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Delete zombie sstuff

/develop/pushcollabonly
Ervin Teng 4 年前
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d337e411
共有 15 个文件被更改，包括 1 次插入 和 1379 次删除
  1. 2
      Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/DungeonEscapeAgent.prefab
  2. 289
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockEnvController.cs
  3. 11
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockEnvController.cs.meta
  4. 45
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/SimpleNPC.cs
  5. 11
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/SimpleNPC.cs.meta
  6. 11
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockDeathEnvController.cs.meta
  7. 398
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockDeathEnvController.cs
  8. 60
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/DoorSwitchTrigger.cs
  9. 11
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/DoorSwitchTrigger.cs.meta
  10. 143
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentZombie.cs
  11. 12
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentZombie.cs.meta
  12. 11
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/DungeonEscapeEnvController.cs.meta
  13. 12
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentEscape.cs.meta
  14. 231
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/DungeonEscapeEnvController.cs
  15. 133
      Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentEscape.cs

2
Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/DungeonEscapeAgent.prefab
查看文件


VectorActionDescriptions: []
VectorActionSpaceType: 0
hasUpgradedBrainParametersWithActionSpec: 1
m_Model: {fileID: 0}
m_Model: {fileID: 11400000, guid: 7684463a4d88e4b5498c1721b0fe0731, type: 3}
m_InferenceDevice: 0
m_BehaviorType: 0
m_BehaviorName: PushBlock

289
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockEnvController.cs
查看文件


