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69 行
2.3 KiB
69 行
2.3 KiB
using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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using MLAgents;
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public class Ball3DAgent : Agent
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{
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[Header("Specific to Ball3D")]
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public GameObject ball;
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private Rigidbody ballRb;
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public override void InitializeAgent()
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{
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ballRb = ball.GetComponent<Rigidbody>();
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}
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public override void CollectObservations()
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{
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AddVectorObs(gameObject.transform.rotation.z);
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AddVectorObs(gameObject.transform.rotation.x);
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AddVectorObs(ball.transform.position - gameObject.transform.position);
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AddVectorObs(ballRb.velocity);
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}
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public override void AgentAction(float[] vectorAction, string textAction)
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{
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if (brain.brainParameters.vectorActionSpaceType == SpaceType.continuous)
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{
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var actionZ = 2f * Mathf.Clamp(vectorAction[0], -1f, 1f);
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var actionX = 2f * Mathf.Clamp(vectorAction[1], -1f, 1f);
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if ((gameObject.transform.rotation.z < 0.25f && actionZ > 0f) ||
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(gameObject.transform.rotation.z > -0.25f && actionZ < 0f))
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{
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gameObject.transform.Rotate(new Vector3(0, 0, 1), actionZ);
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}
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if ((gameObject.transform.rotation.x < 0.25f && actionX > 0f) ||
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(gameObject.transform.rotation.x > -0.25f && actionX < 0f))
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{
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gameObject.transform.Rotate(new Vector3(1, 0, 0), actionX);
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}
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}
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if ((ball.transform.position.y - gameObject.transform.position.y) < -2f ||
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Mathf.Abs(ball.transform.position.x - gameObject.transform.position.x) > 3f ||
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Mathf.Abs(ball.transform.position.z - gameObject.transform.position.z) > 3f)
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{
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Done();
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SetReward(-1f);
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}
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else
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{
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SetReward(0.1f);
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}
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}
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public override void AgentReset()
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{
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gameObject.transform.rotation = new Quaternion(0f, 0f, 0f, 0f);
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gameObject.transform.Rotate(new Vector3(1, 0, 0), Random.Range(-10f, 10f));
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gameObject.transform.Rotate(new Vector3(0, 0, 1), Random.Range(-10f, 10f));
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ballRb.velocity = new Vector3(0f, 0f, 0f);
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ball.transform.position = new Vector3(Random.Range(-1.5f, 1.5f), 4f, Random.Range(-1.5f, 1.5f))
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+ gameObject.transform.position;
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}
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}
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