Merge commit 'f7fa7f78e472b59b77ca941a52c82164921e198c' into develop-zombieteammanager-disableagent

3 年前 · 9c69297d
--- a/Project/Assets/ML-Agents/Examples/PushBlock/Scenes/2ZombieVs3AgentsPushBlock.unity
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/Scenes/2ZombieVs3AgentsPushBlock.unity
  m_GameObject: {fileID: 180376172}
  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
  m_LocalPosition: {x: 2.8199997, y: 1, z: -1.43}
-  m_LocalScale: {x: 2, y: 0.75, z: 2}
+  m_LocalScale: {x: 4, y: 0.75, z: 4}
  m_Children: []
  m_Father: {fileID: 35422107}
  m_RootOrder: 6
    VectorActionDescriptions: []
    VectorActionSpaceType: 0
    hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 11400000, guid: 9a4ea4894b7fb49859cfa9c16652b207, type: 3}
+  m_Model: {fileID: 11400000, guid: 2c785861dab4f42309917b4d04e2c8e7, type: 3}
-  GroupId: 0
  m_UseChildSensors: 1
  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
    VectorActionDescriptions: []
    VectorActionSpaceType: 0
    hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 11400000, guid: 9a4ea4894b7fb49859cfa9c16652b207, type: 3}
+  m_Model: {fileID: 11400000, guid: 95c3b98e2aad84cefbd6f82ee7805789, type: 3}
-  GroupId: 1
  m_UseChildSensors: 1
  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
  m_BehaviorType: 2
  m_BehaviorName: 
  TeamId: 0
-  GroupId: 0
  m_UseChildSensors: 1
  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
    VectorActionDescriptions: []
    VectorActionSpaceType: 0
    hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 11400000, guid: 9a4ea4894b7fb49859cfa9c16652b207, type: 3}
+  m_Model: {fileID: 11400000, guid: 95c3b98e2aad84cefbd6f82ee7805789, type: 3}
-  GroupId: 1
  m_UseChildSensors: 1
  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
  m_BehaviorType: 2
  m_BehaviorName: 
  TeamId: 0
-  GroupId: 0
  m_UseChildSensors: 1
  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
  m_BehaviorType: 2
  m_BehaviorName: 
  TeamId: 0
-  GroupId: 0
  m_UseChildSensors: 1
  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
  m_BehaviorType: 0
  m_BehaviorName: PushBlock
  TeamId: 0
-  GroupId: 2
  m_UseChildSensors: 1
  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
  m_BehaviorType: 0
  m_BehaviorName: PushBlock
  TeamId: 0
-  GroupId: 2
  m_UseChildSensors: 1
  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
  m_BehaviorType: 0
  m_BehaviorName: PushBlock
  TeamId: 0
-  GroupId: 3
  m_UseChildSensors: 1
  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
    VectorActionDescriptions: []
    VectorActionSpaceType: 0
    hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 11400000, guid: 9a4ea4894b7fb49859cfa9c16652b207, type: 3}
+  m_Model: {fileID: 11400000, guid: 95c3b98e2aad84cefbd6f82ee7805789, type: 3}
-  GroupId: 1
  m_UseChildSensors: 1
  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
  m_GameObject: {fileID: 997359139}
  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
  m_LocalPosition: {x: 2.8199997, y: 1, z: -1.43}
-  m_LocalScale: {x: 2, y: 0.75, z: 2}
+  m_LocalScale: {x: 4, y: 0.75, z: 4}
  m_Children: []
  m_Father: {fileID: 1056693890}
  m_RootOrder: 6
  m_BehaviorType: 0
  m_BehaviorName: PushBlock
  TeamId: 0
-  GroupId: 2
  m_UseChildSensors: 1
  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
  m_BehaviorType: 0
  m_BehaviorName: PushBlock
  TeamId: 0
-  GroupId: 3
  m_UseChildSensors: 1
  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
  m_GameObject: {fileID: 1906676962}
  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
  m_LocalPosition: {x: 2.8199997, y: 1, z: -1.43}
-  m_LocalScale: {x: 2, y: 0.75, z: 2}
+  m_LocalScale: {x: 4, y: 0.75, z: 4}
  m_Children: []
  m_Father: {fileID: 2124347356}
  m_RootOrder: 6
  m_BehaviorType: 0
  m_BehaviorName: PushBlock
  TeamId: 0
-  GroupId: 3
  m_UseChildSensors: 1
  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
    VectorActionDescriptions: []
    VectorActionSpaceType: 0
    hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 11400000, guid: 9a4ea4894b7fb49859cfa9c16652b207, type: 3}
+  m_Model: {fileID: 11400000, guid: 2c785861dab4f42309917b4d04e2c8e7, type: 3}
-  GroupId: 0
  m_UseChildSensors: 1
  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
    StartingRot: {x: 0, y: 0, z: 0, w: 0}
    Rb: {fileID: 0}
  UseRandomAgentRotation: 1
-  UseRandomAgentPosition: 1
+  UseRandomAgentPosition: 0
  UseRandomBlockRotation: 1
  UseRandomBlockPosition: 1
 --- !u!1 &1257456948449766
    VectorActionDescriptions: []
    VectorActionSpaceType: 0
    hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 11400000, guid: 9a4ea4894b7fb49859cfa9c16652b207, type: 3}
+  m_Model: {fileID: 11400000, guid: 2c785861dab4f42309917b4d04e2c8e7, type: 3}
-  GroupId: 0
  m_UseChildSensors: 1
  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
  m_GameObject: {fileID: 8120829477783372687}
  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
  m_LocalPosition: {x: 2.8199997, y: 1, z: -1.43}
-  m_LocalScale: {x: 2, y: 0.75, z: 2}
+  m_LocalScale: {x: 4, y: 0.75, z: 4}
  m_Children: []
  m_Father: {fileID: 4006991767121726}
  m_RootOrder: 6
  m_BehaviorType: 2
  m_BehaviorName: 
  TeamId: 0
-  GroupId: 0
  m_UseChildSensors: 1
  m_UseChildActuators: 1
  m_ObservableAttributeHandling: 0
--- a/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/SimpleNPC.cs
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/SimpleNPC.cs