using System.Collections;
using System.Collections.Generic;
using Unity.MLAgents;
using UnityEngine;
public class ZombiePushBlockEnvController : MonoBehaviour
{
[System.Serializable]
public class AgentInfo
{
public PushAgentCollab Agent;
[HideInInspector]
public Vector3 StartingPos;
[HideInInspector]
public Quaternion StartingRot;
[HideInInspector]
public Rigidbody Rb;
public Collider Col;
}
[System.Serializable]
public class ZombieInfo
{
public SimpleNPC Agent;
[HideInInspector]
public Vector3 StartingPos;
[HideInInspector]
public Quaternion StartingRot;
[HideInInspector]
public Rigidbody Rb;
public Collider Col;
}
[System.Serializable]
public class BlockInfo
{
public Transform T;
[HideInInspector]
public Vector3 StartingPos;
[HideInInspector]
public Quaternion StartingRot;
[HideInInspector]
public Rigidbody Rb;
}
/// <summary>
/// Max Academy steps before this platform resets
/// </summary>
/// <returns></returns>
[Header("Max Environment Steps")] public int MaxEnvironmentSteps = 25000;
private int m_ResetTimer;
/// <summary>
/// The area bounds.
/// </summary>
[HideInInspector]
public Bounds areaBounds;
/// <summary>
/// The ground. The bounds are used to spawn the elements.
/// </summary>
public GameObject ground;
public GameObject area;
Material m_GroundMaterial; //cached on Awake()
/// <summary>
/// We will be changing the ground material based on success/failue
/// </summary>
Renderer m_GroundRenderer;
public List<AgentInfo> AgentsList = new List<AgentInfo>();
public List<ZombieInfo> ZombiesList = new List<ZombieInfo>();
public List<BlockInfo> BlocksList = new List<BlockInfo>();
public bool UseRandomAgentRotation = true;
public bool UseRandomAgentPosition = true;
public bool UseRandomBlockRotation = true;
public bool UseRandomBlockPosition = true;
PushBlockSettings m_PushBlockSettings;
private int m_NumberOfRemainingBlocks;
void Start()
{
// Get the ground's bounds
areaBounds = ground.GetComponent<Collider>().bounds;
// Get the ground renderer so we can change the material when a goal is scored
m_GroundRenderer = ground.GetComponent<Renderer>();
// Starting material
m_GroundMaterial = m_GroundRenderer.material;
m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
foreach (var item in BlocksList)
{
item.StartingPos = item.T.transform.position;
item.StartingRot = item.T.transform.rotation;
item.Rb = item.T.GetComponent<Rigidbody>();
}
foreach (var item in AgentsList)
{
item.StartingPos = item.Agent.transform.position;
item.StartingRot = item.Agent.transform.rotation;
item.Rb = item.Agent.GetComponent<Rigidbody>();
item.Col = item.Agent.GetComponent<Collider>();
}
foreach (var item in ZombiesList)
{
item.StartingPos = item.Agent.transform.position;
item.StartingRot = item.Agent.transform.rotation;
item.Col = item.Agent.GetComponent<Collider>();
}
ResetScene();
}
// Update is called once per frame
void FixedUpdate()
{
m_ResetTimer += 1;
if (m_ResetTimer > MaxEnvironmentSteps)
{
ResetScene();
}
}
//Kill/disable an agent
public void KillAgent(Collider col)
{
}
/// <summary>
/// Use the ground's bounds to pick a random spawn position.
/// </summary>
public Vector3 GetRandomSpawnPos()
{
var foundNewSpawnLocation = false;
var randomSpawnPos = Vector3.zero;
while (foundNewSpawnLocation == false)
{
var randomPosX = Random.Range(-areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier,
areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier);
var randomPosZ = Random.Range(-areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier,
areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier);
randomSpawnPos = ground.transform.position + new Vector3(randomPosX, 1f, randomPosZ);
if (Physics.CheckBox(randomSpawnPos, new Vector3(2.5f, 0.01f, 2.5f)) == false)
{
foundNewSpawnLocation = true;
}
}
return randomSpawnPos;
}
/// <summary>
/// Resets the block position and velocities.
/// </summary>
void ResetBlock(BlockInfo block)
{
// Get a random position for the block.
block.T.position = GetRandomSpawnPos();
// Reset block velocity back to zero.
block.Rb.velocity = Vector3.zero;
// Reset block angularVelocity back to zero.
block.Rb.angularVelocity = Vector3.zero;
}
/// <summary>
/// Swap ground material, wait time seconds, then swap back to the regular material.
/// </summary>
IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
{
m_GroundRenderer.material = mat;
yield return new WaitForSeconds(time); // Wait for 2 sec
m_GroundRenderer.material = m_GroundMaterial;
}
/// <summary>
/// Called when the agent moves the block into the goal.
/// </summary>
public void ScoredAGoal(Collider col, float score)
{
// //Decrement the counter
// m_NumberOfRemainingBlocks--;
//
// //Are we done?
// bool done = m_NumberOfRemainingBlocks == 0;
//
// //Disable the block
// col.gameObject.SetActive(false);
//Give Agent Rewards
foreach (var item in AgentsList)
{
item.Agent.AddReward(score);
}
// Swap ground material for a bit to indicate we scored.
StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.goalScoredMaterial, 0.5f));
// if (done)
// {
//Reset assets
ResetScene();
// }
}
public void ZombieTouchedBlock()
{
//Give Agent Rewards
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();
}
Quaternion GetRandomRot()
{
return Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
}
void ResetScene()
{
m_ResetTimer = 0;
//Random platform rot
var rotation = Random.Range(0, 4);
var rotationAngle = rotation * 90f;
area.transform.Rotate(new Vector3(0f, rotationAngle, 0f));
//End Episode
foreach (var item in AgentsList)
{
if (!item.Agent)
{
return;
}
item.Agent.EndEpisode();
}
//Reset Agents
foreach (var item in AgentsList)
{
var pos = UseRandomAgentPosition ? GetRandomSpawnPos() : item.StartingPos;
var rot = UseRandomAgentRotation ? GetRandomRot() : item.StartingRot;
item.Agent.transform.SetPositionAndRotation(pos, rot);
item.Rb.velocity = Vector3.zero;
item.Rb.angularVelocity = Vector3.zero;
}
//Reset Blocks
foreach (var item in BlocksList)
{
var pos = UseRandomBlockPosition ? GetRandomSpawnPos() : item.StartingPos;
var rot = UseRandomBlockRotation ? GetRandomRot() : item.StartingRot;
item.T.transform.SetPositionAndRotation(pos, rot);
item.Rb.velocity = Vector3.zero;
item.Rb.angularVelocity = Vector3.zero;
item.T.gameObject.SetActive(true);
}
//End Episode
foreach (var item in ZombiesList)
{
if (!item.Agent)
{
return;
}
// item.Agent.EndEpisode();
item.Agent.transform.SetPositionAndRotation(item.StartingPos, item.StartingRot);
item.Agent.SetRandomWalkSpeed();
}
//Reset counter
m_NumberOfRemainingBlocks = BlocksList.Count;
// m_NumberOfRemainingBlocks = 2;
}
}

11
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockEnvController.cs.meta
查看文件


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45
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/SimpleNPC.cs
查看文件


