using UnityEngine; using Unity.MLAgents; using Unity.MLAgents.Sensors; public class BouncerAgent : Agent { [Header("Bouncer Specific")] public GameObject target; public GameObject bodyObject; Rigidbody m_Rb; Vector3 m_LookDir; public float strength = 10f; float m_JumpCooldown; int m_NumberJumps = 20; int m_JumpLeft = 20; EnvironmentParameters m_ResetParams; public override void Initialize() { m_Rb = gameObject.GetComponent(); m_LookDir = Vector3.zero; m_ResetParams = Academy.Instance.EnvironmentParameters; SetResetParameters(); } public override void CollectObservations(VectorSensor sensor) { sensor.AddObservation(gameObject.transform.localPosition); sensor.AddObservation(target.transform.localPosition); } public override void OnActionReceived(float[] vectorAction) { for (var i = 0; i < vectorAction.Length; i++) { vectorAction[i] = Mathf.Clamp(vectorAction[i], -1f, 1f); } var x = vectorAction[0]; var y = ScaleAction(vectorAction[1], 0, 1); var z = vectorAction[2]; m_Rb.AddForce(new Vector3(x, y + 1, z) * strength); AddReward(-0.05f * ( vectorAction[0] * vectorAction[0] + vectorAction[1] * vectorAction[1] + vectorAction[2] * vectorAction[2]) / 3f); m_LookDir = new Vector3(x, y, z); } public override void OnEpisodeBegin() { gameObject.transform.localPosition = new Vector3( (1 - 2 * Random.value) * 5, 2, (1 - 2 * Random.value) * 5); m_Rb.velocity = default(Vector3); var environment = gameObject.transform.parent.gameObject; var targets = environment.GetComponentsInChildren(); foreach (var t in targets) { t.Respawn(); } m_JumpLeft = m_NumberJumps; SetResetParameters(); } void FixedUpdate() { if (Physics.Raycast(transform.position, new Vector3(0f, -1f, 0f), 0.51f) && m_JumpCooldown <= 0f) { RequestDecision(); m_JumpLeft -= 1; m_JumpCooldown = 0.1f; m_Rb.velocity = default(Vector3); } m_JumpCooldown -= Time.fixedDeltaTime; if (gameObject.transform.position.y < -1) { AddReward(-1); EndEpisode(); return; } if (gameObject.transform.localPosition.x < -19 || gameObject.transform.localPosition.x > 19 || gameObject.transform.localPosition.z < -19 || gameObject.transform.localPosition.z > 19) { AddReward(-1); EndEpisode(); return; } if (m_JumpLeft == 0) { EndEpisode(); } } public override void Heuristic(float[] actionsOut) { actionsOut[0] = Input.GetAxis("Horizontal"); actionsOut[1] = Input.GetKey(KeyCode.Space) ? 1.0f : 0.0f; actionsOut[2] = Input.GetAxis("Vertical"); } void Update() { if (m_LookDir.magnitude > float.Epsilon) { bodyObject.transform.rotation = Quaternion.Lerp(bodyObject.transform.rotation, Quaternion.LookRotation(m_LookDir), Time.deltaTime * 10f); } } public void SetTargetScale() { var targetScale = m_ResetParams.GetWithDefault("target_scale", 1.0f); target.transform.localScale = new Vector3(targetScale, targetScale, targetScale); } public void SetResetParameters() { SetTargetScale(); } }