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398 行
13 KiB
398 行
13 KiB
using System.Collections;
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using System.Collections.Generic;
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using Unity.MLAgents;
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using UnityEngine;
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public class ZombiePushBlockDeathEnvController : MonoBehaviour
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{
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[System.Serializable]
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public class PlayerInfo
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{
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public PushAgentZombie Agent;
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[HideInInspector]
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public Vector3 StartingPos;
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[HideInInspector]
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public Quaternion StartingRot;
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[HideInInspector]
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public Rigidbody Rb;
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[HideInInspector]
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public Collider Col;
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}
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[System.Serializable]
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public class ZombieInfo
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{
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public SimpleNPC Agent;
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[HideInInspector]
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public Vector3 StartingPos;
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[HideInInspector]
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public Quaternion StartingRot;
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[HideInInspector]
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public Rigidbody Rb;
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[HideInInspector]
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public Collider Col;
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public Transform T;
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public bool IsDead;
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}
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// [System.Serializable]
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// public class BlockInfo
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// {
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// public Transform T;
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// [HideInInspector]
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// public Vector3 StartingPos;
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// [HideInInspector]
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// public Quaternion StartingRot;
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// [HideInInspector]
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// public Rigidbody Rb;
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// public Transform LockedBlock;
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// }
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/// <summary>
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/// Max Academy steps before this platform resets
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/// </summary>
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/// <returns></returns>
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[Header("Max Environment Steps")] public int MaxEnvironmentSteps = 25000;
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private int m_ResetTimer;
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/// <summary>
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/// The area bounds.
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/// </summary>
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[HideInInspector]
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public Bounds areaBounds;
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/// <summary>
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/// The ground. The bounds are used to spawn the elements.
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/// </summary>
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public GameObject ground;
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// public GameObject area;
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Material m_GroundMaterial; //cached on Awake()
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/// <summary>
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/// We will be changing the ground material based on success/failue
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/// </summary>
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Renderer m_GroundRenderer;
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public List<PlayerInfo> AgentsList = new List<PlayerInfo>();
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public List<ZombieInfo> ZombiesList = new List<ZombieInfo>();
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// public List<BlockInfo> BlocksList = new List<BlockInfo>();
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public bool UseRandomAgentRotation = true;
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public bool UseRandomAgentPosition = true;
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// public bool UseRandomBlockRotation = true;
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// public bool UseRandomBlockPosition = true;
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PushBlockSettings m_PushBlockSettings;
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private int m_NumberOfRemainingBlocks;
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public GameObject Key;
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public GameObject LockedBlock;
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public Rigidbody UnlockedBlock;
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public Dictionary<Transform, PlayerInfo> m_AgentsDict = new Dictionary<Transform, PlayerInfo>();
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public Dictionary<Transform, ZombieInfo> m_ZombiesDict = new Dictionary<Transform, ZombieInfo>();
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// public Dictionary<Transform, BlockInfo> m_BlocksDict = new Dictionary<Transform, BlockInfo>();
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private SimpleMultiAgentGroup m_AgentGroup;
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public bool BlockIsLocked;
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void Start()
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{
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// Get the ground's bounds
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areaBounds = ground.GetComponent<Collider>().bounds;
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// Get the ground renderer so we can change the material when a goal is scored
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m_GroundRenderer = ground.GetComponent<Renderer>();
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// Starting material
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m_GroundMaterial = m_GroundRenderer.material;
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m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
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//Lock The Block
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LockTheBlock();
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//Hide The Key
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Key.SetActive(false);
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// foreach (var item in BlocksList)
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// {
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// item.StartingPos = item.T.transform.position;
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// item.StartingRot = item.T.transform.rotation;
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// item.Rb = item.T.GetComponent<Rigidbody>();
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// m_BlocksDict.Add(item.T, item);
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// }
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// Initialize TeamManager
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m_AgentGroup = new SimpleMultiAgentGroup();
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foreach (var item in AgentsList)
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{
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item.StartingPos = item.Agent.transform.position;
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item.StartingRot = item.Agent.transform.rotation;
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item.Rb = item.Agent.GetComponent<Rigidbody>();
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item.Col = item.Agent.GetComponent<Collider>();
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m_AgentsDict.Add(item.Agent.transform, item);
