public override void Initialize()
{
base.Initialize();
tetrisGame.Init(this);
behaviorParameters = GetComponent <BehaviorParameters>();
}
/// <summary>
/// Initialize the agent's parameters when it is invoked.
/// </summary>
public override void Initialize()
{
m_BehaviorParameters = gameObject.GetComponent <BehaviorParameters>();
if (m_BehaviorParameters.TeamId == (int)Team.Red)
{
team = Team.Red;
}
else
{
team = Team.Blue;
}
agentVirtualCam.enabled = false;
// Register the agent to the Team Manager's activeAgents list.
var activeAgent = new ActiveAgents {
agentScript = this,
agentCam = agentVirtualCam,
checkpoint = 0
};
teamManager.activeAgents.Add(activeAgent);
m_AgentIndex = teamManager.activeAgents.IndexOf(activeAgent);
TryGetComponent(out engine.RB);
lastPosition = this.transform.position;
}
internal void CleanupActionAsset()
{
InputSystem.RemoveLayout(mlAgentsLayoutName);
if (!ReferenceEquals(m_Device, null))
{
InputSystem.RemoveDevice(m_Device);
}
if (!ReferenceEquals(m_InputAsset, null) &&
m_InputAsset.FindControlSchemeIndex(mlAgentsControlSchemeName) != -1)
{
m_InputAsset.RemoveControlScheme(mlAgentsControlSchemeName);
}
if (m_Actuators != null)
{
Array.Clear(m_Actuators, 0, m_Actuators.Length);
}
if (!ReferenceEquals(m_BehaviorParameters, null))
{
m_BehaviorParameters.OnPolicyUpdated -= UpdateDeviceBinding;
}
m_InputAsset = null;
m_PlayerInput = null;
m_BehaviorParameters = null;
m_Device = null;
}
public void SetPlayerType()
{
if (!playerAgent)
{
playerData.Type = PlayerType.Human;
return;
}
BehaviorParameters behavior = playerAgent.GetComponent <BehaviorParameters>();
switch (behavior.BehaviorType)
{
case BehaviorType.HeuristicOnly:
playerData.Type = PlayerType.Human;
break;
case BehaviorType.InferenceOnly:
playerData.Type = PlayerType.AI;
break;
case BehaviorType.Default:
if (behavior.Model != null)
{
playerData.Type = PlayerType.AI;
}
else
{
playerData.Type = PlayerType.AI;
}
break;
}
}
// ------------------------------------------------------------------------------------------------------------
// Unity Lifecycle calls
// ------------------------------------------------------------------------------------------------------------
private void Awake()
{
rocketRb = GetComponent <Rigidbody>();
rocketControl = GetComponent <Rocket>();
simulationState = GetComponent <SimulationState>();
behavourParameters = GetComponent <BehaviorParameters>();
}
public override void Initialize()
{
m_BehaviorParameters = gameObject.GetComponent <BehaviorParameters>();
team = Team.Blue;
m_Transform = new Vector3(transform.position.x + 0f, transform.position.y + 0f, transform.position.z + 0f);
m_Rigidbody = GetComponent <Rigidbody>();
m_Ball = Ball.GetComponent <Rigidbody>();
m_Rigidbody = GetComponent <Rigidbody>();
m_Ball = Ball.GetComponent <Rigidbody>();
var ps = new PlayStates
{
CarAgent = m_Rigidbody,
startingPosition = transform.position,
CarAgentScript = this,
};
area.playStates.Add(ps);
m_PlayerIndex = area.playStates.IndexOf(ps);
ps.playerIndx = m_PlayerIndex;
areaBounds = Stadium.GetComponent <Collider>().bounds;
}
void Awake()
{
gameManager = GetComponentInParent <GameManager>();
myStats = GetComponent <CharacterStats>();
baseAttacks = new Dictionary <int, BaseAttack>();
target = gameManager.player;
targetStats = target.GetComponent <CharacterStats>();
actionManager = gameManager.bossActionManager;
PopulateAttackDictionary(actionManager.availableAttacks);
arenaName = transform.parent.name.Replace(" ", "");
timeOnAttackSelected = -1;
attackSelected = null;
timeForNextAttack = 0;
vulnerabilityTime = 0;
distance = Vector3.Distance(target.transform.localPosition, transform.localPosition);
lightAttackDone = 0;
heavyAttackDoneMiss = 0;
heavyAttackDoneHit = 0;
poisonAttackDone = 0;
stunAttackDoneMiss = 0;
stunAttackDoneHit = 0;
gustAttackDone = 0;
behaviorParameters = GetComponent <BehaviorParameters>();
counter = 1;
}
public override void InitializeAgent()
{
m_BehaviorParameters = gameObject.GetComponent <BehaviorParameters>();
//outlet したteam idから、初期ポジションを場合分け
if (m_BehaviorParameters.m_TeamID == (int)Team.Blue)
{
team = Team.Blue;
m_Transform = new Vector3(transform.localPosition.x - 4f, .5f, transform.localPosition.z);
}
else
{
team = Team.Purple;
m_Transform = new Vector3(transform.localPosition.x + 4f, .5f, transform.localPosition.z);
}
agentRb = GetComponent <Rigidbody>();
agentRb.maxAngularVelocity = 500;
this.privateCanMoveCubeRb = GameObject.Find("canMoveObject").GetComponent <Rigidbody>();
var playerState = new PlayerState
{
agentRb = agentRb,
startingPos = transform.localPosition,
agentScript = this,
};
area.playerStates.Add(playerState);
m_PlayerIndex = area.playerStates.IndexOf(playerState);
playerState.playerIndex = m_PlayerIndex;