    public void SetRandomWalkSpeed()
    {
-        walkSpeed = Random.Range(1f, 7f);
+        walkSpeed = Random.Range(6f, 7f);
    }
 }
--- a/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockDeathEnvController.cs
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockDeathEnvController.cs
    public void KillAgent(Collision col, Transform t)
    {
        print($"zombie {t.name} ate {col.collider.name}");
-        //End Episode
-        foreach (var item in AgentsList)
-        {
-            if (!item.Agent)
-            {
-                return;
-            }
-        }
-
        //Disable killed Agent
        foreach (var item in AgentsList)
        {
                item.Agent.frozen = true;
                item.Rb.constraints |= RigidbodyConstraints.FreezePositionY;
                item.Col.enabled = false;
+                break;
-        // //End Episode
-        // foreach (var item in ZombiesList)
-        // {
-        //     if (item.Agent.transform == t)
-        //     {
-        //         item.Agent.gameObject.SetActive(false);
-        //         break;
-        //     }
-        // }
+        bool allZombiesDead = true;
+        // Kill zombies
+        foreach (var item in ZombiesList)
+        {
+            if (item.Agent.transform == t)
+            {
+                item.Agent.gameObject.SetActive(false);
+                //break;
+            }
+            if (item.Agent.gameObject.activeSelf)
+            {
+                allZombiesDead = false;
+            }
+        }
+
+        // If all zombies dead, unfreeze block
+        if (allZombiesDead)
+        {
+            foreach (var item in BlocksList)
+            {
+                // Unfreeze block's motion when zombies are killed
+                item.Rb.constraints &= RigidbodyConstraints.FreezePositionX;
+                item.Rb.constraints &= RigidbodyConstraints.FreezePositionZ;
+            }
+        }
    }


    public void ZombieTouchedBlock()
    {
        //Give Agent Rewards
-        foreach (var item in AgentsList)
-        {
-            item.Agent.AddReward(-1);
-        }
+        // foreach (var item in AgentsList)
+        // {
+        //     item.Agent.AddReward(-1);
+        // }
        // Swap ground material for a bit to indicate we scored.
        StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.failMaterial, 0.5f));
        ResetScene();
            item.Rb.velocity = Vector3.zero;
            item.Rb.angularVelocity = Vector3.zero;
            item.T.gameObject.SetActive(true);
+
+
+            // Freeze block's motion until zombies are killed
+            item.Rb.constraints |= RigidbodyConstraints.FreezePositionX;
+            item.Rb.constraints |= RigidbodyConstraints.FreezePositionZ;
        }
        //End Episode
        foreach (var item in ZombiesList)