using System.Collections; using UnityEngine; using MLAgents; public class HallwayAgent : Agent { public GameObject ground; public GameObject area; public GameObject symbolOGoal; public GameObject symbolXGoal; public GameObject symbolO; public GameObject symbolX; public bool useVectorObs; RayPerception m_RayPer; Rigidbody m_AgentRb; Material m_GroundMaterial; Renderer m_GroundRenderer; HallwayAcademy m_Academy; int m_Selection; public override void InitializeAgent() { base.InitializeAgent(); m_Academy = FindObjectOfType(); m_RayPer = GetComponent(); m_AgentRb = GetComponent(); m_GroundRenderer = ground.GetComponent(); m_GroundMaterial = m_GroundRenderer.material; } public override void CollectObservations() { if (useVectorObs) { var rayDistance = 12f; float[] rayAngles = { 20f, 60f, 90f, 120f, 160f }; string[] detectableObjects = { "symbol_O_Goal", "symbol_X_Goal", "symbol_O", "symbol_X", "wall" }; AddVectorObs(GetStepCount() / (float)agentParameters.maxStep); AddVectorObs(m_RayPer.Perceive(rayDistance, rayAngles, detectableObjects, 0f, 0f)); } } IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time) { m_GroundRenderer.material = mat; yield return new WaitForSeconds(time); m_GroundRenderer.material = m_GroundMaterial; } public void MoveAgent(float[] act) { var dirToGo = Vector3.zero; var rotateDir = Vector3.zero; if (brain.brainParameters.vectorActionSpaceType == SpaceType.Continuous) { dirToGo = transform.forward * Mathf.Clamp(act[0], -1f, 1f); rotateDir = transform.up * Mathf.Clamp(act[1], -1f, 1f); } else { var action = Mathf.FloorToInt(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; } } transform.Rotate(rotateDir, Time.deltaTime * 150f); m_AgentRb.AddForce(dirToGo * m_Academy.agentRunSpeed, ForceMode.VelocityChange); } public override void AgentAction(float[] vectorAction, string textAction) { AddReward(-1f / agentParameters.maxStep); MoveAgent(vectorAction); } void OnCollisionEnter(Collision col) { if (col.gameObject.CompareTag("symbol_O_Goal") || col.gameObject.CompareTag("symbol_X_Goal")) { if ((m_Selection == 0 && col.gameObject.CompareTag("symbol_O_Goal")) || (m_Selection == 1 && col.gameObject.CompareTag("symbol_X_Goal"))) { SetReward(1f); StartCoroutine(GoalScoredSwapGroundMaterial(m_Academy.goalScoredMaterial, 0.5f)); } else { SetReward(-0.1f); StartCoroutine(GoalScoredSwapGroundMaterial(m_Academy.failMaterial, 0.5f)); } Done(); } } public override void AgentReset() { var agentOffset = -15f; var blockOffset = 0f; m_Selection = Random.Range(0, 2); if (m_Selection == 0) { symbolO.transform.position = new Vector3(0f + Random.Range(-3f, 3f), 2f, blockOffset + Random.Range(-5f, 5f)) + ground.transform.position; symbolX.transform.position = new Vector3(0f, -1000f, blockOffset + Random.Range(-5f, 5f)) + ground.transform.position; } else { symbolO.transform.position = new Vector3(0f, -1000f, blockOffset + Random.Range(-5f, 5f)) + ground.transform.position; symbolX.transform.position = new Vector3(0f, 2f, blockOffset + Random.Range(-5f, 5f)) + ground.transform.position; } transform.position = new Vector3(0f + Random.Range(-3f, 3f), 1f, agentOffset + Random.Range(-5f, 5f)) + ground.transform.position; transform.rotation = Quaternion.Euler(0f, Random.Range(0f, 360f), 0f); m_AgentRb.velocity *= 0f; var goalPos = Random.Range(0, 2); if (goalPos == 0) { symbolOGoal.transform.position = new Vector3(7f, 0.5f, 22.29f) + area.transform.position; symbolXGoal.transform.position = new Vector3(-7f, 0.5f, 22.29f) + area.transform.position; } else { symbolXGoal.transform.position = new Vector3(7f, 0.5f, 22.29f) + area.transform.position; symbolOGoal.transform.position = new Vector3(-7f, 0.5f, 22.29f) + area.transform.position; } } }