| using UnityEngine; |
| using Unity.MLAgents; |
| using Unity.MLAgents.Actuators; |
| using Unity.MLAgents.Sensors.Reflection; |
|
|
| public class Ball3DHardAgent : Agent |
| { |
| [Header("Specific to Ball3DHard")] |
| public GameObject ball; |
| Rigidbody m_BallRb; |
| EnvironmentParameters m_ResetParams; |
|
|
| public override void Initialize() |
| { |
| m_BallRb = ball.GetComponent<Rigidbody>(); |
| m_ResetParams = Academy.Instance.EnvironmentParameters; |
| SetResetParameters(); |
| } |
|
|
| [Observable(numStackedObservations: 9)] |
| Vector2 Rotation |
| { |
| get |
| { |
| return new Vector2(gameObject.transform.rotation.z, gameObject.transform.rotation.x); |
| } |
| } |
|
|
| [Observable(numStackedObservations: 9)] |
| Vector3 PositionDelta |
| { |
| get |
| { |
| return ball.transform.position - gameObject.transform.position; |
| } |
| } |
|
|
| public override void OnActionReceived(ActionBuffers actionBuffers) |
|
|
| { |
| var continuousActions = actionBuffers.ContinuousActions; |
| var actionZ = 2f * Mathf.Clamp(continuousActions[0], -1f, 1f); |
| var actionX = 2f * Mathf.Clamp(continuousActions[1], -1f, 1f); |
|
|
| if ((gameObject.transform.rotation.z < 0.25f && actionZ > 0f) || |
| (gameObject.transform.rotation.z > -0.25f && actionZ < 0f)) |
| { |
| gameObject.transform.Rotate(new Vector3(0, 0, 1), actionZ); |
| } |
|
|
| if ((gameObject.transform.rotation.x < 0.25f && actionX > 0f) || |
| (gameObject.transform.rotation.x > -0.25f && actionX < 0f)) |
| { |
| gameObject.transform.Rotate(new Vector3(1, 0, 0), actionX); |
| } |
| if ((ball.transform.position.y - gameObject.transform.position.y) < -2f || |
| Mathf.Abs(ball.transform.position.x - gameObject.transform.position.x) > 3f || |
| Mathf.Abs(ball.transform.position.z - gameObject.transform.position.z) > 3f) |
| { |
| SetReward(-1f); |
| EndEpisode(); |
| } |
| else |
| { |
| SetReward(0.1f); |
| } |
| } |
|
|
| public override void OnEpisodeBegin() |
| { |
| gameObject.transform.rotation = new Quaternion(0f, 0f, 0f, 0f); |
| gameObject.transform.Rotate(new Vector3(1, 0, 0), Random.Range(-10f, 10f)); |
| gameObject.transform.Rotate(new Vector3(0, 0, 1), Random.Range(-10f, 10f)); |
| m_BallRb.linearVelocity = new Vector3(0f, 0f, 0f); |
| ball.transform.position = new Vector3(Random.Range(-1.5f, 1.5f), 4f, Random.Range(-1.5f, 1.5f)) |
| + gameObject.transform.position; |
| } |
|
|
| public void SetBall() |
| { |
| |
| m_BallRb.mass = m_ResetParams.GetWithDefault("mass", 1.0f); |
| var scale = m_ResetParams.GetWithDefault("scale", 1.0f); |
| ball.transform.localScale = new Vector3(scale, scale, scale); |
| } |
|
|
| public void SetResetParameters() |
| { |
| SetBall(); |
| } |
| } |
|
|
