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static grid working

/develop/pushcollabonly
HH 3 年前
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dbe91e81
共有 8 个文件被更改，包括 1287 次插入 和 306 次删除
  1. 409
      Project/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockCollab.unity
  2. 2
      com.unity.ml-agents.extensions/Runtime/Sensors/CountingGridSensor.cs
  3. 158
      com.unity.ml-agents.extensions/Runtime/Sensors/GridSensor.cs
  4. 8
      Project/Assets/ML-Agents/Examples/Arena-Sequence.meta
  5. 1001
      Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockCollabAreaStaticGrid.prefab
  6. 7
      Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockCollabAreaStaticGrid.prefab.meta
  7. 8
      Project/Assets/ML-Agents/Examples/Arena-Sequence/TFModels.meta

409
Project/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockCollab.unity
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2
com.unity.ml-agents.extensions/Runtime/Sensors/CountingGridSensor.cs
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this.CellScaleZ = cellScaleZ;
this.GridNumSideX = gridWidth;
this.GridNumSideZ = gridHeight;
this.RotateToAgent = rotateToAgent;
this.RotateGridWithRoot = rotateToAgent;
this.DiffNumSideZX = (GridNumSideZ - GridNumSideX);
this.OffsetGridNumSide = (GridNumSideZ - 1f) / 2f;
this.DebugColors = debugColors;

158
com.unity.ml-agents.extensions/Runtime/Sensors/GridSensor.cs
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public float CellScaleX = 1f;
/// <summary>
/// The height of each grid cell. Changes how much of the vertical axis is observed by a cell.
/// </summary>
[Tooltip("The height of each grid cell. Changes how much of the vertical axis is observed by a cell")]
[Range(0.01f, 1000f)]
public float CellScaleY = 0.01f;
/// <summary>
/// The depth of each grid cell.
/// </summary>
[Tooltip("The depth of each grid cell")]

[Range(2, 2000)]
public int GridNumSideZ = 16;
/// <summary>
/// The height of each grid cell. Changes how much of the vertical axis is observed by a cell.
/// </summary>
[Tooltip("The height of each grid cell. Changes how much of the vertical axis is observed by a cell")]
[Range(0.01f, 1000f)]
public float CellScaleY = 0.01f;
public bool RotateToAgent;
public bool RotateGridWithRoot;
/// <summary>
/// Array holding the depth of each channel.

/// </summary>
private List<byte[]> byteSizesBytesList;
private Color DebugDefaultColor = new Color(1f, 1f, 1f, 0.25f);
private Color DebugDefaultColor = new Color(1f, 1f, 1f, 0.05f);
// public GridSensor GridSensorToObserve;
// return GridSensorToObserve;
return this;
}

this.CellScaleZ = cellScaleZ;
this.GridNumSideX = gridWidth;
this.GridNumSideZ = gridHeight;
this.RotateToAgent = rotateToAgent;
this.RotateGridWithRoot = rotateToAgent;
this.DiffNumSideZX = (GridNumSideZ - GridNumSideX);
this.OffsetGridNumSide = (GridNumSideZ - 1f) / 2f;
this.DebugColors = debugColors;

ClearPerceptionBuffer();
using (TimerStack.Instance.Scoped("GridSensor.Perceive"))
{
var halfCellScale = new Vector3(CellScaleX / 2f, CellScaleY, CellScaleZ / 2f);
// var halfCellScale = new Vector3(CellScaleX / 2f, CellScaleY, CellScaleZ / 2f);
var halfCellScale = new Vector3(CellScaleX / 2f, CellScaleY / 2, CellScaleZ / 2f);
// Vector3 halfCellScale = Vector3.one * (overlapBoxScale * .5f);
if (RotateToAgent)
if (RotateGridWithRoot)
Transform transform1;
cellCenter = (transform1 = transform).TransformPoint(CellPoints[cellIndex]);
numFound = BufferResizingOverlapBoxNonAlloc(cellCenter, halfCellScale, transform1.rotation);
// Transform transform1;
// cellCenter = (transform1 = transform).TransformPoint(CellPoints[cellIndex]);
// numFound = BufferResizingOverlapBoxNonAlloc(cellCenter, halfCellScale, transform1.rotation);
cellCenter = rootReference.transform.TransformPoint(CellPoints[cellIndex]);
numFound = BufferResizingOverlapBoxNonAlloc(cellCenter, halfCellScale, rootReference.transform.rotation);
numFound = BufferResizingOverlapBoxNonAlloc(cellCenter, halfCellScale, Quaternion.identity);
// numFound = BufferResizingOverlapBoxNonAlloc(cellCenter, halfCellScale, Quaternion.identity);
numFound = BufferResizingOverlapBoxNonAlloc(cellCenter, halfCellScale, rootReference.transform.rotation);
}
if (numFound > 0)

