Ervin Teng
4 年前
当前提交
73844bf3
共有 8 个文件被更改，包括 2460 次插入 和 0 次删除
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1001Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/BattleFoodArea.prefab
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7Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/BattleFoodArea.prefab.meta
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997Project/Assets/ML-Agents/Examples/FoodCollector/Scenes/BattleFood.unity
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7Project/Assets/ML-Agents/Examples/FoodCollector/Scenes/BattleFood.unity.meta
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313Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/BattleFoodAgent.cs
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11Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/BattleFoodAgent.cs.meta
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113Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/BattleFoodScoring.cs
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11Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/BattleFoodScoring.cs.meta
1001
Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/BattleFoodArea.prefab
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|
|||
using System; |
|||
using UnityEngine; |
|||
using Unity.MLAgents; |
|||
using Unity.MLAgents.Actuators; |
|||
using Unity.MLAgents.Sensors; |
|||
using Unity.MLAgents.Policies; |
|||
using Random = UnityEngine.Random; |
|||
|
|||
public class BattleFoodAgent : Agent |
|||
{ |
|||
BattleFoodScoring m_Scoring; |
|||
public GameObject area; |
|||
FoodCollectorArea m_MyArea; |
|||
bool m_Frozen; |
|||
bool m_Poisoned; |
|||
bool m_Satiated; |
|||
bool m_Shoot; |
|||
float m_FrozenTime; |
|||
float m_EffectTime; |
|||
Rigidbody m_AgentRb; |
|||
float m_LaserLength; |
|||
// Speed of agent rotation.
|
|||
|
|||
BehaviorParameters m_BehaviorParameters; |
|||
public float turnSpeed = 300; |
|||
|
|||
// Speed of agent movement.
|
|||
public float moveSpeed = 2; |
|||
public Material normalMaterial; |
|||
public Material badMaterial; |
|||
public Material goodMaterial; |
|||
public Material frozenMaterial; |
|||
public GameObject myLaser; |
|||
public bool contribute; |
|||
public bool useVectorObs; |
|||
[Tooltip("Use only the frozen flag in vector observations. If \"Use Vector Obs\" " + |
|||
"is checked, this option has no effect. This option is necessary for the " + |
|||
"VisualFoodCollector scene.")] |
|||
public bool useVectorFrozenFlag; |
|||
|
|||
public BattleFoodScoring areaScoring; |
|||
|
|||
EnvironmentParameters m_ResetParams; |
|||
|
|||
public override void Initialize() |
|||
{ |
|||
m_AgentRb = GetComponent<Rigidbody>(); |
|||
m_MyArea = area.GetComponent<FoodCollectorArea>(); |
|||
|
|||
m_ResetParams = Academy.Instance.EnvironmentParameters; |
|||
SetResetParameters(); |
|||
m_BehaviorParameters = gameObject.GetComponent<BehaviorParameters>(); |
|||
BattleAgentState playerState = new BattleAgentState |
|||
{ |
|||
teamId = m_BehaviorParameters.TeamId, |
|||
agent = this, |
|||
}; |
|||
areaScoring.playerStates.Add(playerState); |
|||
} |
|||
|
|||
public override void CollectObservations(VectorSensor sensor) |