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// Add to team manager
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m_AgentGroup.RegisterAgent(item.Agent);
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}
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foreach (var item in ZombiesList)
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{
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item.StartingPos = item.Agent.transform.position;
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item.StartingRot = item.Agent.transform.rotation;
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item.T = item.Agent.transform;
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item.Col = item.Agent.GetComponent<Collider>();
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m_ZombiesDict.Add(item.T, item);
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}
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ResetScene();
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}
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// Update is called once per frame
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void FixedUpdate()
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{
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m_ResetTimer += 1;
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if (m_ResetTimer >= MaxEnvironmentSteps && MaxEnvironmentSteps > 0)
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{
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m_AgentGroup.GroupEpisodeInterrupted();
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ResetScene();
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}
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//Hurry Up Penalty
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m_AgentGroup.AddGroupReward(-0.5f / MaxEnvironmentSteps);
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}
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// // public Dictionary<Agent>
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// //Kill/disable an agent
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// public void KillAgent(Collision col, Transform t)
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// {
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// print($"zombie {t.name} ate {col.collider.name}");
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// //Disable killed Agent
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// foreach (var item in AgentsList)
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// {
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// if (item.Col == col.collider)
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// {
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// item.Agent.EndEpisode();
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// item.Col.gameObject.SetActive(false);
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// break;
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// }
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// }
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//
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// //End Episode
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// foreach (var item in ZombiesList)
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// {
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// if (item.Agent.transform == t)
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// {
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// KillZombie(item);
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// break;
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// }
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// }
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// }
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public void UnlockBlock(Transform blockT)
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{
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LockedBlock.SetActive(false);
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UnlockedBlock.velocity = Vector3.zero;
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UnlockedBlock.angularVelocity = Vector3.zero;
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UnlockedBlock.transform.SetPositionAndRotation(blockT.position, blockT.rotation);
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UnlockedBlock.gameObject.SetActive(true);
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BlockIsLocked = false;
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m_AgentGroup.AddGroupReward(0.1f);
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}
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public void LockTheBlock()
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{
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LockedBlock.SetActive(true);
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UnlockedBlock.velocity = Vector3.zero;
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UnlockedBlock.angularVelocity = Vector3.zero;
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UnlockedBlock.transform.SetPositionAndRotation(LockedBlock.transform.position, LockedBlock.transform.rotation);
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UnlockedBlock.gameObject.SetActive(false);
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BlockIsLocked = true;
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}
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public void KilledByZombie(PushAgentZombie agent, Collision zombCol)
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{
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zombCol.gameObject.SetActive(false);
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agent.EndEpisode();
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agent.gameObject.SetActive(false);
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print($"zombie {zombCol.gameObject.name} ate {agent.transform.name}");
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//Spawn the Key Pickup
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Key.transform.SetPositionAndRotation(zombCol.collider.transform.position, zombCol.collider.transform.rotation);
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Key.SetActive(true);
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// Instantiate(KeyPrefab, zombCol.collider.transform.position, zombCol.collider.transform.rotation, transform);
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}
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/// <summary>
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/// Use the ground's bounds to pick a random spawn position.
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/// </summary>
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public Vector3 GetRandomSpawnPos()
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{
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var foundNewSpawnLocation = false;
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var randomSpawnPos = Vector3.zero;
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while (foundNewSpawnLocation == false)
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{
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var randomPosX = Random.Range(-areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier,
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areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier);
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var randomPosZ = Random.Range(-areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier,
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areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier);
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randomSpawnPos = ground.transform.position + new Vector3(randomPosX, 1f, randomPosZ);
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if (Physics.CheckBox(randomSpawnPos, new Vector3(2.5f, 0.01f, 2.5f)) == false)
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{
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foundNewSpawnLocation = true;
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}
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}
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return randomSpawnPos;
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}
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/// <summary>
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/// Swap ground material, wait time seconds, then swap back to the regular material.
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/// </summary>
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IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
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{
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m_GroundRenderer.material = mat;
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yield return new WaitForSeconds(time); // Wait for 2 sec
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m_GroundRenderer.material = m_GroundMaterial;
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}
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/// <summary>
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/// Called when the agent moves the block into the goal.
