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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305 行
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#if MLA_UNITY_PHYSICS_MODULE
using System.Collections.Generic;
using System.Reflection;
using NUnit.Framework;
using UnityEngine;
using Unity.MLAgents.Sensors;
namespace Unity.MLAgents.Tests
{
internal class TestBoxOverlapChecker : BoxOverlapChecker
{
public TestBoxOverlapChecker(
Vector3 cellScale,
Vector3Int gridSize,
bool rotateWithAgent,
LayerMask colliderMask,
GameObject centerObject,
GameObject agentGameObject,
string[] detectableTags,
int initialColliderBufferSize,
int maxColliderBufferSize
) : base(
cellScale,
gridSize,
rotateWithAgent,
colliderMask,
centerObject,
agentGameObject,
detectableTags,
initialColliderBufferSize,
maxColliderBufferSize)
{ }
public Vector3[] CellLocalPositions
{
get
{
return (Vector3[])typeof(BoxOverlapChecker).GetField("m_CellLocalPositions",
BindingFlags.Instance | BindingFlags.NonPublic).GetValue(this);
}
}
public Collider[] ColliderBuffer
{
get
{
return (Collider[])typeof(BoxOverlapChecker).GetField("m_ColliderBuffer",
BindingFlags.Instance | BindingFlags.NonPublic).GetValue(this);
}
}
public static TestBoxOverlapChecker CreateChecker(
float cellScaleX = 1f,
float cellScaleZ = 1f,
int gridSizeX = 10,
int gridSizeZ = 10,
bool rotateWithAgent = true,
GameObject centerObject = null,
GameObject agentGameObject = null,
string[] detectableTags = null,
int initialColliderBufferSize = 4,
int maxColliderBufferSize = 500)
{
return new TestBoxOverlapChecker(
new Vector3(cellScaleX, 0.01f, cellScaleZ),
new Vector3Int(gridSizeX, 1, gridSizeZ),
rotateWithAgent,
LayerMask.GetMask("Default"),
centerObject,
agentGameObject,
detectableTags,
initialColliderBufferSize,
maxColliderBufferSize);
}
}
public class BoxOverlapCheckerTests
{
[Test]
public void TestCellLocalPosition()
{
var testGo = new GameObject("test");
testGo.transform.position = Vector3.zero;
var boxOverlapSquare = TestBoxOverlapChecker.CreateChecker(gridSizeX: 10, gridSizeZ: 10, rotateWithAgent: false, agentGameObject: testGo);
var localPos = boxOverlapSquare.CellLocalPositions;
Assert.AreEqual(new Vector3(-4.5f, 0, -4.5f), localPos[0]);
Assert.AreEqual(new Vector3(-4.5f, 0, 4.5f), localPos[9]);
Assert.AreEqual(new Vector3(4.5f, 0, -4.5f), localPos[90]);
Assert.AreEqual(new Vector3(4.5f, 0, 4.5f), localPos[99]);
Object.DestroyImmediate(testGo);
var testGo2 = new GameObject("test");
testGo2.transform.position = new Vector3(3.5f, 8f, 17f); // random, should have no effect on local positions
var boxOverlapRect = TestBoxOverlapChecker.CreateChecker(gridSizeX: 5, gridSizeZ: 15, rotateWithAgent: true, agentGameObject: testGo);
localPos = boxOverlapRect.CellLocalPositions;
Assert.AreEqual(new Vector3(-2f, 0, -7f), localPos[0]);
Assert.AreEqual(new Vector3(-2f, 0, 7f), localPos[14]);
Assert.AreEqual(new Vector3(2f, 0, -7f), localPos[60]);
Assert.AreEqual(new Vector3(2f, 0, 7f), localPos[74]);
Object.DestroyImmediate(testGo2);
}
[Test]
public void TestCellGlobalPositionNoRotate()
{
var testGo = new GameObject("test");