{
var currentColliderGo = foundColliders[i].gameObject;
// Continue if the current collider go is the root reference
if (ReferenceEquals(currentColliderGo, rootReference))
// // Continue if the current collider go is the root reference
// if (ReferenceEquals(currentColliderGo, rootReference))
// continue;
if (collidersToIgnore.Contains(foundColliders[i]))
// if (currentColliderGo == rootReference && !MapThisAgent)
// if (!MapThisAgent)
continue;
var closestColliderPoint = foundColliders[i].ClosestPointOnBounds(cellCenter);

float z = (cell / GridNumSideZ - OffsetGridNumSide) * CellScaleZ - DiffNumSideZX;
if (shouldTransformPoint)
return transform.TransformPoint(new Vector3(x, 0, z));
return rootReference.transform.TransformPoint(new Vector3(x, 0, z));
// return transform.TransformPoint(new Vector3(x, 0, z));
/// <summary>Finds the cell in which the given global point falls</summary>
/// <returns>
/// The index of the cell in which the global point falls or -1 if the point does not fall into a cell
/// </returns>
/// <param name="globalPoint">The 3D point in global space</param>
public int PointToCell(Vector3 globalPoint)
{
Vector3 point = transform.InverseTransformPoint(globalPoint);
if (point.x < -HalfOfGridX || point.x > HalfOfGridX || point.z < -HalfOfGridZ || point.z > HalfOfGridZ)
return -1;
float x = point.x + HalfOfGridX;
float z = point.z + HalfOfGridZ;
int _x = (int)Mathf.Floor(x * PointToCellScalingX);
int _z = (int)Mathf.Floor(z * PointToCellScalingZ);
return GridNumSideX * _z + _x;
}
// /// <summary>Finds the cell in which the given global point falls</summary>
// /// <returns>
// /// The index of the cell in which the global point falls or -1 if the point does not fall into a cell
// /// </returns>
// /// <param name="globalPoint">The 3D point in global space</param>
// public int PointToCell(Vector3 globalPoint)
// {
// // Vector3 point = transform.InverseTransformPoint(globalPoint);
// Vector3 point = rootReference.transform.InverseTransformPoint(globalPoint);
//
// if (point.x < -HalfOfGridX || point.x > HalfOfGridX || point.z < -HalfOfGridZ || point.z > HalfOfGridZ)
// return -1;
//
// float x = point.x + HalfOfGridX;
// float z = point.z + HalfOfGridZ;
//
// int _x = (int)Mathf.Floor(x * PointToCellScalingX);
// int _z = (int)Mathf.Floor(z * PointToCellScalingZ);
// return GridNumSideX * _z + _x;
// }
/// <summary>Copies the data from one cell to another</summary>
/// <param name="fromCellID">index of the cell to copy from</param>

