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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135 行
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using UnityEngine;
using Random = UnityEngine.Random;
using Unity.MLAgents;
using UnityEngine.Events;
namespace Unity.MLAgentsExamples
{
/// <summary>
/// Utility class to allow target placement and collision detection with an agent
/// Add this script to the target you want the agent to touch.
/// Callbacks will be triggered any time the target is touched with a collider tagged as 'tagToDetect'
/// </summary>
public class CollisionCallbacks : MonoBehaviour
{
[Header("Collider Tag To Detect")]
public string tagToDetect = "agent"; //collider tag to detect
[Header("Target Placement")]
public float spawnRadius; //The radius in which a target can be randomly spawned.
public bool respawnIfTouched; //Should the target respawn to a different position when touched
[Header("Target Fell Protection")]
public bool respawnIfFallsOffPlatform = true; //If the target falls off the platform, reset the position.
public float fallDistance = 5; //distance below the starting height that will trigger a respawn
private Vector3 m_startingPos; //the starting position of the target
private Agent m_agentTouching; //the agent currently touching the target
[System.Serializable]
public class TriggerEvent : UnityEvent<Collider>
{
}
[Header("Trigger Callbacks")]
public TriggerEvent onTriggerEnterEvent = new TriggerEvent();
public TriggerEvent onTriggerStayEvent = new TriggerEvent();
public TriggerEvent onTriggerExitEvent = new TriggerEvent();
[System.Serializable]
public class CollisionEvent : UnityEvent<Collision>
{
}
[Header("Collision Callbacks")]
public CollisionEvent onCollisionEnterEvent = new CollisionEvent();
public CollisionEvent onCollisionStayEvent = new CollisionEvent();
public CollisionEvent onCollisionExitEvent = new CollisionEvent();
// Start is called before the first frame update
void OnEnable()
{
m_startingPos = transform.position;
if (respawnIfTouched)
{
MoveTargetToRandomPosition();
}
}
void Update()
{
if (respawnIfFallsOffPlatform)
{
if (transform.position.y < m_startingPos.y - fallDistance)
{
Debug.Log($"{transform.name} Fell Off Platform");
MoveTargetToRandomPosition();
}
}
}
/// <summary>
/// Moves target to a random position within specified radius.
/// </summary>
public void MoveTargetToRandomPosition()
{
var newTargetPos = m_startingPos + (Random.insideUnitSphere * spawnRadius);
newTargetPos.y = m_startingPos.y;
transform.position = newTargetPos;
}
private void OnCollisionEnter(Collision col)
{
if (col.transform.CompareTag(tagToDetect))
{
onCollisionEnterEvent.Invoke(col);
if (respawnIfTouched)
{
MoveTargetToRandomPosition();
}
}
}
private void OnCollisionStay(Collision col)
{
if (col.transform.CompareTag(tagToDetect))
{
onCollisionStayEvent.Invoke(col);
}
}
private void OnCollisionExit(Collision col)
{
if (col.transform.CompareTag(tagToDetect))
{
onCollisionExitEvent.Invoke(col);
}
}
private void OnTriggerEnter(Collider col)
{
if (col.CompareTag(tagToDetect))
{
onTriggerEnterEvent.Invoke(col);
}
}
private void OnTriggerStay(Collider col)
{
if (col.CompareTag(tagToDetect))
{
onTriggerStayEvent.Invoke(col);
}
}
private void OnTriggerExit(Collider col)
{
if (col.CompareTag(tagToDetect))
{
onTriggerExitEvent.Invoke(col);
}
}
}
}