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/// </summary>
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public void ScoredAGoal(Collider col, float score)
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{
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print($"Scored {score} on {gameObject.name}");
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//Give Agent Rewards
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m_AgentGroup.AddGroupReward(score);
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// m_AgentGroup.EndGroupEpisode();
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// Swap ground material for a bit to indicate we scored.
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StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.goalScoredMaterial, 0.5f));
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ResetScene();
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}
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public void ZombieTouchedBlock()
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{
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//Give Agents Penalties
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m_AgentGroup.AddGroupReward(-1);
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// m_AgentGroup.EndGroupEpisode();
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// Swap ground material for a bit to indicate we scored.
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StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.failMaterial, 0.5f));
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ResetScene();
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}
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Quaternion GetRandomRot()
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{
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return Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
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}
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void ResetScene()
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{
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//Reset counter
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m_ResetTimer = 0;
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//Random platform rot
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var rotation = Random.Range(0, 4);
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var rotationAngle = rotation * 90f;
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transform.Rotate(new Vector3(0f, rotationAngle, 0f));
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//Reset Agents
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foreach (var item in AgentsList)
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{
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var pos = UseRandomAgentPosition ? GetRandomSpawnPos() : item.StartingPos;
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var rot = UseRandomAgentRotation ? GetRandomRot() : item.StartingRot;
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item.Agent.transform.SetPositionAndRotation(pos, rot);
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item.Rb.velocity = Vector3.zero;
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item.Rb.angularVelocity = Vector3.zero;
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item.Agent.MyKey.SetActive(false);
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item.Agent.IHaveAKey = false;
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item.Agent.gameObject.SetActive(true);
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}
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//Reset Blocks
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LockedBlock.transform.position = GetRandomSpawnPos();
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LockedBlock.transform.rotation = GetRandomRot();
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LockTheBlock();
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//Reset Key
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Key.SetActive(false);
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//End Episode
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foreach (var item in ZombiesList)
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{
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if (!item.Agent)
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{
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return;
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}
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// item.Agent.EndEpisode();
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item.Agent.transform.SetPositionAndRotation(item.StartingPos, item.StartingRot);
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item.Agent.SetRandomWalkSpeed();
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item.Agent.gameObject.SetActive(true);
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}
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m_AgentGroup.EndGroupEpisode();
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}
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// void ResetScene()
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// {
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// m_ResetTimer = 0;
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//
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// //Random platform rot
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// var rotation = Random.Range(0, 4);
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// var rotationAngle = rotation * 90f;
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// transform.Rotate(new Vector3(0f, rotationAngle, 0f));
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//
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// //End Episode
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// foreach (var item in AgentsList)
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// {
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// if (!item.Agent)
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// {
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// return;
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// }
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// item.Agent.EndEpisode();
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// }
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// //Reset Agents
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// foreach (var item in AgentsList)
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// {
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// var pos = UseRandomAgentPosition ? GetRandomSpawnPos() : item.StartingPos;
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// var rot = UseRandomAgentRotation ? GetRandomRot() : item.StartingRot;
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//
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// item.Agent.transform.SetPositionAndRotation(pos, rot);
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// item.Rb.velocity = Vector3.zero;
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// item.Rb.angularVelocity = Vector3.zero;
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// item.Agent.gameObject.SetActive(true);
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// }
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//
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// //Reset Blocks
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// foreach (var item in BlocksList)
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// {
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// var pos = UseRandomBlockPosition ? GetRandomSpawnPos() : item.StartingPos;
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// var rot = UseRandomBlockRotation ? GetRandomRot() : item.StartingRot;
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//
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// item.T.transform.SetPositionAndRotation(pos, rot);
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// item.Rb.velocity = Vector3.zero;
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// item.Rb.angularVelocity = Vector3.zero;
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// item.T.gameObject.SetActive(true);
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// // BlockIsLocked(item, true);
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// }
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// //End Episode
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// foreach (var item in ZombiesList)
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// {
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// if (!item.Agent)
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// {
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// return;
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// }
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// // item.Agent.EndEpisode();
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// item.Agent.transform.SetPositionAndRotation(item.StartingPos, item.StartingRot);
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// item.Agent.SetRandomWalkSpeed();
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// item.Agent.gameObject.SetActive(true);
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// }
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//
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// //Reset counter
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// m_NumberOfRemainingBlocks = BlocksList.Count;
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// // m_NumberOfRemainingBlocks = 2;
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// }
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}
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