CellActivity[toCellID] = CellActivity[fromCellID];
}
// void OnDrawGizmos()
// {
// if (ShowGizmos)
// {
// if (Application.isEditor && !Application.isPlaying)
// Start();
//
// Perceive();
//
// var scale = new Vector3(CellScaleX, 1, CellScaleZ);
// var offset = new Vector3(0, GizmoYOffset, 0);
// var oldGizmoMatrix = Gizmos.matrix;
// for (var i = 0; i < NumCells; i++)
// {
// Matrix4x4 cubeTransform;
// if (RotateToAgent)
// {
// cubeTransform = Matrix4x4.TRS(CellToPoint(i) + offset, transform.rotation, scale);
// }
// else
// {
// cubeTransform = Matrix4x4.TRS(CellToPoint(i, false) + transform.position + offset, Quaternion.identity, scale);
// }
// Gizmos.matrix = oldGizmoMatrix * cubeTransform;
// Gizmos.color = CellActivity[i];
// Gizmos.DrawCube(Vector3.zero, Vector3.one);
// }
//
// Gizmos.matrix = oldGizmoMatrix;
//
// if (Application.isEditor && !Application.isPlaying)
// DestroyImmediate(m_perceptionTexture2D);
// }
// }
public List<Collider> collidersToIgnore; //
// public float overlapBoxScale = .5f;
void OnDrawGizmos()
{
if (ShowGizmos)

Perceive();
var scale = new Vector3(CellScaleX, 1, CellScaleZ);
var offset = new Vector3(0, GizmoYOffset, 0);
var oldGizmoMatrix = Gizmos.matrix;
for (var i = 0; i < NumCells; i++)
// Vector3 scale = new Vector3(CellScaleX, 1, CellScaleZ);
Vector3 scale = new Vector3(CellScaleX, CellScaleY, CellScaleZ);
Vector3 offset = new Vector3(0, GizmoYOffset, 0);
Matrix4x4 oldGizmoMatrix = Gizmos.matrix;
Matrix4x4 cubeTransform = Gizmos.matrix;
// Matrix4x4 cubeTransform = rootReference.transform.localToWorldMatrix;
// Matrix4x4 cubeTransform = transform.localToWorldMatrix;
for (int i = 0; i < NumCells; i++)
Matrix4x4 cubeTransform;
if (RotateToAgent)
if (RotateGridWithRoot)
cubeTransform = Matrix4x4.TRS(CellToPoint(i) + offset, transform.rotation, scale);
// cubeTransform = Matrix4x4.TRS(CellToPoint(i) + offset, transform.rotation, scale);
cubeTransform = Matrix4x4.TRS(CellToPoint(i) + offset, rootReference.transform.rotation, scale);
cubeTransform = Matrix4x4.TRS(CellToPoint(i, false) + transform.position + offset, Quaternion.identity, scale);
// cubeTransform = Matrix4x4.TRS(CellToPoint(i, false) + transform.position + offset, Quaternion.identity, scale);
cubeTransform = Matrix4x4.TRS(CellToPoint(i, false) + rootReference.transform.position + offset, Quaternion.identity, scale);
// cubeTransform = Matrix4x4.TRS(CellToPoint(i, false) + offset, Quaternion.identity, scale);
Gizmos.DrawCube(Vector3.zero, Vector3.one);
// Gizmos.DrawCube(Vector3.zero, Vector3.one * .75f);
// Gizmos.DrawCube(Vector3.zero, Vector3.one * overlapBoxScale);
Gizmos.DrawCube(Vector3.zero, scale);
// Gizmos.DrawCube(Vector3.zero, new Vector3(.85f, .15f, .85f));
// Gizmos.DrawWireCube(Vector3.zero, Vector3.one * .75f);
// Gizmos.DrawSphere(Vector3.zero, .5f);
}
Gizmos.matrix = oldGizmoMatrix;

}
}
/// <inheritdoc/>
void ISensor.Update()

8
Project/Assets/ML-Agents/Examples/Arena-Sequence.meta
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1001
Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockCollabAreaStaticGrid.prefab
文件差异内容过多而无法显示
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7
Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockCollabAreaStaticGrid.prefab.meta
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fileFormatVersion: 2
guid: f5bbed44a6ea747a687fbbb738eb1730
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8
Project/Assets/ML-Agents/Examples/Arena-Sequence/TFModels.meta
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fileFormatVersion: 2
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folderAsset: yes
DefaultImporter:
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