/// <summary>
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/// Whether to show gizmos or not.
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/// </summary>
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public bool ShowGizmos |
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{ |
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get { return m_ShowGizmos; } |
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set { m_ShowGizmos = value; } |
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} |
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[HideInInspector, SerializeField] |
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internal SensorCompressionType m_CompressionType = SensorCompressionType.PNG; |
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/// <summary>
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/// The compression type to use for the sensor.
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/// </summary>
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public SensorCompressionType CompressionType |
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{ |
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get { return m_CompressionType; } |
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set { m_CompressionType = value; UpdateSensor(); } |
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} |
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[HideInInspector, SerializeField] |
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[Range(1, 50)] |
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[Tooltip("Number of frames of observations that will be stacked before being fed to the neural network.")] |
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internal int m_ObservationStacks = 1; |
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/// <summary>
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/// Whether to stack previous observations. Using 1 means no previous observations.
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/// Note that changing this after the sensor is created has no effect.
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/// </summary>
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public int ObservationStacks |
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{ |
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get { return m_ObservationStacks; } |
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set { m_ObservationStacks = value; } |
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} |
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/// <inheritdoc/>
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public override ISensor[] CreateSensors() |
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{ |
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m_Sensor = new GridSensor( |
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m_SensorName, |
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m_CellScale, |
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m_GridNumSide, |
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m_RotateWithAgent, |
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m_ChannelDepth, |
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m_DetectableObjects, |
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m_ObserveMask, |
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m_DepthType, |
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RootReference, |
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m_CompressionType, |
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m_MaxColliderBufferSize, |
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m_InitialColliderBufferSize |
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); |
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if (ObservationStacks != 1) |
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{ |
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return new ISensor[] { new StackingSensor(m_Sensor, ObservationStacks) }; |
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} |
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return new ISensor[] { m_Sensor }; |
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} |
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/// <summary>
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/// Update fields that are safe to change on the Sensor at runtime.
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/// </summary>
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internal void UpdateSensor() |
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{ |
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if (m_Sensor != null) |
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{ |
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m_Sensor.CompressionType = m_CompressionType; |
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} |
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} |
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void OnDrawGizmos() |
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{ |
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if (m_ShowGizmos) |
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{ |
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if (m_Sensor == null) |
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{ |
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return; |
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} |
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var cellColors = m_Sensor.PerceiveGizmoColor(); |
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var cellPositions = m_Sensor.GetGizmoPositions(); |
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var rotation = m_Sensor.GetGridRotation(); |
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var scale = new Vector3(m_CellScale.x, 1, m_CellScale.z); |
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var gizmoYOffset = new Vector3(0, m_GizmoYOffset, 0); |
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var oldGizmoMatrix = Gizmos.matrix; |
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for (var i = 0; i < cellPositions.Length; i++) |
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{ |
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var cubeTransform = Matrix4x4.TRS(cellPositions[i] + gizmoYOffset, rotation, scale); |
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Gizmos.matrix = oldGizmoMatrix * cubeTransform; |
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var colorIndex = cellColors[i]; |
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var debugRayColor = Color.white; |
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if (colorIndex > -1 && m_DebugColors.Length > colorIndex) |
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{ |
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debugRayColor = m_DebugColors[colorIndex]; |
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} |
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Gizmos.color = new Color(debugRayColor.r, debugRayColor.g, debugRayColor.b, .5f); |
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Gizmos.DrawCube(Vector3.zero, Vector3.one); |
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} |
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Gizmos.matrix = oldGizmoMatrix; |
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} |
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} |
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} |
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} |
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using System; |
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using UnityEngine; |