// using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class SimpleNPC : MonoBehaviour
{
public Transform target;
private Rigidbody rb;
public float walkSpeed = 1;
// public ForceMode walkForceMode;
private Vector3 dirToGo;
// private Vector3 m_StartingPos;
// Start is called before the first frame update
void Awake()
{
rb = GetComponent<Rigidbody>();
// m_StartingPos = transform.position;
}
// Update is called once per frame
void Update()
{
}
void FixedUpdate()
{
dirToGo = target.position - transform.position;
dirToGo.y = 0;
rb.rotation = Quaternion.LookRotation(dirToGo);
// rb.AddForce(dirToGo.normalized * walkSpeed * Time.fixedDeltaTime, walkForceMode);
// rb.MovePosition(rb.transform.TransformDirection(Vector3.forward * walkSpeed * Time.deltaTime));
// rb.MovePosition(rb.transform.TransformVector() (Vector3.forward * walkSpeed * Time.deltaTime));
rb.MovePosition(transform.position + transform.forward * walkSpeed * Time.deltaTime);
}
public void SetRandomWalkSpeed()
{
walkSpeed = Random.Range(1f, 7f);
}
}

11
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/SimpleNPC.cs.meta
查看文件


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11
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockDeathEnvController.cs.meta
查看文件


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398
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockDeathEnvController.cs
查看文件


