using System; using System.Linq; using UnityEngine; using Random = UnityEngine.Random; using MLAgents; public class PyramidAgent : Agent { public GameObject area; private PyramidArea m_MyArea; private Rigidbody m_AgentRb; private RayPerception m_RayPer; private PyramidSwitch m_SwitchLogic; public GameObject areaSwitch; public bool useVectorObs; public override void InitializeAgent() { base.InitializeAgent(); m_AgentRb = GetComponent(); m_MyArea = area.GetComponent(); m_RayPer = GetComponent(); m_SwitchLogic = areaSwitch.GetComponent(); } public override void CollectObservations() { if (useVectorObs) { const float rayDistance = 35f; float[] rayAngles = { 20f, 90f, 160f, 45f, 135f, 70f, 110f }; float[] rayAngles1 = { 25f, 95f, 165f, 50f, 140f, 75f, 115f }; float[] rayAngles2 = { 15f, 85f, 155f, 40f, 130f, 65f, 105f }; string[] detectableObjects = { "block", "wall", "goal", "switchOff", "switchOn", "stone" }; AddVectorObs(m_RayPer.Perceive(rayDistance, rayAngles, detectableObjects, 0f, 0f)); AddVectorObs(m_RayPer.Perceive(rayDistance, rayAngles1, detectableObjects, 0f, 5f)); AddVectorObs(m_RayPer.Perceive(rayDistance, rayAngles2, detectableObjects, 0f, 10f)); AddVectorObs(m_SwitchLogic.GetState()); AddVectorObs(transform.InverseTransformDirection(m_AgentRb.velocity)); } } public void MoveAgent(float[] act) { var dirToGo = Vector3.zero; var rotateDir = Vector3.zero; 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 * 200f); m_AgentRb.AddForce(dirToGo * 2f, ForceMode.VelocityChange); } public override void AgentAction(float[] vectorAction, string textAction) { AddReward(-1f / agentParameters.maxStep); MoveAgent(vectorAction); } public override float[] Heuristic() { if (Input.GetKey(KeyCode.D)) { return new float[] { 3 }; } if (Input.GetKey(KeyCode.W)) { return new float[] { 1 }; } if (Input.GetKey(KeyCode.A)) { return new float[] { 4 }; } if (Input.GetKey(KeyCode.S)) { return new float[] { 2 }; } return new float[] { 0 }; } public override void AgentReset() { var enumerable = Enumerable.Range(0, 9).OrderBy(x => Guid.NewGuid()).Take(9); var items = enumerable.ToArray(); m_MyArea.CleanPyramidArea(); m_AgentRb.velocity = Vector3.zero; m_MyArea.PlaceObject(gameObject, items[0]); transform.rotation = Quaternion.Euler(new Vector3(0f, Random.Range(0, 360))); m_SwitchLogic.ResetSwitch(items[1], items[2]); m_MyArea.CreateStonePyramid(1, items[3]); m_MyArea.CreateStonePyramid(1, items[4]); m_MyArea.CreateStonePyramid(1, items[5]); m_MyArea.CreateStonePyramid(1, items[6]); m_MyArea.CreateStonePyramid(1, items[7]); m_MyArea.CreateStonePyramid(1, items[8]); } private void OnCollisionEnter(Collision collision) { if (collision.gameObject.CompareTag("goal")) { SetReward(2f); Done(); } } public override void AgentOnDone() { } }