var position = new Vector3(3.5f, 8f, 17f);
testGo.transform.position = position;
var boxOverlap = TestBoxOverlapChecker.CreateChecker(gridSizeX: 10, gridSizeZ: 10, rotateWithAgent: false, agentGameObject: testGo, centerObject: testGo);
Assert.AreEqual(new Vector3(-4.5f, 0, -4.5f) + position, boxOverlap.GetCellGlobalPosition(0));
Assert.AreEqual(new Vector3(-4.5f, 0, 4.5f) + position, boxOverlap.GetCellGlobalPosition(9));
Assert.AreEqual(new Vector3(4.5f, 0, -4.5f) + position, boxOverlap.GetCellGlobalPosition(90));
Assert.AreEqual(new Vector3(4.5f, 0, 4.5f) + position, boxOverlap.GetCellGlobalPosition(99));
testGo.transform.Rotate(0, 90, 0); // should have no effect on positions
Assert.AreEqual(new Vector3(-4.5f, 0, -4.5f) + position, boxOverlap.GetCellGlobalPosition(0));
Assert.AreEqual(new Vector3(-4.5f, 0, 4.5f) + position, boxOverlap.GetCellGlobalPosition(9));
Assert.AreEqual(new Vector3(4.5f, 0, -4.5f) + position, boxOverlap.GetCellGlobalPosition(90));
Assert.AreEqual(new Vector3(4.5f, 0, 4.5f) + position, boxOverlap.GetCellGlobalPosition(99));
Object.DestroyImmediate(testGo);
}
[Test]
public void TestCellGlobalPositionRotate()
{
var testGo = new GameObject("test");
var position = new Vector3(15f, 6f, 13f);
testGo.transform.position = position;
var boxOverlap = TestBoxOverlapChecker.CreateChecker(gridSizeX: 5, gridSizeZ: 15, rotateWithAgent: true, agentGameObject: testGo, centerObject: testGo);
Assert.AreEqual(new Vector3(-2f, 0, -7f) + position, boxOverlap.GetCellGlobalPosition(0));
Assert.AreEqual(new Vector3(-2f, 0, 7f) + position, boxOverlap.GetCellGlobalPosition(14));
Assert.AreEqual(new Vector3(2f, 0, -7f) + position, boxOverlap.GetCellGlobalPosition(60));
Assert.AreEqual(new Vector3(2f, 0, 7f) + position, boxOverlap.GetCellGlobalPosition(74));
testGo.transform.Rotate(0, 90, 0);
// round to int to ignore numeric errors
Assert.AreEqual(Vector3Int.RoundToInt(new Vector3(-7f, 0, 2f) + position), Vector3Int.RoundToInt(boxOverlap.GetCellGlobalPosition(0)));
Assert.AreEqual(Vector3Int.RoundToInt(new Vector3(7f, 0, 2f) + position), Vector3Int.RoundToInt(boxOverlap.GetCellGlobalPosition(14)));
Assert.AreEqual(Vector3Int.RoundToInt(new Vector3(-7f, 0, -2f) + position), Vector3Int.RoundToInt(boxOverlap.GetCellGlobalPosition(60)));
Assert.AreEqual(Vector3Int.RoundToInt(new Vector3(7f, 0, -2f) + position), Vector3Int.RoundToInt(boxOverlap.GetCellGlobalPosition(74)));
Object.DestroyImmediate(testGo);
}
[Test]
public void TestBufferResize()
{
List<GameObject> testObjects = new List<GameObject>();
var testGo = new GameObject("test");
testGo.transform.position = Vector3.zero;
testObjects.Add(testGo);
var boxOverlap = TestBoxOverlapChecker.CreateChecker(agentGameObject: testGo, centerObject: testGo, initialColliderBufferSize: 2, maxColliderBufferSize: 5);
boxOverlap.Update();
Assert.AreEqual(2, boxOverlap.ColliderBuffer.Length);
for (var i = 0; i < 3; i++)
{
var boxGo = new GameObject("test");
boxGo.transform.position = Vector3.zero;
boxGo.AddComponent<BoxCollider>();
testObjects.Add(boxGo);
}
boxOverlap.Update();
Assert.AreEqual(4, boxOverlap.ColliderBuffer.Length);
for (var i = 0; i < 2; i++)