using System.Collections;
using System.Collections.Generic;
using Unity.MLAgents;
using UnityEngine;
public class ZombiePushBlockDeathEnvController : MonoBehaviour
{
[System.Serializable]
public class PlayerInfo
{
public PushAgentZombie Agent;
[HideInInspector]
public Vector3 StartingPos;
[HideInInspector]
public Quaternion StartingRot;
[HideInInspector]
public Rigidbody Rb;
[HideInInspector]
public Collider Col;
}
[System.Serializable]
public class ZombieInfo
{
public SimpleNPC Agent;
[HideInInspector]
public Vector3 StartingPos;
[HideInInspector]
public Quaternion StartingRot;
[HideInInspector]
public Rigidbody Rb;
[HideInInspector]
public Collider Col;
public Transform T;
public bool IsDead;
}
// [System.Serializable]
// public class BlockInfo
// {
// public Transform T;
// [HideInInspector]
// public Vector3 StartingPos;
// [HideInInspector]
// public Quaternion StartingRot;
// [HideInInspector]
// public Rigidbody Rb;
// public Transform LockedBlock;
// }
/// <summary>
/// Max Academy steps before this platform resets
/// </summary>
/// <returns></returns>
[Header("Max Environment Steps")] public int MaxEnvironmentSteps = 25000;
private int m_ResetTimer;
/// <summary>
/// The area bounds.
/// </summary>
[HideInInspector]
public Bounds areaBounds;
/// <summary>
/// The ground. The bounds are used to spawn the elements.
/// </summary>
public GameObject ground;
// public GameObject area;
Material m_GroundMaterial; //cached on Awake()
/// <summary>
/// We will be changing the ground material based on success/failue
/// </summary>
Renderer m_GroundRenderer;
public List<PlayerInfo> AgentsList = new List<PlayerInfo>();
public List<ZombieInfo> ZombiesList = new List<ZombieInfo>();
// public List<BlockInfo> BlocksList = new List<BlockInfo>();
public bool UseRandomAgentRotation = true;
public bool UseRandomAgentPosition = true;
// public bool UseRandomBlockRotation = true;
// public bool UseRandomBlockPosition = true;
PushBlockSettings m_PushBlockSettings;
private int m_NumberOfRemainingBlocks;
public GameObject Key;
public GameObject LockedBlock;
public Rigidbody UnlockedBlock;
public Dictionary<Transform, PlayerInfo> m_AgentsDict = new Dictionary<Transform, PlayerInfo>();
public Dictionary<Transform, ZombieInfo> m_ZombiesDict = new Dictionary<Transform, ZombieInfo>();
// public Dictionary<Transform, BlockInfo> m_BlocksDict = new Dictionary<Transform, BlockInfo>();
private SimpleMultiAgentGroup m_AgentGroup;
public bool BlockIsLocked;
void Start()
{
// Get the ground's bounds
areaBounds = ground.GetComponent<Collider>().bounds;
// Get the ground renderer so we can change the material when a goal is scored
m_GroundRenderer = ground.GetComponent<Renderer>();
// Starting material
m_GroundMaterial = m_GroundRenderer.material;
m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
//Lock The Block
LockTheBlock();
//Hide The Key
Key.SetActive(false);
// foreach (var item in BlocksList)
// {
// item.StartingPos = item.T.transform.position;
// item.StartingRot = item.T.transform.rotation;
// item.Rb = item.T.GetComponent<Rigidbody>();
// m_BlocksDict.Add(item.T, item);
// }
// Initialize TeamManager
m_AgentGroup = new SimpleMultiAgentGroup();
foreach (var item in AgentsList)
{
item.StartingPos = item.Agent.transform.position;
item.StartingRot = item.Agent.transform.rotation;
item.Rb = item.Agent.GetComponent<Rigidbody>();
item.Col = item.Agent.GetComponent<Collider>();
m_AgentsDict.Add(item.Agent.transform, item);
// Add to team manager
m_AgentGroup.RegisterAgent(item.Agent);
}
foreach (var item in ZombiesList)
{
item.StartingPos = item.Agent.transform.position;
item.StartingRot = item.Agent.transform.rotation;
item.T = item.Agent.transform;
item.Col = item.Agent.GetComponent<Collider>();
m_ZombiesDict.Add(item.T, item);
}
ResetScene();
}
// Update is called once per frame
void FixedUpdate()
{
m_ResetTimer += 1;
if (m_ResetTimer >= MaxEnvironmentSteps && MaxEnvironmentSteps > 0)
{
m_AgentGroup.GroupEpisodeInterrupted();
ResetScene();
}
//Hurry Up Penalty
m_AgentGroup.AddGroupReward(-0.5f / MaxEnvironmentSteps);
}
// // public Dictionary<Agent>
// //Kill/disable an agent
// public void KillAgent(Collision col, Transform t)
// {
// print($"zombie {t.name} ate {col.collider.name}");
// //Disable killed Agent
// foreach (var item in AgentsList)
// {
// if (item.Col == col.collider)
// {
// item.Agent.EndEpisode();
// item.Col.gameObject.SetActive(false);
// break;
// }
// }
//
// //End Episode
// foreach (var item in ZombiesList)
// {
// if (item.Agent.transform == t)
// {
// KillZombie(item);
// break;
// }
// }
// }
public void UnlockBlock(Transform blockT)
{
LockedBlock.SetActive(false);
UnlockedBlock.velocity = Vector3.zero;
UnlockedBlock.angularVelocity = Vector3.zero;
UnlockedBlock.transform.SetPositionAndRotation(blockT.position, blockT.rotation);
UnlockedBlock.gameObject.SetActive(true);
BlockIsLocked = false;
m_AgentGroup.AddGroupReward(0.1f);
}
public void LockTheBlock()
{
LockedBlock.SetActive(true);
UnlockedBlock.velocity = Vector3.zero;
UnlockedBlock.angularVelocity = Vector3.zero;
UnlockedBlock.transform.SetPositionAndRotation(LockedBlock.transform.position, LockedBlock.transform.rotation);
UnlockedBlock.gameObject.SetActive(false);
BlockIsLocked = true;
}
public void KilledByZombie(PushAgentZombie agent, Collision zombCol)
{
zombCol.gameObject.SetActive(false);
agent.EndEpisode();
agent.gameObject.SetActive(false);
print($"zombie {zombCol.gameObject.name} ate {agent.transform.name}");
//Spawn the Key Pickup
Key.transform.SetPositionAndRotation(zombCol.collider.transform.position, zombCol.collider.transform.rotation);
Key.SetActive(true);
// Instantiate(KeyPrefab, zombCol.collider.transform.position, zombCol.collider.transform.rotation, transform);
}
/// <summary>
/// Use the ground's bounds to pick a random spawn position.
/// </summary>
public Vector3 GetRandomSpawnPos()
{
var foundNewSpawnLocation = false;
var randomSpawnPos = Vector3.zero;
while (foundNewSpawnLocation == false)
{
var randomPosX = Random.Range(-areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier,
areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier);
var randomPosZ = Random.Range(-areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier,
areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier);
randomSpawnPos = ground.transform.position + new Vector3(randomPosX, 1f, randomPosZ);
if (Physics.CheckBox(randomSpawnPos, new Vector3(2.5f, 0.01f, 2.5f)) == false)
{
foundNewSpawnLocation = true;
}
}
return randomSpawnPos;
}
/// <summary>
/// Swap ground material, wait time seconds, then swap back to the regular material.
/// </summary>
IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
{
m_GroundRenderer.material = mat;
yield return new WaitForSeconds(time); // Wait for 2 sec
m_GroundRenderer.material = m_GroundMaterial;
}
/// <summary>
/// Called when the agent moves the block into the goal.
/// </summary>
public void ScoredAGoal(Collider col, float score)
{
print($"Scored {score} on {gameObject.name}");
//Give Agent Rewards
m_AgentGroup.AddGroupReward(score);
// m_AgentGroup.EndGroupEpisode();
// Swap ground material for a bit to indicate we scored.
StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.goalScoredMaterial, 0.5f));
ResetScene();
}
public void ZombieTouchedBlock()
{
//Give Agents Penalties
m_AgentGroup.AddGroupReward(-1);
// m_AgentGroup.EndGroupEpisode();
// Swap ground material for a bit to indicate we scored.
StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.failMaterial, 0.5f));
ResetScene();
}
Quaternion GetRandomRot()
{
return Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
}
void ResetScene()
{
//Reset counter
m_ResetTimer = 0;
//Random platform rot
var rotation = Random.Range(0, 4);
var rotationAngle = rotation * 90f;
transform.Rotate(new Vector3(0f, rotationAngle, 0f));
//Reset Agents
foreach (var item in AgentsList)
{
var pos = UseRandomAgentPosition ? GetRandomSpawnPos() : item.StartingPos;
var rot = UseRandomAgentRotation ? GetRandomRot() : item.StartingRot;
item.Agent.transform.SetPositionAndRotation(pos, rot);
item.Rb.velocity = Vector3.zero;
item.Rb.angularVelocity = Vector3.zero;
item.Agent.MyKey.SetActive(false);
item.Agent.IHaveAKey = false;
item.Agent.gameObject.SetActive(true);
}
//Reset Blocks
LockedBlock.transform.position = GetRandomSpawnPos();
LockedBlock.transform.rotation = GetRandomRot();
LockTheBlock();
//Reset Key
Key.SetActive(false);
//End Episode
foreach (var item in ZombiesList)
{
if (!item.Agent)
{
return;
}
// item.Agent.EndEpisode();
item.Agent.transform.SetPositionAndRotation(item.StartingPos, item.StartingRot);
item.Agent.SetRandomWalkSpeed();
item.Agent.gameObject.SetActive(true);
}
m_AgentGroup.EndGroupEpisode();
}
// void ResetScene()
// {
// m_ResetTimer = 0;
//
// //Random platform rot
// var rotation = Random.Range(0, 4);
// var rotationAngle = rotation * 90f;
// transform.Rotate(new Vector3(0f, rotationAngle, 0f));
//
// //End Episode
// foreach (var item in AgentsList)
// {
// if (!item.Agent)
// {
// return;
// }
// item.Agent.EndEpisode();
// }
// //Reset Agents
// foreach (var item in AgentsList)
// {
// var pos = UseRandomAgentPosition ? GetRandomSpawnPos() : item.StartingPos;
// var rot = UseRandomAgentRotation ? GetRandomRot() : item.StartingRot;
//
// item.Agent.transform.SetPositionAndRotation(pos, rot);
// item.Rb.velocity = Vector3.zero;
// item.Rb.angularVelocity = Vector3.zero;
// item.Agent.gameObject.SetActive(true);
// }
//
// //Reset Blocks
// foreach (var item in BlocksList)
// {
// var pos = UseRandomBlockPosition ? GetRandomSpawnPos() : item.StartingPos;
// var rot = UseRandomBlockRotation ? GetRandomRot() : item.StartingRot;
//
// item.T.transform.SetPositionAndRotation(pos, rot);
// item.Rb.velocity = Vector3.zero;
// item.Rb.angularVelocity = Vector3.zero;
// item.T.gameObject.SetActive(true);
// // BlockIsLocked(item, true);
// }
// //End Episode
// foreach (var item in ZombiesList)
// {
// if (!item.Agent)
// {
// return;
// }
// // item.Agent.EndEpisode();
// item.Agent.transform.SetPositionAndRotation(item.StartingPos, item.StartingRot);
// item.Agent.SetRandomWalkSpeed();
// item.Agent.gameObject.SetActive(true);
// }
//
// //Reset counter
// m_NumberOfRemainingBlocks = BlocksList.Count;
// // m_NumberOfRemainingBlocks = 2;
// }
}