|||
{ |
|||
if (useVectorObs) |
|||
{ |
|||
var localVelocity = transform.InverseTransformDirection(m_AgentRb.velocity); |
|||
sensor.AddObservation(localVelocity.x); |
|||
sensor.AddObservation(localVelocity.z); |
|||
sensor.AddObservation(m_Frozen); |
|||
sensor.AddObservation(m_Shoot); |
|||
} |
|||
else if (useVectorFrozenFlag) |
|||
{ |
|||
sensor.AddObservation(m_Frozen); |
|||
} |
|||
} |
|||
|
|||
public Color32 ToColor(int hexVal) |
|||
{ |
|||
var r = (byte)((hexVal >> 16) & 0xFF); |
|||
var g = (byte)((hexVal >> 8) & 0xFF); |
|||
var b = (byte)(hexVal & 0xFF); |
|||
return new Color32(r, g, b, 255); |
|||
} |
|||
|
|||
public void MoveAgent(ActionSegment<int> act) |
|||
{ |
|||
m_Shoot = false; |
|||
|
|||
if (Time.time > m_FrozenTime + 10f && m_Frozen) |
|||
{ |
|||
Unfreeze(); |
|||
} |
|||
if (Time.time > m_EffectTime + 0.5f) |
|||
{ |
|||
if (m_Poisoned) |
|||
{ |
|||
Unpoison(); |
|||
} |
|||
if (m_Satiated) |
|||
{ |
|||
Unsatiate(); |
|||
} |
|||
} |
|||
|
|||
var dirToGo = Vector3.zero; |
|||
var rotateDir = Vector3.zero; |
|||
|
|||
if (!m_Frozen) |
|||
{ |
|||
var shootCommand = false; |
|||
var forwardAxis = (int)act[0]; |
|||
var rightAxis = (int)act[1]; |
|||
var rotateAxis = (int)act[2]; |
|||
var shootAxis = (int)act[3]; |
|||
|
|||
switch (forwardAxis) |
|||
{ |
|||
case 1: |
|||
dirToGo = transform.forward; |
|||
break; |
|||
case 2: |
|||
dirToGo = -transform.forward; |
|||
break; |
|||
} |
|||
|
|||
switch (rightAxis) |
|||
{ |
|||
case 1: |
|||
dirToGo = transform.right; |
|||
break; |
|||
case 2: |
|||
dirToGo = -transform.right; |
|||
break; |
|||
} |
|||
|
|||
switch (rotateAxis) |
|||
{ |
|||
case 1: |
|||
rotateDir = -transform.up; |
|||
break; |
|||
case 2: |
|||
rotateDir = transform.up; |
|||
break; |
|||
} |
|||
switch (shootAxis) |
|||
{ |
|||
case 1: |
|||
shootCommand = true; |
|||
break; |
|||
} |
|||
if (shootCommand) |
|||
{ |
|||
m_Shoot = true; |
|||
dirToGo *= 0.5f; |
|||
m_AgentRb.velocity *= 0.75f; |
|||
} |
|||
m_AgentRb.AddForce(dirToGo * moveSpeed, ForceMode.VelocityChange); |
|||
transform.Rotate(rotateDir, Time.fixedDeltaTime * turnSpeed); |
|||
} |
|||
|
|||
if (m_AgentRb.velocity.sqrMagnitude > 25f) // slow it down
|
|||
{ |
|||
m_AgentRb.velocity *= 0.95f; |
|||
} |
|||
|
|||
if (m_Shoot) |
|||
{ |
|||
var myTransform = transform; |
|||
myLaser.transform.localScale = new Vector3(1f, 1f, m_LaserLength); |
|||
var rayDir = 25.0f * myTransform.forward; |
|||
Debug.DrawRay(myTransform.position, rayDir, Color.red, 0f, true); |
|||
RaycastHit hit; |
|||
if (Physics.SphereCast(transform.position, 2f, rayDir, out hit, 25f)) |
|||
{ |
|||
if (hit.collider.gameObject.CompareTag("agent")) |
|||
{ |
|||
hit.collider.gameObject.GetComponent<BattleFoodAgent>().Freeze(); |
|||
} |
|||
} |
|||
} |
|||
else |
|||
{ |
|||
myLaser.transform.localScale = new Vector3(0f, 0f, 0f); |
|||
} |
|||
} |
|||
|
|||
void Freeze() |
|||
{ |
|||
gameObject.tag = "frozenAgent"; |
|||
m_Frozen = true; |
|||
m_FrozenTime = Time.time; |
|||
gameObject.GetComponentInChildren<Renderer>().material = frozenMaterial; |
|||
} |
|||
|
|||
void Unfreeze() |
|||
{ |
|||
m_Frozen = false; |
