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240 行
6.0 KiB
240 行
6.0 KiB
using System;
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using UnityEngine;
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using MLAgents;
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using MLAgents.Policies;
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using MLAgents.SideChannels;
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public class AgentSoccer : Agent
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{
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// Note that that the detectable tags are different for the blue and purple teams. The order is
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// * ball
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// * own goal
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// * opposing goal
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// * wall
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// * own teammate
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// * opposing player
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public enum Team
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{
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Blue = 0,
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Purple = 1
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}
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public enum Position
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{
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Striker,
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Goalie,
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Generic
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}
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[HideInInspector]
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public Team team;
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float m_KickPower;
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int m_PlayerIndex;
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public SoccerFieldArea area;
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// The coefficient for the reward for colliding with a ball. Set using curriculum.
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float m_BallTouch;
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public Position position;
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const float k_Power = 2000f;
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float m_Existential;
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float m_LateralSpeed;
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float m_ForwardSpeed;
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[HideInInspector]
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public float timePenalty = 0;
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[HideInInspector]
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public Rigidbody agentRb;
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SoccerSettings m_SoccerSettings;
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BehaviorParameters m_BehaviorParameters;
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Vector3 m_Transform;
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private EnvironmentParameters m_ResetParams;
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public override void Initialize()
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{
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m_Existential = 1f / MaxStep;
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m_BehaviorParameters = gameObject.GetComponent<BehaviorParameters>();
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if (m_BehaviorParameters.TeamId == (int)Team.Blue)
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{
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team = Team.Blue;
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m_Transform = new Vector3(transform.position.x - 4f, .5f, transform.position.z);
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}
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else
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{
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team = Team.Purple;
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m_Transform = new Vector3(transform.position.x + 4f, .5f, transform.position.z);
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}
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if (position == Position.Goalie)
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{
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m_LateralSpeed = 1.0f;
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m_ForwardSpeed = 1.0f;
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}
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else if (position == Position.Striker)
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{
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m_LateralSpeed = 0.3f;
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m_ForwardSpeed = 1.3f;
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}
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else
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{
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m_LateralSpeed = 0.3f;
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m_ForwardSpeed = 1.0f;
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}
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m_SoccerSettings = FindObjectOfType<SoccerSettings>();
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agentRb = GetComponent<Rigidbody>();
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agentRb.maxAngularVelocity = 500;
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var playerState = new PlayerState
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{
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agentRb = agentRb,
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startingPos = transform.position,
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agentScript = this,
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};
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area.playerStates.Add(playerState);
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m_PlayerIndex = area.playerStates.IndexOf(playerState);
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playerState.playerIndex = m_PlayerIndex;
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m_ResetParams = Academy.Instance.EnvironmentParameters;
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}
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public void MoveAgent(float[] act)
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{
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var dirToGo = Vector3.zero;
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var rotateDir = Vector3.zero;
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m_KickPower = 0f;
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var forwardAxis = (int)act[0];
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var rightAxis = (int)act[1];
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var rotateAxis = (int)act[2];
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switch (forwardAxis)
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{
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case 1:
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dirToGo = transform.forward * m_ForwardSpeed;
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m_KickPower = 1f;
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break;
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case 2:
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dirToGo = transform.forward * -m_ForwardSpeed;
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break;
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}
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switch (rightAxis)
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{
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case 1:
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dirToGo = transform.right * m_LateralSpeed;
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break;
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case 2:
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dirToGo = transform.right * -m_LateralSpeed;
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break;
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}
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switch (rotateAxis)
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{
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case 1:
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rotateDir = transform.up * -1f;
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break;
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case 2:
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rotateDir = transform.up * 1f;
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break;
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}
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transform.Rotate(rotateDir, Time.deltaTime * 100f);
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agentRb.AddForce(dirToGo * m_SoccerSettings.agentRunSpeed,
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ForceMode.VelocityChange);
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}
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public override void OnActionReceived(float[] vectorAction)
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{
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if (position == Position.Goalie)
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{
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// Existential bonus for Goalies.
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AddReward(m_Existential);
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}
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else if (position == Position.Striker)
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{
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// Existential penalty for Strikers
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AddReward(-m_Existential);
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}
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else
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{
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// Existential penalty cumulant for Generic
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timePenalty -= m_Existential;
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}
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MoveAgent(vectorAction);
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}
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public override void Heuristic(float[] actionsOut)
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{
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//forward
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if (Input.GetKey(KeyCode.W))
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{
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actionsOut[0] = 1f;
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}
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if (Input.GetKey(KeyCode.S))
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{
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actionsOut[0] = 2f;
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}
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//rotate
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if (Input.GetKey(KeyCode.A))
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{
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actionsOut[2] = 1f;
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}
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if (Input.GetKey(KeyCode.D))
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{
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actionsOut[2] = 2f;
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}
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//right
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if (Input.GetKey(KeyCode.E))
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{
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actionsOut[1] = 1f;
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}
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if (Input.GetKey(KeyCode.Q))
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{
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actionsOut[1] = 2f;
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}
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}
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/// <summary>
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/// Used to provide a "kick" to the ball.
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/// </summary>
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void OnCollisionEnter(Collision c)
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{
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var force = k_Power * m_KickPower;
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if (position == Position.Goalie)
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{
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force = k_Power;
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}
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if (c.gameObject.CompareTag("ball"))
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{
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AddReward(.2f * m_BallTouch);
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var dir = c.contacts[0].point - transform.position;
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dir = dir.normalized;
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c.gameObject.GetComponent<Rigidbody>().AddForce(dir * force);
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}
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}
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public override void OnEpisodeBegin()
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{
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timePenalty = 0;
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m_BallTouch = m_ResetParams.GetWithDefault("ball_touch", 0);
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if (team == Team.Purple)
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{
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transform.rotation = Quaternion.Euler(0f, -90f, 0f);
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}
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else
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{
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transform.rotation = Quaternion.Euler(0f, 90f, 0f);
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}
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transform.position = m_Transform;
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agentRb.velocity = Vector3.zero;
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agentRb.angularVelocity = Vector3.zero;
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SetResetParameters();
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}
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public void SetResetParameters()
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{
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area.ResetBall();
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}
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}
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