60
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/DoorSwitchTrigger.cs
查看文件


using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.Events;
public class DoorSwitchTrigger : MonoBehaviour
{
[Header("Trigger Collider Tag To Detect")]
public string tagToDetect = "agent"; //collider tag to detect
[Header("Goal Value")]
public float GoalValue = 1;
private Collider m_col;
[System.Serializable]
public class TriggerEvent : UnityEvent<Collider, float>
{
}
[Header("Trigger Callbacks")]
public TriggerEvent onTriggerEnterEvent = new TriggerEvent();
public TriggerEvent onTriggerStayEvent = new TriggerEvent();
public TriggerEvent onTriggerExitEvent = new TriggerEvent();
private void OnTriggerEnter(Collider col)
{
if (col.CompareTag(tagToDetect))
{
onTriggerEnterEvent.Invoke(m_col, GoalValue);
}
}
private void OnTriggerStay(Collider col)
{
if (col.CompareTag(tagToDetect))
{
onTriggerStayEvent.Invoke(m_col, GoalValue);
}
}
private void OnTriggerExit(Collider col)
{
if (col.CompareTag(tagToDetect))
{
onTriggerExitEvent.Invoke(m_col, GoalValue);
}
}
// Start is called before the first frame update
void Awake()
{
m_col = GetComponent<Collider>();
}
// Update is called once per frame
void Update()
{
}
}