|||
gameObject.tag = "agent"; |
|||
gameObject.GetComponentInChildren<Renderer>().material = normalMaterial; |
|||
} |
|||
|
|||
void Poison() |
|||
{ |
|||
m_Poisoned = true; |
|||
m_EffectTime = Time.time; |
|||
gameObject.GetComponentInChildren<Renderer>().material = badMaterial; |
|||
} |
|||
|
|||
void Unpoison() |
|||
{ |
|||
m_Poisoned = false; |
|||
gameObject.GetComponentInChildren<Renderer>().material = normalMaterial; |
|||
} |
|||
|
|||
void Satiate() |
|||
{ |
|||
m_Satiated = true; |
|||
m_EffectTime = Time.time; |
|||
gameObject.GetComponentInChildren<Renderer>().material = goodMaterial; |
|||
} |
|||
|
|||
void Unsatiate() |
|||
{ |
|||
m_Satiated = false; |
|||
gameObject.GetComponentInChildren<Renderer>().material = normalMaterial; |
|||
} |
|||
|
|||
public override void OnActionReceived(ActionBuffers actionBuffers) |
|||
|
|||
{ |
|||
MoveAgent(actionBuffers.DiscreteActions); |
|||
} |
|||
|
|||
public override void Heuristic(in ActionBuffers actionsOut) |
|||
{ |
|||
var discreteActionsOut = actionsOut.DiscreteActions; |
|||
discreteActionsOut[0] = 0; |
|||
discreteActionsOut[1] = 0; |
|||
discreteActionsOut[2] = 0; |
|||
if (Input.GetKey(KeyCode.D)) |
|||
{ |
|||
discreteActionsOut[2] = 2; |
|||
} |
|||
if (Input.GetKey(KeyCode.W)) |
|||
{ |
|||
discreteActionsOut[0] = 1; |
|||
} |
|||
if (Input.GetKey(KeyCode.A)) |
|||
{ |
|||
discreteActionsOut[2] = 1; |
|||
} |
|||
if (Input.GetKey(KeyCode.S)) |
|||
{ |
|||
discreteActionsOut[0] = 2; |
|||
} |
|||
discreteActionsOut[3] = Input.GetKey(KeyCode.Space) ? 1 : 0; |
|||
} |
|||
|
|||
public override void OnEpisodeBegin() |
|||
{ |
|||
Unfreeze(); |
|||
Unpoison(); |
|||
Unsatiate(); |
|||
m_Shoot = false; |
|||
m_AgentRb.velocity = Vector3.zero; |
|||
myLaser.transform.localScale = new Vector3(0f, 0f, 0f); |
|||
transform.position = new Vector3(Random.Range(-m_MyArea.range, m_MyArea.range), |
|||
2f, Random.Range(-m_MyArea.range, m_MyArea.range)) |
|||
+ area.transform.position; |
|||
transform.rotation = Quaternion.Euler(new Vector3(0f, Random.Range(0, 360))); |
|||
SetResetParameters(); |
|||
} |
|||
|
|||
void OnCollisionEnter(Collision collision) |
|||
{ |
|||
if (collision.gameObject.CompareTag("food")) |
|||
{ |
|||
Satiate(); |
|||
collision.gameObject.GetComponent<FoodLogic>().OnEaten(); |
|||
if (contribute) |
|||
{ |
|||
areaScoring.AddScore(m_BehaviorParameters.TeamId, 1); |
|||
} |
|||
} |
|||
if (collision.gameObject.CompareTag("badFood")) |
|||
{ |
|||
Poison(); |
|||
collision.gameObject.GetComponent<FoodLogic>().OnEaten(); |
|||
|
|||
if (contribute) |
|||
{ |
|||
areaScoring.AddScore(m_BehaviorParameters.TeamId, -1); |
|||
} |
|||
} |
|||
} |
|||
|
|||
public void SetLaserLengths() |
|||
{ |
|||
m_LaserLength = m_ResetParams.GetWithDefault("laser_length", 1.0f); |
|||
} |
|||
|
|||
public void SetAgentScale() |
|||
{ |
|||
float agentScale = m_ResetParams.GetWithDefault("agent_scale", 1.0f); |
|||
gameObject.transform.localScale = new Vector3(agentScale, agentScale, agentScale); |
|||
} |
|||
|
|||
public void SetResetParameters() |
|||
{ |
|||
SetLaserLengths(); |
|||
SetAgentScale(); |
|||
} |
|||
} |
|||
|
|||
fileFormatVersion: 2 |
