Merge branch 'soccer-2v1' into asymm-envs

5 年前 · e2d68e4f
--- a/Project/Assets/ML-Agents/Examples/Tennis/Prefabs/TennisArea.prefab
+++ b/Project/Assets/ML-Agents/Examples/Tennis/Prefabs/TennisArea.prefab
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--- a/Project/Assets/ML-Agents/Examples/Tennis/Scenes/Tennis.unity
+++ b/Project/Assets/ML-Agents/Examples/Tennis/Scenes/Tennis.unity
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--- a/Project/Assets/ML-Agents/Examples/Tennis/Scripts/HitWall.cs
+++ b/Project/Assets/ML-Agents/Examples/Tennis/Scripts/HitWall.cs
            FloorAHit,
            FloorBHit
        }
-    [HideInInspector]
-    public FloorHit LastFloorHit;
+
+    FloorHit m_LastFloorHit;

    TennisArea m_Area;
    TennisAgent m_AgentA;

    public void ResetPoint()
    {
-        LastFloorHit = FloorHit.Service;
+        m_LastFloorHit = FloorHit.Service;
        m_LastAgentHit = -1;
    }

            if (collision.gameObject.name == "wallA")
            {
                // Agent A hits into wall or agent B hit a winner
-                if (m_LastAgentHit == 0 || LastFloorHit == FloorHit.FloorAHit)
+                if (m_LastAgentHit == 0 || m_LastFloorHit == FloorHit.FloorAHit)
                {
                    AgentBWins();
                }
            else if (collision.gameObject.name == "wallB")
            {
                // Agent B hits into wall or agent A hit a winner
-                if (m_LastAgentHit == 1 || LastFloorHit == FloorHit.FloorBHit)
+                if (m_LastAgentHit == 1 || m_LastFloorHit == FloorHit.FloorBHit)
                {
                    AgentAWins();
                }
            else if (collision.gameObject.name == "floorA")
            {
                // Agent A hits into floor, double bounce or service
-                if (m_LastAgentHit == 0 || LastFloorHit == FloorHit.FloorAHit || LastFloorHit == FloorHit.Service)
+                if (m_LastAgentHit == 0 || m_LastFloorHit == FloorHit.FloorAHit || m_LastFloorHit == FloorHit.Service)
-                    LastFloorHit = FloorHit.FloorAHit;
+                    m_LastFloorHit = FloorHit.FloorAHit;
-                if (m_LastAgentHit == 1 || LastFloorHit == FloorHit.FloorBHit || LastFloorHit == FloorHit.Service)
+                if (m_LastAgentHit == 1 || m_LastFloorHit == FloorHit.FloorBHit || m_LastFloorHit == FloorHit.Service)
-                    LastFloorHit = FloorHit.FloorBHit;
+                    m_LastFloorHit = FloorHit.FloorBHit;
                }
            }
        }
            {

                m_LastAgentHit = 0;
-                LastFloorHit = FloorHit.FloorHitUnset;
+                m_LastFloorHit = FloorHit.FloorHitUnset;
            }
        }
        else if (collision.gameObject.name == "AgentB")
            else
            {
                m_LastAgentHit = 1;
-                LastFloorHit = FloorHit.FloorHitUnset;
+                m_LastFloorHit = FloorHit.FloorHitUnset;
            }
        }
    }
--- a/Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAgent.cs
    Text m_TextComponent;
    Rigidbody m_AgentRb;
    Rigidbody m_BallRb;
-    HitWall m_BallScript;
    TennisArea m_Area;
    float m_InvertMult;
    FloatPropertiesChannel m_ResetParams;
    {
        m_AgentRb = GetComponent<Rigidbody>();
        m_BallRb = ball.GetComponent<Rigidbody>();
-        m_BallScript = ball.GetComponent<HitWall>();
        m_Area = myArea.GetComponent<TennisArea>();
        var canvas = GameObject.Find(k_CanvasName);
        GameObject scoreBoard;
        sensor.AddObservation(m_BallRb.velocity.y);

        sensor.AddObservation(m_InvertMult * gameObject.transform.rotation.z);
-        if (m_BallScript.LastFloorHit == HitWall.FloorHit.FloorHitUnset)
-        {
-            sensor.AddObservation(1.0f);
-        }
-        else
-        {
-            sensor.AddObservation(0.0f);
-        }
    }

    public override void OnActionReceived(float[] vectorAction)
        {
            m_Area.MatchReset();
        }
-        transform.position = new Vector3(-m_InvertMult * Random.Range(6f, 8f), -1.5f, -1.8f) + transform.parent.transform.position;
+        transform.position = new Vector3(-m_InvertMult * 14f, 5f, -1.8f) + transform.parent.transform.position;
        m_AgentRb.velocity = new Vector3(0f, 0f, 0f);
        SetResetParameters();
    }
--- a/Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisArea.cs
+++ b/Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisArea.cs

    public void MatchReset()
    {
-        var ballOut = Random.Range(6f, 8f);
+        var ballOut = 14f;
-            ball.transform.position = new Vector3(-ballOut, 6f, 0f) + transform.position;
+            ball.transform.position = new Vector3(-ballOut, 10f, 0f) + transform.position;
-            ball.transform.position = new Vector3(ballOut, 6f, 0f) + transform.position;
+            ball.transform.position = new Vector3(ballOut, 10f, 0f) + transform.position;
        }
        m_BallRb.velocity = new Vector3(0f, 0f, 0f);
        ball.transform.localScale = new Vector3(.5f, .5f, .5f);
    {
        m_BallRb.AddForce(down);
        var rgV = m_BallRb.velocity;
-        m_BallRb.velocity = new Vector3(Mathf.Clamp(rgV.x, -20f, 20f), Mathf.Clamp(rgV.y, -30f, 30f), rgV.z);
+        m_BallRb.velocity = new Vector3(Mathf.Clamp(rgV.x, -30f, 30f), Mathf.Clamp(rgV.y, -35f, 35f), rgV.z);
    }
 }