{
var boxGo = new GameObject("test");
boxGo.transform.position = Vector3.zero;
boxGo.AddComponent<BoxCollider>();
testObjects.Add(boxGo);
}
boxOverlap.Update();
Assert.AreEqual(5, boxOverlap.ColliderBuffer.Length);
Object.DestroyImmediate(testGo);
foreach (var go in testObjects)
{
Object.DestroyImmediate(go);
}
}
[Test]
public void TestParseCollidersClosest()
{
var tag1 = "Player";
List<GameObject> testObjects = new List<GameObject>();
var testGo = new GameObject("test");
testGo.transform.position = Vector3.zero;
var boxOverlap = TestBoxOverlapChecker.CreateChecker(
cellScaleX: 10f,
cellScaleZ: 10f,
gridSizeX: 2,
gridSizeZ: 2,
agentGameObject: testGo,
centerObject: testGo,
detectableTags: new [] { tag1 });
var helper = new VerifyParseCollidersHelper();
boxOverlap.GridOverlapDetectedClosest += helper.DetectedAction;
for (var i = 0; i < 3; i++)
{
var boxGo = new GameObject("test");
boxGo.transform.position = new Vector3(i + 1, 0, 1);
boxGo.AddComponent<BoxCollider>();
boxGo.tag = tag1;
testObjects.Add(boxGo);
}
boxOverlap.Update();
helper.Verify(1, new List<GameObject> { testObjects[0] });
Object.DestroyImmediate(testGo);
foreach (var go in testObjects)
{
Object.DestroyImmediate(go);
}
}
[Test]
public void TestParseCollidersAll()
{
var tag1 = "Player";
List<GameObject> testObjects = new List<GameObject>();
var testGo = new GameObject("test");
testGo.transform.position = Vector3.zero;
var boxOverlap = TestBoxOverlapChecker.CreateChecker(
cellScaleX: 10f,
cellScaleZ: 10f,
gridSizeX: 2,
gridSizeZ: 2,
agentGameObject: testGo,
centerObject: testGo,
detectableTags: new [] { tag1 });
var helper = new VerifyParseCollidersHelper();
boxOverlap.GridOverlapDetectedAll += helper.DetectedAction;
for (var i = 0; i < 3; i++)
{
var boxGo = new GameObject("test");
boxGo.transform.position = new Vector3(i + 1, 0, 1);
boxGo.AddComponent<BoxCollider>();
boxGo.tag = tag1;
testObjects.Add(boxGo);
}
boxOverlap.Update();
helper.Verify(3, testObjects);
Object.DestroyImmediate(testGo);
foreach (var go in testObjects)
{
Object.DestroyImmediate(go);
}
}
public class VerifyParseCollidersHelper
{
int m_NumInvoked;
List<GameObject> m_ParsedObjects = new List<GameObject>();
public void DetectedAction(GameObject go, int cellIndex)
{
m_NumInvoked += 1;
m_ParsedObjects.Add(go);
}
public void Verify(int expectNumInvoke, List<GameObject> expectedObjects)
{
Assert.AreEqual(expectNumInvoke, m_NumInvoked);
Assert.AreEqual(expectedObjects.Count, m_ParsedObjects.Count);
foreach (var obj in expectedObjects)
{
Assert.Contains(obj, m_ParsedObjects);
}
}
}
[Test]
public void TestOnlyOneChecker()
{
var testGo = new GameObject("test");
testGo.transform.position = Vector3.zero;
var gridSensorComponent = testGo.AddComponent<SimpleTestGridSensorComponent>();
gridSensorComponent.SetComponentParameters(useGridSensorBase: true, useTestingGridSensor: true);
var sensors = gridSensorComponent.CreateSensors();
int numChecker = 0;
foreach (var sensor in sensors)
{
var gridsensor = (GridSensorBase)sensor;
if (gridsensor.m_BoxOverlapChecker != null)
{
numChecker += 1;
}
}
Assert.AreEqual(1, numChecker);
}
}
}
#endif