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 MLAgents
{
/// <summary>
/// Ray perception component. Attach this to agents to enable "local perception"
/// via the use of ray casts directed outward from the agent.
/// </summary>
public class RayPerception : MonoBehaviour
{
List<float> perceptionBuffer = new List<float>();
Vector3 endPosition;
RaycastHit hit;
/// <summary>
/// Creates perception vector to be used as part of an observation of an agent.
/// </summary>
/// <returns>The partial vector observation corresponding to the set of rays</returns>
/// <param name="rayDistance">Radius of rays</param>
/// <param name="rayAngles">Anlges of rays (starting from (1,0) on unit circle).</param>
/// <param name="detectableObjects">List of tags which correspond to object types agent can see</param>
/// <param name="startOffset">Starting heigh offset of ray from center of agent.</param>
/// <param name="endOffset">Ending height offset of ray from center of agent.</param>
public List<float> Perceive(float rayDistance,
float[] rayAngles, string[] detectableObjects,
float startOffset, float endOffset)
{
perceptionBuffer.Clear();
// For each ray sublist stores categorial information on detected object
// along with object distance.
foreach (float angle in rayAngles)
{
endPosition = transform.TransformDirection(
PolarToCartesian(rayDistance, angle));
endPosition.y = endOffset;
if (Application.isEditor)
{
Debug.DrawRay(transform.position + new Vector3(0f, startOffset, 0f),
endPosition, Color.black, 0.01f, true);
}
float[] subList = new float[detectableObjects.Length + 2];
if (Physics.SphereCast(transform.position +
new Vector3(0f, startOffset, 0f), 0.5f,
endPosition, out hit, rayDistance))
{
for (int i = 0; i < detectableObjects.Length; i++)
{
if (hit.collider.gameObject.CompareTag(detectableObjects[i]))
{
subList[i] = 1;
subList[detectableObjects.Length + 1] = hit.distance / rayDistance;
break;
}
}
}
else
{
subList[detectableObjects.Length] = 1f;
}
perceptionBuffer.AddRange(subList);
}
return perceptionBuffer;
}
/// <summary>
/// Converts polar coordinate to cartesian coordinate.
/// </summary>
public static Vector3 PolarToCartesian(float radius, float angle)
{
float x = radius * Mathf.Cos(DegreeToRadian(angle));
float z = radius * Mathf.Sin(DegreeToRadian(angle));
return new Vector3(x, 0f, z);
}
/// <summary>
/// Converts degrees to radians.
/// </summary>
public static float DegreeToRadian(float degree)
{
return degree * Mathf.PI / 180f;
}
}
}