unity-tech-cn
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ml-agents
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Clean up Area environment code

/tag-0.2.0
Arthur Juliani 7 年前
当前提交
fde0a417
共有 8 个文件被更改，包括 1262 次插入 和 666 次删除
  1. 101
      unity-environment/Assets/ML-Agents/Examples/Area/Prefabs/PushArea.prefab
  2. 109
      unity-environment/Assets/ML-Agents/Examples/Area/Prefabs/WallArea.prefab
  3. 818
      unity-environment/Assets/ML-Agents/Examples/Area/Push.unity
  4. 75
      unity-environment/Assets/ML-Agents/Examples/Area/Scripts/AreaAgent.cs
  5. 37
      unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Push/PushAgent.cs
  6. 2
      unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Push/PushArea.cs
  7. 38
      unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Wall/WallAgent.cs
  8. 748
      unity-environment/Assets/ML-Agents/Examples/Area/Wall.unity

101
unity-environment/Assets/ML-Agents/Examples/Area/Prefabs/PushArea.prefab
查看文件


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109
unity-environment/Assets/ML-Agents/Examples/Area/Prefabs/WallArea.prefab
查看文件


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818
unity-environment/Assets/ML-Agents/Examples/Area/Push.unity
文件差异内容过多而无法显示
查看文件

75
unity-environment/Assets/ML-Agents/Examples/Area/Scripts/AreaAgent.cs
查看文件


state.Add(velocity.x);
state.Add(velocity.y);
state.Add(velocity.z);
return state;
}
public void MoveAgent(int movement) {
float directionX = 0;
float directionZ = 0;
float directionY = 0;
if (movement == 1) { directionX = -1; }
if (movement == 2) { directionX = 1; }
if (movement == 3) { directionZ = -1; }
if (movement == 4) { directionZ = 1; }
if (movement == 5 && GetComponent<Rigidbody>().velocity.y <= 0) { directionY = 1; }
return state;
}
float edge = 0.499f;
float rayDepth = 0.51f;
Vector3 fwd = transform.TransformDirection(Vector3.down);
if (!Physics.Raycast(transform.position, fwd, rayDepth) &&
!Physics.Raycast(transform.position + new Vector3(edge, 0f, 0f), fwd, rayDepth) &&
!Physics.Raycast(transform.position + new Vector3(-edge, 0f, 0f), fwd, rayDepth) &&
!Physics.Raycast(transform.position + new Vector3(0.0f, 0f, edge), fwd, rayDepth) &&
!Physics.Raycast(transform.position + new Vector3(0.0f, 0f, -edge), fwd, rayDepth) &&
!Physics.Raycast(transform.position + new Vector3(edge, 0f, edge), fwd, rayDepth) &&
!Physics.Raycast(transform.position + new Vector3(-edge, 0f, edge), fwd, rayDepth) &&
!Physics.Raycast(transform.position + new Vector3(edge, 0f, -edge), fwd, rayDepth) &&
!Physics.Raycast(transform.position + new Vector3(-edge, 0f, -edge), fwd, rayDepth))
{
directionY = 0f;
directionX = directionX / 5f;
directionZ = directionZ / 5f;
}
gameObject.GetComponent<Rigidbody>().AddForce(new Vector3(directionX * 40f, directionY * 300f, directionZ * 40f));
if (GetComponent<Rigidbody>().velocity.sqrMagnitude > 25f)
{
GetComponent<Rigidbody>().velocity *= 0.95f;
}
}
float movement = act[0];
float directionX = 0;
float directionZ = 0;
float directionY = 0;
if (movement == 1) { directionX = -1; }
if (movement == 2) { directionX = 1; }
if (movement == 3) { directionZ = -1; }
if (movement == 4) { directionZ = 1; }
if (movement == 5 && GetComponent<Rigidbody>().velocity.y <= 0) { directionY = 1; }
int movement = Mathf.FloorToInt(act[0]);
MoveAgent(movement);
Vector3 fwd = transform.TransformDirection(Vector3.down);
if (!Physics.Raycast(transform.position, fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, 0f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, 0f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(0.0f, 0f, 0.499f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(0.0f, 0f, -0.499f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, 0.499f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, 0.499f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, -0.499f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, -0.499f), fwd, 0.51f))
{
directionY = 0f;
directionX = directionX / 5f;
directionZ = directionZ / 5f;
}
gameObject.GetComponent<Rigidbody>().AddForce(new Vector3(directionX * 40f, directionY * 300f, directionZ * 40f));
if (GetComponent<Rigidbody>().velocity.sqrMagnitude > 25f)
{
GetComponent<Rigidbody>().velocity *= 0.95f;
}
if (gameObject.transform.position.y < 0.0f || Mathf.Abs(gameObject.transform.position.x - area.transform.position.x) > 8f || Mathf.Abs(gameObject.transform.position.z + 5 - area.transform.position.z) > 8)
if (gameObject.transform.position.y < 0.0f || Mathf.Abs(gameObject.transform.position.x - area.transform.position.x) > 8f ||
Mathf.Abs(gameObject.transform.position.z + 5 - area.transform.position.z) > 8)
{
done = true;
reward = -1f;

