Merge branch 'develop-stack-walljump' into develop-centralizedcritic

Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs

 public class WallJumpAgent : Agent
 {
     // Depending on this value, the wall will have different height
-    int m_Configuration;
+    protected int m_Configuration;
     // Brain to use when no wall is present
     public NNModel noWallBrain;
     // Brain to use when a jumpable wall is present
 
     public GameObject ground;
     public GameObject spawnArea;
-    Bounds m_SpawnAreaBounds;
+    protected Bounds m_SpawnAreaBounds;
-    Rigidbody m_ShortBlockRb;
-    Rigidbody m_AgentRb;
-    Material m_GroundMaterial;
-    Renderer m_GroundRenderer;
-    WallJumpSettings m_WallJumpSettings;
+    protected Rigidbody m_ShortBlockRb;
+    protected Rigidbody m_AgentRb;
+    protected Material m_GroundMaterial;
+    protected Renderer m_GroundRenderer;
+    protected WallJumpSettings m_WallJumpSettings;
 
     public float jumpingTime;
     public float jumpTime;
     string m_SmallWallBehaviorName = "SmallWallJump";
     string m_BigWallBehaviorName = "BigWallJump";
 
-    EnvironmentParameters m_ResetParams;
+    protected EnvironmentParameters m_ResetParams;
 
     public override void Initialize()
     {
     /// <returns>The Enumerator to be used in a Coroutine.</returns>
     /// <param name="mat">The material to be swapped.</param>
     /// <param name="time">The time the material will remain.</param>
-    IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
+    protected IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
     {
         m_GroundRenderer.material = mat;
         yield return new WaitForSeconds(time); //wait for 2 sec
     }
 
     // Detect when the agent hits the goal
-    void OnTriggerStay(Collider col)
+    protected virtual void OnTriggerStay(Collider col)
     {
         if (col.gameObject.CompareTag("goal") && DoGroundCheck(true))
         {
     /// If 1:  Small wall and smallWallBrain.
     /// Other : Tall wall and BigWallBrain.
     /// </param>
-    void ConfigureAgent(int config)
+    protected virtual void ConfigureAgent(int config)
     {
         var localScale = wall.transform.localScale;
         if (config == 0)

Project/Assets/ML-Agents/Examples/WallJump/Prefabs/WallJumpCollabArea.prefab.meta

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Project/Assets/ML-Agents/Examples/WallJump/Scenes/WallJumpCollab.unity.meta

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Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallAreaScoring.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class WallAreaScoring : MonoBehaviour
+{
+    public GameObject[] agents;
+    WallJumpSettings m_WallJumpSettings;
+    Renderer m_GroundRenderer;
+    Material m_GroundMaterial;
+
+    protected IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
+    {
+        m_GroundRenderer.material = mat;
+        yield return new WaitForSeconds(time); //wait for 2 sec
+        m_GroundRenderer.material = m_GroundMaterial;
+    }
+
+    public void Start()
+    {
+        m_WallJumpSettings = FindObjectOfType<WallJumpSettings>();
+        m_GroundRenderer = GetComponent<Renderer>();
+        m_GroundMaterial = m_GroundRenderer.material;
+    }
+
+    public void WinCondition()
+    {
+        foreach (var agent in agents)
+        {
+            WallJumpCollabAgent agentScript = agent.GetComponent<WallJumpCollabAgent>();
+            agentScript.SetReward(1f);
+            agentScript.EndEpisode();
+        }
+        StartCoroutine(
+            GoalScoredSwapGroundMaterial(m_WallJumpSettings.goalScoredMaterial, 1f));
+    }
+
+    public void LoseCondition()
+    {
+        foreach (var agent in agents)
+        {
+            WallJumpCollabAgent agentScript = agent.GetComponent<WallJumpCollabAgent>();
+            agentScript.SetReward(-1f);
+            agentScript.EndEpisode();
+
+        }
+        StartCoroutine(
+            GoalScoredSwapGroundMaterial(m_WallJumpSettings.failMaterial, .2f));
+    }
+}

Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallAreaScoring.cs.meta

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Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpCollabAgent.cs

+//Put this script on your blue cube.
+
+using System.Collections;
+using UnityEngine;
+using Unity.MLAgents;
+using Unity.Barracuda;
+using Unity.MLAgents.Actuators;
+using Unity.MLAgents.Sensors;
+using Unity.MLAgentsExamples;
+
+public class WallJumpCollabAgent : WallJumpAgent
+{
+    Vector3 m_InitialPosition;
+
+    WallAreaScoring m_Scoring;
+    public override void Initialize()
+    {
+        m_WallJumpSettings = FindObjectOfType<WallJumpSettings>();
+        m_Scoring = ground.GetComponent<WallAreaScoring>();
+        m_Configuration = 5;
+
+        m_AgentRb = GetComponent<Rigidbody>();
+        // m_ShortBlockRb = shortBlock.GetComponent<Rigidbody>();
+        m_SpawnAreaBounds = spawnArea.GetComponent<Collider>().bounds;
+        m_GroundRenderer = ground.GetComponent<Renderer>();
+        m_GroundMaterial = m_GroundRenderer.material;
+        m_InitialPosition = transform.localPosition;
+        spawnArea.SetActive(false);
+
+        m_ResetParams = Academy.Instance.EnvironmentParameters;
+    }
+    public override void OnEpisodeBegin()
+    {
+        transform.localPosition = m_InitialPosition;
+        m_Configuration = 5;
+        m_AgentRb.velocity = default(Vector3);
+    }
+
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+    {
+        MoveAgent(actionBuffers.DiscreteActions);
+        if (!Physics.Raycast(m_AgentRb.position, Vector3.down, 20))
+        {
+            m_Scoring.LoseCondition();
+        }
+    }
+
+    protected override void ConfigureAgent(int config)
+    {
+        var localScale = wall.transform.localScale;
+        var height = m_ResetParams.GetWithDefault("big_wall_height", 10);
+        localScale = new Vector3(
+            localScale.x,
+            height,
+            localScale.z);
+        wall.transform.localScale = localScale;
+    }
+
+    // Detect when the agent hits the goal
+    protected override void OnTriggerStay(Collider col)
+    {
+        if (col.gameObject.CompareTag("goal") && DoGroundCheck(true))
+        {
+            m_Scoring.WinCondition();
+        }
+    }
+}

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