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 System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.Serialization;
[System.Serializable]
public class PlayerState
{
public int playerIndex;
[FormerlySerializedAs("agentRB")]
public Rigidbody agentRb;
public Vector3 startingPos;
public AgentSoccer agentScript;
public float ballPosReward;
}
public class SoccerFieldArea : MonoBehaviour
{
public GameObject ball;
[FormerlySerializedAs("ballRB")]
[HideInInspector]
public Rigidbody ballRb;
public GameObject ground;
public GameObject centerPitch;
SoccerBallController m_BallController;
public List<PlayerState> playerStates = new List<PlayerState>();
[HideInInspector]
public Vector3 ballStartingPos;
public GameObject goalTextUI;
[HideInInspector]
public bool canResetBall;
Material m_GroundMaterial;
Renderer m_GroundRenderer;
SoccerAcademy m_Academy;
public IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
{
m_GroundRenderer.material = mat;
yield return new WaitForSeconds(time);
m_GroundRenderer.material = m_GroundMaterial;
}
void Awake()
{
m_Academy = FindObjectOfType<SoccerAcademy>();
m_GroundRenderer = centerPitch.GetComponent<Renderer>();
m_GroundMaterial = m_GroundRenderer.material;
canResetBall = true;
if (goalTextUI) { goalTextUI.SetActive(false); }
ballRb = ball.GetComponent<Rigidbody>();
m_BallController = ball.GetComponent<SoccerBallController>();
m_BallController.area = this;
ballStartingPos = ball.transform.position;
}
IEnumerator ShowGoalUI()
{
if (goalTextUI) goalTextUI.SetActive(true);
yield return new WaitForSeconds(.25f);
if (goalTextUI) goalTextUI.SetActive(false);
}
public void AllPlayersDone(float reward)
{
foreach (var ps in playerStates)
{
if (ps.agentScript.gameObject.activeInHierarchy)
{
if (reward != 0)
{
ps.agentScript.AddReward(reward);
}
ps.agentScript.Done();
}
}
}
public void GoalTouched(AgentSoccer.Team scoredTeam)
{
foreach (var ps in playerStates)
{
if (ps.agentScript.team == scoredTeam)
{
RewardOrPunishPlayer(ps, m_Academy.strikerReward, m_Academy.goalieReward);
}
else
{
RewardOrPunishPlayer(ps, m_Academy.strikerPunish, m_Academy.goaliePunish);
}
if (m_Academy.randomizePlayersTeamForTraining)
{
ps.agentScript.ChooseRandomTeam();
}
if (scoredTeam == AgentSoccer.Team.Purple)
{
StartCoroutine(GoalScoredSwapGroundMaterial(m_Academy.purpleMaterial, 1));
}
else
{
StartCoroutine(GoalScoredSwapGroundMaterial(m_Academy.blueMaterial, 1));
}
if (goalTextUI)
{
StartCoroutine(ShowGoalUI());
}
}
}
public void RewardOrPunishPlayer(PlayerState ps, float striker, float goalie)
{
if (ps.agentScript.agentRole == AgentSoccer.AgentRole.Striker)
{
ps.agentScript.AddReward(striker);
}
if (ps.agentScript.agentRole == AgentSoccer.AgentRole.Goalie)
{
ps.agentScript.AddReward(goalie);
}
ps.agentScript.Done(); //all agents need to be reset
}
public Vector3 GetRandomSpawnPos(AgentSoccer.AgentRole role, AgentSoccer.Team team)
{
var xOffset = 0f;
if (role == AgentSoccer.AgentRole.Goalie)
{
xOffset = 13f;
}
if (role == AgentSoccer.AgentRole.Striker)
{
xOffset = 7f;
}
if (team == AgentSoccer.Team.Blue)
{
xOffset = xOffset * -1f;
}
var randomSpawnPos = ground.transform.position +
new Vector3(xOffset, 0f, 0f)
+ (Random.insideUnitSphere * 2);
randomSpawnPos.y = ground.transform.position.y + 2;
return randomSpawnPos;
}
public Vector3 GetBallSpawnPosition()
{
var randomSpawnPos = ground.transform.position +
new Vector3(0f, 0f, 0f)
+ (Random.insideUnitSphere * 2);
randomSpawnPos.y = ground.transform.position.y + 2;
return randomSpawnPos;
}
public void ResetBall()
{
ball.transform.position = GetBallSpawnPosition();
ballRb.velocity = Vector3.zero;
ballRb.angularVelocity = Vector3.zero;
var ballScale = m_Academy.resetParameters["ball_scale"];
ballRb.transform.localScale = new Vector3(ballScale, ballScale, ballScale);
}
}