37
unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Push/PushAgent.cs
查看文件


public override void AgentStep(float[] act)
{
reward = -0.01f;
float movement = act[0];
float directionX = 0;
float directionZ = 0;
float directionY = 0;
if (movement == 1) { directionX = -1; }
if (movement == 2) { directionX = 1; }
if (movement == 3) { directionZ = -1; }
if (movement == 4) { directionZ = 1; }
if (movement == 5 && GetComponent<Rigidbody>().velocity.y <= 0) { directionY = 1; }
int movement = Mathf.FloorToInt(act[0]);
MoveAgent(movement);
Vector3 fwd = transform.TransformDirection(Vector3.down);
if (!Physics.Raycast(transform.position, fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, 0f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, 0f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(0.0f, 0f, 0.499f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(0.0f, 0f, -0.499f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, 0.499f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, 0.499f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, -0.499f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, -0.499f), fwd, 0.51f))
{
directionY = 0f;
directionX = directionX / 5f;
directionZ = directionZ / 5f;
}
gameObject.GetComponent<Rigidbody>().AddForce(new Vector3(directionX * 40f, directionY * 300f, directionZ * 40f));
if (GetComponent<Rigidbody>().velocity.sqrMagnitude > 25f)
{
GetComponent<Rigidbody>().velocity *= 0.95f;
}
if (gameObject.transform.position.y < 0.0f || Mathf.Abs(gameObject.transform.position.x - area.transform.position.x) > 8f || Mathf.Abs(gameObject.transform.position.z + 5 - area.transform.position.z) > 8)
if (gameObject.transform.position.y < 0.0f || Mathf.Abs(gameObject.transform.position.x - area.transform.position.x) > 8f ||
Mathf.Abs(gameObject.transform.position.z + 5 - area.transform.position.z) > 8)
{
done = true;
reward = -1f;

2
unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Push/PushArea.cs
查看文件


goalHolder.transform.position = new Vector3(Random.Range(-3.5f, 3.5f), -0.1f, Random.Range(0f, -3f)) + gameObject.transform.position;
float size = academy.GetComponent<PushAcademy>().objectSize;
size = Random.Range(size * 0.9f, size * 1.1f);
block.transform.localScale = new Vector3(size, 1f, size);
goalHolder.transform.localScale = new Vector3(size + 1f, 1f, size + 1f);
}

38
unity-environment/Assets/ML-Agents/Examples/Area/Scripts/Wall/WallAgent.cs
查看文件


public override void AgentStep(float[] act)
{
reward = -0.01f;
float movement = act[0];
float directionX = 0;
float directionZ = 0;
float directionY = 0;
if (movement == 1) { directionX = -1; }
if (movement == 2) { directionX = 1; }
if (movement == 3) { directionZ = -1; }
if (movement == 4) { directionZ = 1; }
if (movement == 5 && GetComponent<Rigidbody>().velocity.y <= 0) { directionY = 1; }
Vector3 fwd = transform.TransformDirection(Vector3.down);
if (!Physics.Raycast(transform.position, fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, 0f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, 0f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(0.0f, 0f, 0.499f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(0.0f, 0f, -0.499f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, 0.499f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, 0.499f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, -0.499f), fwd, 0.51f) &&
!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, -0.499f), fwd, 0.51f))
{
directionY = 0f;
directionX = directionX / 5f;
directionZ = directionZ / 5f;
}
int movement = Mathf.FloorToInt(act[0]);
MoveAgent(movement);
gameObject.GetComponent<Rigidbody>().AddForce(new Vector3(directionX * 40f, directionY * 300f, directionZ * 40f));
if (GetComponent<Rigidbody>().velocity.sqrMagnitude > 25f)
{
GetComponent<Rigidbody>().velocity *= 0.95f;
}
if (gameObject.transform.position.y < 0.0f || Mathf.Abs(gameObject.transform.position.x - area.transform.position.x) > 8f || Mathf.Abs(gameObject.transform.position.z + 5 - area.transform.position.z) > 8)
if (gameObject.transform.position.y < 0.0f ||
Mathf.Abs(gameObject.transform.position.x - area.transform.position.x) > 8f ||
Mathf.Abs(gameObject.transform.position.z + 5 - area.transform.position.z) > 8)
{
done = true;
reward = -1f;

748
unity-environment/Assets/ML-Agents/Examples/Area/Wall.unity
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