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.Generic;
using UnityEngine;
namespace MLAgents
{
/// <summary>
/// Ray 2D perception component. Attach this to agents to enable "local perception"
/// via the use of ray casts directed outward from the agent.
/// </summary>
public class RayPerception2D : RayPerception
{
Vector2 m_EndPosition;
RaycastHit2D m_Hit;
/// <summary>
/// Creates perception vector to be used as part of an observation of an agent.
/// Each ray in the rayAngles array adds a sublist of data to the observation.
/// The sublist contains the observation data for a single ray. The list is composed of the following:
/// 1. A one-hot encoding for detectable objects. For example, if detectableObjects.Length = n, the
/// first n elements of the sublist will be a one-hot encoding of the detectableObject that was hit, or
/// all zeroes otherwise.
/// 2. The 'length' element of the sublist will be 1 if the ray missed everything, or 0 if it hit
/// something (detectable or not).
/// 3. The 'length+1' element of the sublist will contain the normalised distance to the object hit.
/// NOTE: Only objects with tags in the detectableObjects array will have a distance set.
/// </summary>
/// <returns>The partial vector observation corresponding to the set of rays</returns>
/// <param name="rayDistance">Radius of rays</param>
/// <param name="rayAngles">Angles of rays (starting from (1,0) on unit circle).</param>
/// <param name="detectableObjects">List of tags which correspond to object types agent can see</param>
public List<float> Perceive(float rayDistance,
float[] rayAngles, string[] detectableObjects)
{
m_PerceptionBuffer.Clear();
// For each ray sublist stores categorical information on detected object
// along with object distance.
foreach (var angle in rayAngles)
{
m_EndPosition = transform.TransformDirection(
PolarToCartesian(rayDistance, angle));
if (Application.isEditor)
{
Debug.DrawRay(transform.position,
m_EndPosition, Color.black, 0.01f, true);
}
var subList = new float[detectableObjects.Length + 2];
m_Hit = Physics2D.CircleCast(transform.position, 0.5f, m_EndPosition, rayDistance);
if (m_Hit)
{
for (var i = 0; i < detectableObjects.Length; i++)
{
if (m_Hit.collider.gameObject.CompareTag(detectableObjects[i]))
{
subList[i] = 1;
subList[detectableObjects.Length + 1] = m_Hit.distance / rayDistance;
break;
}
}
}
else
{
subList[detectableObjects.Length] = 1f;
}
m_PerceptionBuffer.AddRange(subList);
}
return m_PerceptionBuffer;
}
/// <summary>
/// Converts polar coordinate to cartesian coordinate.
/// </summary>
public static Vector2 PolarToCartesian(float radius, float angle)
{
var x = radius * Mathf.Cos(DegreeToRadian(angle));
var y = radius * Mathf.Sin(DegreeToRadian(angle));
return new Vector2(x, y);
}
}
}