11
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/DoorSwitchTrigger.cs.meta
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143
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentZombie.cs
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//Put this script on your blue cube.
using System.Collections;
using UnityEngine;
using Unity.MLAgents;
using Unity.MLAgents.Sensors;
using Unity.MLAgents.Actuators;
public class PushAgentZombie : Agent
{
public GameObject MyKey;
public bool IHaveAKey;
private PushBlockSettings m_PushBlockSettings;
private Rigidbody m_AgentRb; //cached on initialization
private ZombiePushBlockDeathEnvController m_GameController;
public override void Initialize()
{
m_GameController = GetComponentInParent<ZombiePushBlockDeathEnvController>();
m_AgentRb = GetComponent<Rigidbody>();
m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
MyKey.SetActive(false);
IHaveAKey = false;
}
public override void OnEpisodeBegin()
{
MyKey.SetActive(false);
IHaveAKey = false;
}
public override void CollectObservations(VectorSensor sensor)
{
// if (useVectorObs)
// {
sensor.AddObservation(IHaveAKey);
sensor.AddObservation(m_GameController.BlockIsLocked);
// sensor.AddObservation(m_GameController.PlayerDict[this].HoldingSwitch);
// sensor.AddObservation(m_GameController.PlayerDict[this].Scored);
// }
}
/// <summary>
/// Moves the agent according to the selected action.
/// </summary>
public void MoveAgent(ActionSegment<int> act)
{
var dirToGo = Vector3.zero;
var rotateDir = Vector3.zero;
var action = act[0];
switch (action)
{
case 1:
dirToGo = transform.forward * 1f;
break;
case 2:
dirToGo = transform.forward * -1f;
break;
case 3:
rotateDir = transform.up * 1f;
break;
case 4:
rotateDir = transform.up * -1f;
break;
case 5:
dirToGo = transform.right * -0.75f;
break;
case 6:
dirToGo = transform.right * 0.75f;
break;
}
transform.Rotate(rotateDir, Time.fixedDeltaTime * 200f);
m_AgentRb.AddForce(dirToGo * m_PushBlockSettings.agentRunSpeed,
ForceMode.VelocityChange);
}
/// <summary>
/// Called every step of the engine. Here the agent takes an action.
/// </summary>
public override void OnActionReceived(ActionBuffers actionBuffers)
{
// Move the agent using the action.
MoveAgent(actionBuffers.DiscreteActions);
}
void OnCollisionEnter(Collision col)
{
if (col.transform.CompareTag("lock"))
{
if (IHaveAKey)
{
m_GameController.UnlockBlock(col.transform);
MyKey.SetActive(false);
IHaveAKey = false;
}
}
if (col.transform.CompareTag("zombie"))
{
m_GameController.KilledByZombie(this, col);
MyKey.SetActive(false);
IHaveAKey = false;
}
}
void OnTriggerEnter(Collider col)
{
//if we find a key and it's parent is the main platform we can pick it up
// if (col.transform.CompareTag("key"))
if (col.transform.CompareTag("key") && col.transform.parent == transform.parent && gameObject.activeInHierarchy)
{
print("picked up key");
MyKey.SetActive(true);
IHaveAKey = true;
col.gameObject.SetActive(false);
// DestroyImmediate(col.gameObject);
}
}
public override void Heuristic(in ActionBuffers actionsOut)
{
var discreteActionsOut = actionsOut.DiscreteActions;
discreteActionsOut[0] = 0;
if (Input.GetKey(KeyCode.D))
{
discreteActionsOut[0] = 3;
}
else if (Input.GetKey(KeyCode.W))
{
discreteActionsOut[0] = 1;
}
else if (Input.GetKey(KeyCode.A))
{
discreteActionsOut[0] = 4;
}
else if (Input.GetKey(KeyCode.S))
{
discreteActionsOut[0] = 2;
}
}
}

