Unity 机器学习代理工具包 (ML-Agents) 是一个开源项目,它使游戏和模拟能够作为训练智能代理的环境。
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using UnityEditor;
using Unity.MLAgents.Editor;
using Unity.MLAgents.Extensions.Sensors;
namespace Unity.MLAgents.Extensions.Editor
{
[CustomEditor(typeof(RigidBodySensorComponent))]
[CanEditMultipleObjects]
internal class RigidBodySensorComponentEditor : UnityEditor.Editor
{
bool ShowHierarchy = true;
public override void OnInspectorGUI()
{
var so = serializedObject;
so.Update();
var rbSensorComp = so.targetObject as RigidBodySensorComponent;
bool requireExtractorUpdate;
EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties());
{
// All the fields affect the sensor order or observation size,
// So can't be changed at runtime.
EditorGUI.BeginChangeCheck();
EditorGUILayout.PropertyField(so.FindProperty("RootBody"), true);
EditorGUILayout.PropertyField(so.FindProperty("VirtualRoot"), true);
// Changing the root body or virtual root changes the hierarchy, so we need to reset later.
requireExtractorUpdate = EditorGUI.EndChangeCheck();
EditorGUILayout.PropertyField(so.FindProperty("Settings"), true);
// Collapsible tree for the body hierarchy
ShowHierarchy = EditorGUILayout.Foldout(ShowHierarchy, "Hierarchy", true);
if (ShowHierarchy)
{
var treeNodes = rbSensorComp.GetDisplayNodes();
var originalIndent = EditorGUI.indentLevel;
foreach (var node in treeNodes)
{
var obj = node.NodeObject;
var objContents = EditorGUIUtility.ObjectContent(obj, obj.GetType());
EditorGUI.indentLevel = originalIndent + node.Depth;
var enabled = EditorGUILayout.Toggle(objContents, node.Enabled);
rbSensorComp.SetPoseEnabled(node.OriginalIndex, enabled);
}
EditorGUI.indentLevel = originalIndent;
}
EditorGUILayout.PropertyField(so.FindProperty("sensorName"), true);
}
EditorGUI.EndDisabledGroup();
so.ApplyModifiedProperties();
if (requireExtractorUpdate)
{
rbSensorComp.ResetPoseExtractor();
}
}
}
}