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namespace Unity.MLAgents.Extensions.Sensors |
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{ |
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public class CountingGridSensor : GridSensor |
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{ |
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/// <inheritdoc/>
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public override void InitDepthType() |
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{ |
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ObservationPerCell = ChannelDepth.Length; |
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} |
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|
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/// <summary>
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/// Overrides the initialization ofthe m_ChannelHotDefaultPerceptionBuffer with 0s
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/// as the counting grid sensor starts within its initialization equal to 0
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/// </summary>
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public override void InitChannelHotDefaultPerceptionBuffer() |
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{ |
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m_ChannelHotDefaultPerceptionBuffer = new float[ObservationPerCell]; |
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} |
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|
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/// <inheritdoc/>
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public override void SetParameters(string[] detectableObjects, int[] channelDepth, GridDepthType gridDepthType, |
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float cellScaleX, float cellScaleZ, int gridWidth, int gridHeight, int observeMaskInt, bool rotateToAgent, Color[] debugColors) |
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{ |
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this.ObserveMask = observeMaskInt; |
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this.DetectableObjects = detectableObjects; |
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this.ChannelDepth = channelDepth; |
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if (DetectableObjects.Length != ChannelDepth.Length) |
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throw new UnityAgentsException("The channels of a CountingGridSensor is equal to the number of detectableObjects"); |
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this.gridDepthType = gridDepthType; |
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this.CellScaleX = cellScaleX; |
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this.CellScaleZ = cellScaleZ; |
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this.GridNumSideX = gridWidth; |
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this.GridNumSideZ = gridHeight; |
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this.RotateToAgent = rotateToAgent; |
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this.DiffNumSideZX = (GridNumSideZ - GridNumSideX); |
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this.OffsetGridNumSide = (GridNumSideZ - 1f) / 2f; |
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this.DebugColors = debugColors; |
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} |
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|
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/// <summary>
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/// For each collider, calls LoadObjectData on the gameobejct
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/// </summary>
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/// <param name="foundColliders">The array of colliders</param>
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/// <param name="cellIndex">The cell index the collider is in</param>
|
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/// <param name="cellCenter">the center of the cell the collider is in</param>
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protected override void ParseColliders(Collider[] foundColliders, int numFound, int cellIndex, Vector3 cellCenter) |
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{ |
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GameObject currentColliderGo = null; |
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Vector3 closestColliderPoint = Vector3.zero; |
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|
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for (int i = 0; i < numFound; i++) |
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{ |
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currentColliderGo = foundColliders[i].gameObject; |
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|
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// Continue if the current collider go is the root reference
|
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if (currentColliderGo == rootReference) |
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continue; |
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|
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closestColliderPoint = foundColliders[i].ClosestPointOnBounds(cellCenter); |
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|
|||
LoadObjectData(currentColliderGo, cellIndex, |
|||
Vector3.Distance(closestColliderPoint, transform.position) * InverseSphereRadius); |
|||
} |
|||
} |
|||
|
|||
/// <summary>
|
|||
/// Throws an execption as this should not be called from the CountingGridSensor class
|
|||
/// </summary>
|
|||
/// <param name="currentColliderGo">The current gameobject to get data from</param>
|
|||
/// <param name="typeIndex">the index of the detectable tag of this gameobject</param>
|
|||
/// <param name="normalizedDistance">The normalized distance to the gridsensor</param>
|
|||
/// <returns></returns>
|
|||
protected override float[] GetObjectData(GameObject currentColliderGo, float typeIndex, float normalizedDistance) |
|||
{ |
|||
throw new Exception("GetObjectData isn't called within the CountingGridSensor"); |
|||
} |
|||
|
|||
/// <summary>
|
|||
/// Adds 1 to the counting index for this gameobject of this type
|
|||
/// </summary>
|
|||
/// <param name="currentColliderGo">the current game object</param>
|
|||
/// <param name="cellIndex">the index of the cell</param>
|
|||
/// <param name="normalizedDistance">the normalized distance from the gameobject to the sensor</param>
|
|||
protected override void LoadObjectData(GameObject currentColliderGo, int cellIndex, float normalizedDistance) |
|||
{ |
|||
for (int i = 0; i < DetectableObjects.Length; i++) |
|||
{ |
|||
if (currentColliderGo != null && currentColliderGo.CompareTag(DetectableObjects[i])) |
|||
{ |
|||
if (ShowGizmos) |
|||
{ |
|||
Color debugRayColor = Color.white; |
|||
if (DebugColors.Length > 0) |
|||
{ |
|||
debugRayColor = DebugColors[i]; |
|||
} |
|||
CellActivity[cellIndex] = new Color(debugRayColor.r, debugRayColor.g, debugRayColor.b, .5f); |
|||
} |
|||
|
|||
/// <remarks>
|
|||
/// The observations are "channel count" so each grid is WxHxC where C is the number of tags
|
|||
/// This means that each value channelValues[i] is a counter of gameobject included into grid cells where i is the index of the tag in DetectableObjects
|
|||
/// </remarks>
|
|||
int countIndex = cellIndex * ObservationPerCell + i; |
|||
m_PerceptionBuffer[countIndex] = Mathf.Min(1f, m_PerceptionBuffer[countIndex] + 1f / ChannelDepth[i]); |
|||
break; |
|||
} |
|||
} |
|||
} |
|||
} |
|||
} |
|||
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