12
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentZombie.cs.meta
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Project/Assets/ML-Agents/Examples/PushBlock/Scripts/DungeonEscapeEnvController.cs.meta
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Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentEscape.cs.meta
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231
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/DungeonEscapeEnvController.cs
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using System.Collections;
using System.Collections.Generic;
using Unity.MLAgents;
using UnityEngine;
public class DungeonEscapeEnvController : MonoBehaviour
{
[System.Serializable]
public class PlayerInfo
{
public PushAgentEscape Agent;
[HideInInspector]
public Vector3 StartingPos;
[HideInInspector]
public Quaternion StartingRot;
[HideInInspector]
public Rigidbody Rb;
[HideInInspector]
public Collider Col;
}
[System.Serializable]
public class DragonInfo
{
public SimpleNPC Agent;
[HideInInspector]
public Vector3 StartingPos;
[HideInInspector]
public Quaternion StartingRot;
[HideInInspector]
public Rigidbody Rb;
[HideInInspector]
public Collider Col;
public Transform T;
public bool IsDead;
}
/// <summary>
/// Max Academy steps before this platform resets
/// </summary>
/// <returns></returns>
[Header("Max Environment Steps")] public int MaxEnvironmentSteps = 25000;
private int m_ResetTimer;
/// <summary>
/// The area bounds.
/// </summary>
[HideInInspector]
public Bounds areaBounds;
/// <summary>
/// The ground. The bounds are used to spawn the elements.
/// </summary>
public GameObject ground;
Material m_GroundMaterial; //cached on Awake()
/// <summary>
/// We will be changing the ground material based on success/failue
/// </summary>
Renderer m_GroundRenderer;
public List<PlayerInfo> AgentsList = new List<PlayerInfo>();
public List<DragonInfo> DragonsList = new List<DragonInfo>();
public bool UseRandomAgentRotation = true;
public bool UseRandomAgentPosition = true;
PushBlockSettings m_PushBlockSettings;
private int m_NumberOfRemainingBlocks;
public GameObject Key;
private SimpleMultiAgentGroup m_AgentGroup;
void Start()
{
// Get the ground's bounds
areaBounds = ground.GetComponent<Collider>().bounds;
// Get the ground renderer so we can change the material when a goal is scored
m_GroundRenderer = ground.GetComponent<Renderer>();
// Starting material
m_GroundMaterial = m_GroundRenderer.material;
m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
//Hide The Key
Key.SetActive(false);
// Initialize TeamManager
m_AgentGroup = new SimpleMultiAgentGroup();
foreach (var item in AgentsList)
{
item.StartingPos = item.Agent.transform.position;
item.StartingRot = item.Agent.transform.rotation;
item.Rb = item.Agent.GetComponent<Rigidbody>();
item.Col = item.Agent.GetComponent<Collider>();
// Add to team manager
m_AgentGroup.RegisterAgent(item.Agent);
}
foreach (var item in DragonsList)
{
item.StartingPos = item.Agent.transform.position;
item.StartingRot = item.Agent.transform.rotation;
item.T = item.Agent.transform;
item.Col = item.Agent.GetComponent<Collider>();
}
ResetScene();
}
// Update is called once per frame
void FixedUpdate()
{
m_ResetTimer += 1;
if (m_ResetTimer >= MaxEnvironmentSteps && MaxEnvironmentSteps > 0)
{
m_AgentGroup.GroupEpisodeInterrupted();
ResetScene();
}
}
public void UnlockBlock(Transform blockT)
{
m_AgentGroup.AddGroupReward(1f);
StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.goalScoredMaterial, 0.5f));
print("Unlocked Door");
m_AgentGroup.EndGroupEpisode();
ResetScene();
}
public void KilledByBaddie(PushAgentEscape agent, Collision baddieCol)
{
baddieCol.gameObject.SetActive(false);
agent.EndEpisode();
agent.gameObject.SetActive(false);
print($"{baddieCol.gameObject.name} ate {agent.transform.name}");
//Spawn the Key Pickup
Key.transform.SetPositionAndRotation(baddieCol.collider.transform.position, baddieCol.collider.transform.rotation);
Key.SetActive(true);
}
/// <summary>
/// Use the ground's bounds to pick a random spawn position.
/// </summary>
public Vector3 GetRandomSpawnPos()
{
var foundNewSpawnLocation = false;
var randomSpawnPos = Vector3.zero;
while (foundNewSpawnLocation == false)
{
var randomPosX = Random.Range(-areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier,
areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier);
var randomPosZ = Random.Range(-areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier,
areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier);
randomSpawnPos = ground.transform.position + new Vector3(randomPosX, 1f, randomPosZ);
if (Physics.CheckBox(randomSpawnPos, new Vector3(2.5f, 0.01f, 2.5f)) == false)
{
foundNewSpawnLocation = true;
}
}
return randomSpawnPos;
}
/// <summary>
/// Swap ground material, wait time seconds, then swap back to the regular material.
/// </summary>
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 BaddieTouchedBlock()
{
m_AgentGroup.EndGroupEpisode();
// Swap ground material for a bit to indicate we scored.
StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.failMaterial, 0.5f));
ResetScene();
}
Quaternion GetRandomRot()
{
return Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
}
void ResetScene()
{
//Reset counter
m_ResetTimer = 0;
//Random platform rot
var rotation = Random.Range(0, 4);
var rotationAngle = rotation * 90f;
transform.Rotate(new Vector3(0f, rotationAngle, 0f));
//Reset Agents
foreach (var item in AgentsList)
{
var pos = UseRandomAgentPosition ? GetRandomSpawnPos() : item.StartingPos;
var rot = UseRandomAgentRotation ? GetRandomRot() : item.StartingRot;
item.Agent.transform.SetPositionAndRotation(pos, rot);
item.Rb.velocity = Vector3.zero;
item.Rb.angularVelocity = Vector3.zero;
item.Agent.MyKey.SetActive(false);
item.Agent.IHaveAKey = false;
item.Agent.gameObject.SetActive(true);
m_AgentGroup.RegisterAgent(item.Agent);
}
//Reset Key
Key.SetActive(false);
//End Episode
foreach (var item in DragonsList)
{
if (!item.Agent)
{
return;
}
item.Agent.transform.SetPositionAndRotation(item.StartingPos, item.StartingRot);
item.Agent.SetRandomWalkSpeed();
item.Agent.gameObject.SetActive(true);
}
}
}