|||
guid: 7697692a453cb4e49bf6d1880dcfe0a4 |
|||
MonoImporter: |
|||
externalObjects: {} |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
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|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|||
|
|||
using UnityEngine; |
|||
using UnityEngine.UI; |
|||
using Unity.MLAgents; |
|||
using System.Collections; |
|||
using System.Collections.Generic; |
|||
|
|||
|
|||
[System.Serializable] |
|||
public class BattleAgentState |
|||
{ |
|||
public int teamId; |
|||
public BattleFoodAgent agent; |
|||
} |
|||
|
|||
public class BattleFoodScoring : MonoBehaviour |
|||
{ |
|||
[HideInInspector] |
|||
public GameObject[] agents; |
|||
[HideInInspector] |
|||
public FoodCollectorArea[] listArea; |
|||
|
|||
public int WinningScore; |
|||
public Text scoreText; |
|||
public List<BattleAgentState> playerStates = new List<BattleAgentState>(); |
|||
|
|||
StatsRecorder m_Recorder; |
|||
Dictionary<int, int> m_Scores; |
|||
|
|||
public void Awake() |
|||
{ |
|||
Academy.Instance.OnEnvironmentReset += EnvironmentReset; |
|||
m_Recorder = Academy.Instance.StatsRecorder; |
|||
m_Scores = new Dictionary<int, int>(); |
|||
} |
|||
|
|||
void EnvironmentReset() |
|||
{ |
|||
ClearObjects(GameObject.FindGameObjectsWithTag("food")); |
|||
ClearObjects(GameObject.FindGameObjectsWithTag("badFood")); |
|||
|
|||
agents = GameObject.FindGameObjectsWithTag("agent"); |
|||
listArea = FindObjectsOfType<FoodCollectorArea>(); |
|||
foreach (var fa in listArea) |
|||
{ |
|||
fa.ResetFoodArea(agents); |
|||
} |
|||
m_Scores.Clear(); |
|||
} |
|||
|
|||
void ClearObjects(GameObject[] objects) |
|||
{ |
|||
foreach (var food in objects) |
|||
{ |
|||
Destroy(food); |
|||
} |
|||
} |
|||
|
|||
public void Update() |
|||
{ |
|||
|
|||
// Send stats via SideChannel so that they'll appear in TensorBoard.
|
|||
// These values get averaged every summary_frequency steps, so we don't
|
|||
// need to send every Update() call.
|
|||
if ((Time.frameCount % 100) == 0) |
|||
{ |
|||
foreach (KeyValuePair<int, int> entry in m_Scores) |
|||
{ |
|||
m_Recorder.Add($"Team {entry.Key} Score", entry.Value); |
|||
} |
|||
} |
|||
} |
|||
|
|||
public void AddScore(int teamId, int score) |
|||
{ |
|||
if (m_Scores.ContainsKey(teamId)) |
|||
{ |
|||
m_Scores[teamId] += score; |
|||
} |
|||
else |
|||
{ |
|||
m_Scores[teamId] = score; |
|||
} |
|||
if (m_Scores[teamId] >= WinningScore) |
|||
{ |
|||
foreach (BattleAgentState state in playerStates) |
|||
{ |
|||
if (state.teamId == teamId) |
|||
{ |
|||
state.agent.AddReward(1); |
|||
} |
|||
else |
|||
{ |
|||
state.agent.AddReward(-1); |
|||
} |
|||
state.agent.EndEpisode(); |
|||
} |
|||
m_Scores.Clear(); |
|||
} |
|||
} |
|||
|
|||
public int GetScore(int teamId) |
|||
{ |
|||
if (m_Scores.ContainsKey(teamId)) |
|||
{ |
|||
return m_Scores[teamId]; |
|||
} |
|||
else |
|||
{ |
|||
m_Scores[teamId] = 0; |
|||
return 0; |
|||
} |
|||
} |
|||
} |
|||
|
|||
fileFormatVersion: 2 |
|||
guid: a5b8c6c903f2548b4aa0f6b6d6fa7538 |
|||
MonoImporter: |
|||
externalObjects: {} |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|||
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