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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82 行
2.3 KiB

using System.Collections;
using System.Collections.Generic;
using MLAgents;
using MLAgents.SideChannels;
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;
void Awake()
{
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 GoalTouched(AgentSoccer.Team scoredTeam)
{
foreach (var ps in playerStates)
{
if (ps.agentScript.team == scoredTeam)
{
ps.agentScript.AddReward(1 + ps.agentScript.timePenalty);
}
else
{
ps.agentScript.AddReward(-1);
}
ps.agentScript.EndEpisode(); //all agents need to be reset
if (goalTextUI)
{
StartCoroutine(ShowGoalUI());
}
}
}
public void ResetBall()
{
ball.transform.position = ballStartingPos;
ballRb.velocity = Vector3.zero;
ballRb.angularVelocity = Vector3.zero;
var ballScale = SideChannelUtils.GetSideChannel<FloatPropertiesChannel>().GetPropertyWithDefault("ball_scale", 0.015f);
ballRb.transform.localScale = new Vector3(ballScale, ballScale, ballScale);
}
}