133
Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentEscape.cs
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using System.Collections;
using UnityEngine;
using Unity.MLAgents;
using Unity.MLAgents.Sensors;
using Unity.MLAgents.Actuators;
public class PushAgentEscape : Agent
{
public GameObject MyKey;
public bool IHaveAKey;
private PushBlockSettings m_PushBlockSettings;
private Rigidbody m_AgentRb;
private DungeonEscapeEnvController m_GameController;
public override void Initialize()
{
m_GameController = GetComponentInParent<DungeonEscapeEnvController>();
m_AgentRb = GetComponent<Rigidbody>();
m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
MyKey.SetActive(false);
IHaveAKey = false;
}
public override void OnEpisodeBegin()
{
MyKey.SetActive(false);
IHaveAKey = false;
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(IHaveAKey);
}
/// <summary>
/// Moves the agent according to the selected action.
/// </summary>
public void MoveAgent(ActionSegment<int> act)
{
var dirToGo = Vector3.zero;
var rotateDir = Vector3.zero;
var action = act[0];
switch (action)
{
case 1:
dirToGo = transform.forward * 1f;
break;
case 2:
dirToGo = transform.forward * -1f;
break;
case 3:
rotateDir = transform.up * 1f;
break;
case 4:
rotateDir = transform.up * -1f;
break;
case 5:
dirToGo = transform.right * -0.75f;
break;
case 6:
dirToGo = transform.right * 0.75f;
break;
}
transform.Rotate(rotateDir, Time.fixedDeltaTime * 200f);
m_AgentRb.AddForce(dirToGo * m_PushBlockSettings.agentRunSpeed,
ForceMode.VelocityChange);
}
/// <summary>
/// Called every step of the engine. Here the agent takes an action.
/// </summary>
public override void OnActionReceived(ActionBuffers actionBuffers)
{
// Move the agent using the action.
MoveAgent(actionBuffers.DiscreteActions);
}
void OnCollisionEnter(Collision col)
{
if (col.transform.CompareTag("lock"))
{
if (IHaveAKey)
{
MyKey.SetActive(false);
IHaveAKey = false;
m_GameController.UnlockBlock(col.transform);
}
}
if (col.transform.CompareTag("dragon"))
{
m_GameController.KilledByBaddie(this, col);
MyKey.SetActive(false);
IHaveAKey = false;
}
}
void OnTriggerEnter(Collider col)
{
//if we find a key and it's parent is the main platform we can pick it up
if (col.transform.CompareTag("key") && col.transform.parent == transform.parent && gameObject.activeInHierarchy)
{
print("picked up key");
MyKey.SetActive(true);
IHaveAKey = true;
col.gameObject.SetActive(false);
}
}
public override void Heuristic(in ActionBuffers actionsOut)
{
var discreteActionsOut = actionsOut.DiscreteActions;
discreteActionsOut[0] = 0;
if (Input.GetKey(KeyCode.D))
{
discreteActionsOut[0] = 3;
}
else if (Input.GetKey(KeyCode.W))
{
discreteActionsOut[0] = 1;
}
else if (Input.GetKey(KeyCode.A))
{
discreteActionsOut[0] = 4;
}
else if (Input.GetKey(KeyCode.S))
{
discreteActionsOut[0] = 2;
}
}
}
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