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86 行
2.7 KiB
86 行
2.7 KiB
using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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#if UNITY_EDITOR
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using UnityEditor;
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#endif
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/// CoreBrain which decides actions using developer-provided Decision.cs script.
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public class CoreBrainHeuristic : ScriptableObject, CoreBrain
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{
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public Brain brain;
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/**< Reference to the brain that uses this CoreBrainHeuristic */
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public Decision decision;
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/**< Reference to the Decision component used to decide the actions */
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/// Create the reference to the brain
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public void SetBrain(Brain b)
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{
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brain = b;
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}
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/// Create the reference to decision
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public void InitializeCoreBrain()
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{
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decision = brain.gameObject.GetComponent<Decision>();
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}
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/// Uses the Decision Component to decide that action to take
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public void DecideAction()
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{
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if (decision == null)
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{
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throw new UnityAgentsException("The Brain is set to Heuristic, but no decision script attached to it");
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}
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Dictionary<int, float[]> actions = new Dictionary<int, float[]>();
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Dictionary<int, float[]> new_memories = new Dictionary<int, float[]>();
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Dictionary<int, List<float>> states = brain.CollectStates();
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Dictionary<int, List<Camera>> observations = brain.CollectObservations();
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Dictionary<int, float> rewards = brain.CollectRewards();
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Dictionary<int, bool> dones = brain.CollectDones();
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Dictionary<int, float[]> old_memories = brain.CollectMemories();
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foreach (KeyValuePair<int, Agent> idAgent in brain.agents)
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{
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actions.Add(idAgent.Key, decision.Decide(
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states[idAgent.Key],
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observations[idAgent.Key],
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rewards[idAgent.Key],
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dones[idAgent.Key],
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old_memories[idAgent.Key]));
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}
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foreach (KeyValuePair<int, Agent> idAgent in brain.agents)
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{
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new_memories.Add(idAgent.Key, decision.MakeMemory(
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states[idAgent.Key],
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observations[idAgent.Key],
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rewards[idAgent.Key],
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dones[idAgent.Key],
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old_memories[idAgent.Key]));
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}
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brain.SendActions(actions);
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brain.SendMemories(new_memories);
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}
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/// Nothing needs to be implemented, the states are collected in DecideAction
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public void SendState()
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{
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}
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/// Displays an error if no decision component is attached to the brain
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public void OnInspector()
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{
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#if UNITY_EDITOR
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if (brain.gameObject.GetComponent<Decision>() == null)
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{
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EditorGUILayout.HelpBox("You need to add a 'Decision' component to this gameObject", MessageType.Error);
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}
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#endif
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}
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}
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