try observing ball vel and pos

4 年前 · 4c924b3b
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--- a/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/PurpleStriker.prefab
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--- a/Project/Assets/ML-Agents/Examples/Soccer/Scenes/SoccerTwos.unity
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--- a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
    // * own teammate
    // * opposing player

+    public SoccerEnvController GameController;
    public enum Position
    {
        Striker,
            {
                sensor.AddObservation(CurrentRayAngleLerp);
                sensor.AddObservation(CurrentSpherecastRadiusLerp);
+                sensor.AddObservation(GameController.LocalBallVelocity);
+                sensor.AddObservation(GameController.LocalBallPositionNormalizedToFieldSize);
            }
        }
    }
--- a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerEnvController.cs
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerEnvController.cs
    private SimpleMultiAgentGroup m_PurpleAgentGroup;

    private int m_ResetTimer;
-
+    public Vector3 LocalBallVelocity;
+    public Vector3 LocalBallPositionNormalizedToFieldSize = new Vector3();
    void Start()
    {


    void FixedUpdate()
    {
+        LocalBallVelocity = transform.InverseTransformDirection(ballRb.velocity);
+        //normalize to a 60x30 field. Use half extents
+        LocalBallPositionNormalizedToFieldSize = Vector3.Scale(ballRb.transform.localPosition, new Vector3(1/30f, 1f, 1/15f));
        m_ResetTimer += 1;
        if (m_ResetTimer >= MaxEnvironmentSteps && MaxEnvironmentSteps > 0)
        {
--- a/Project/Assets/ML-Agents/Examples/Soccer/Scenes/SoccerFours.unity
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Scenes/SoccerFours.unity
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