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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.velocity = 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()
{
//Set the attributes of the ball by fetching the information from the academy
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();
}
}
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