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 Unity.MLAgents.Extensions.Sensors
{
/// <summary>
/// Utility class to track a hierarchy of RigidBodies. These are assumed to have a root node,
/// and child nodes are connect to their parents via Joints.
/// </summary>
public class RigidBodyPoseExtractor : PoseExtractor
{
Rigidbody[] m_Bodies;
/// <summary>
/// Initialize given a root RigidBody.
/// </summary>
/// <param name="rootBody"></param>
public RigidBodyPoseExtractor(Rigidbody rootBody, GameObject rootGameObject = null)
{
if (rootBody == null)
{
return;
}
Rigidbody[] rbs;
if (rootGameObject == null)
{
rbs = rootBody.GetComponentsInChildren<Rigidbody>();
}
else
{
rbs = rootGameObject.GetComponentsInChildren<Rigidbody>();
}
var bodyToIndex = new Dictionary<Rigidbody, int>(rbs.Length);
var parentIndices = new int[rbs.Length];
if (rbs[0] != rootBody)
{
Debug.Log("Expected root body at index 0");
return;
}
for (var i = 0; i < rbs.Length; i++)
{
bodyToIndex[rbs[i]] = i;
}
var joints = rootBody.GetComponentsInChildren <Joint>();
foreach (var j in joints)
{
var parent = j.connectedBody;
var child = j.GetComponent<Rigidbody>();
var parentIndex = bodyToIndex[parent];
var childIndex = bodyToIndex[child];
parentIndices[childIndex] = parentIndex;
}
m_Bodies = rbs;
SetParentIndices(parentIndices);
}
/// <inheritdoc/>
protected override Vector3 GetLinearVelocityAt(int index)
{
return m_Bodies[index].velocity;
}
/// <inheritdoc/>
protected override Pose GetPoseAt(int index)
{
var body = m_Bodies[index];
return new Pose { rotation = body.rotation, position = body.position };
}
}
}