}
public override void InitializeAgent()
{
base.InitializeAgent();
m_BehaviorParameters = gameObject.GetComponent <BehaviorParameters>();
if (m_BehaviorParameters.m_TeamID == (int)Team.Blue)
{
team = Team.Blue;
m_Transform = new Vector3(transform.position.x - 4f, .5f, transform.position.z);
}
else
{
team = Team.Purple;
m_Transform = new Vector3(transform.position.x + 4f, .5f, transform.position.z);
}
m_SoccerSettings = FindObjectOfType <SoccerSettings>();
agentRb = GetComponent <Rigidbody>();
agentRb.maxAngularVelocity = 500;
var playerState = new PlayerState
{
agentRb = agentRb,
startingPos = transform.position,
agentScript = this,
};
area.playerStates.Add(playerState);
m_PlayerIndex = area.playerStates.IndexOf(playerState);
playerState.playerIndex = m_PlayerIndex;
}
public override void Initialize()
{
m_BehaviorParameters = gameObject.GetComponent <BehaviorParameters>();
if (blueTeamfull == false)
{
team = Team.Blue;
m_Transform = new Vector3(transform.position.x + 0f, transform.position.y + 0f, transform.position.z + 0f);
}
else if (blueTeamfull == true)
{
team = Team.Orange;
m_Transform = new Vector3(transform.position.x + 0f, transform.position.y + 0f, transform.position.z + 0f);
}
agentRb = GetComponent <Rigidbody>();
m_Ball = Ball.GetComponent <Rigidbody>();
var ps = new PlayerState
{
agentRb = agentRb,
startingPos = transform.position,
agentScript = this,
};
area.playerState.Add(ps);
m_PlayerIndex = area.playerState.IndexOf(ps);
ps.playerIndex = m_PlayerIndex;
}
internal static IActuator[] CreateActuatorsFromMap(InputActionMap inputActionMap,
BehaviorParameters behaviorParameters,
InputDevice inputDevice,
InputActuatorEventContext context)
{
var actuators = new IActuator[inputActionMap.actions.Count];
for (var i = 0; i < inputActionMap.actions.Count; i++)
{
var action = inputActionMap.actions[i];
var actionLayout = InputSystem.LoadLayout(action.expectedControlType);
var adaptor = (IRLActionInputAdaptor)Activator.CreateInstance(controlTypeToAdaptorType[actionLayout.type]);
actuators[i] = new InputActionActuator(inputDevice, behaviorParameters, action, adaptor, context);
// Reasonably, the input system starts adding numbers after the first none numbered name
// is added. So for device ID of 0, we use the empty string in the path.
var path = $"{inputDevice?.path}{InputControlPath.Separator}{action.name}";
action.AddBinding(path,
action.interactions,
action.processors,
mlAgentsControlSchemeName);
action.bindingMask = InputBinding.MaskByGroup(mlAgentsControlSchemeName);
}
return(actuators);
}
public override void Initialize()
{
originalPosition = transform.localPosition;
behaviorParameters = GetComponent <BehaviorParameters>();
carController = GetComponent <CarController>();
carControllerRigidBody = carController.GetComponent <Rigidbody>();
carSpots = transform.parent.GetComponentInChildren <CarSpots>();
ResetParkingLotArea();
}
public void Setup()
{
var go = new GameObject();
m_BehaviorParameters = go.AddComponent <BehaviorParameters>();
var action = new InputAction("action");
m_Adaptor = new TestAdaptor();
m_Actuator = new InputActionActuator(null, m_BehaviorParameters, action, m_Adaptor, new InputActuatorEventContext(1, InputSystem.AddDevice <Gamepad>()));
}
public void Setup()
{
var go = new GameObject();
m_BehaviorParameters = go.AddComponent <BehaviorParameters>();
var action = new InputAction("action");
m_Adaptor = new TestAdaptor();
m_Actuator = new InputActionActuator(null, m_BehaviorParameters, action, m_Adaptor);
}
public override void InitializeAgent()
{
if (behaviorParams == null)
{
behaviorParams = GetComponent <BehaviorParameters>();
}
if (behaviorParams == null)
{
Debug.LogError("Behavior params missing");
}
}
public override void Initialize()
{
MaxStep = 10000;
rb = GetComponent <Rigidbody>();
bps = GetComponent <BehaviorParameters>();
rb.maxAngularVelocity = 500.0f;
//Team ID 추출
team = (TEAM)bps.TeamId;
InitPlayers();
}
public void Start()
{
List <Transform> transforms = FindRecursive(root);
for (int i = 0; i < transforms.Count; i++)
{
Transform transform = transforms[i];
if (transform.gameObject.name.Contains("Tongue") || transform.gameObject.name.Contains("Teeth"))
{
continue;
}
BehaviorParameters bp = transform.GetComponent <BehaviorParameters>();
if (bp == null)
{
bp = transform.gameObject.AddComponent <BehaviorParameters>();
}
bp.BehaviorName = "SnapperController";
bp.BrainParameters.VectorObservationSize = 55;
// bp.BrainParameters.NumStackedVectorObservations = 4;
bp.BrainParameters.VectorActionSpaceType = SpaceType.Continuous;
bp.BrainParameters.VectorActionSize = new int[] { 3, 3, 3 };
bp.Model = nnModel;
RigTransformAgent rta = transform.GetComponent <RigTransformAgent>();
if (rta == null)
{
rta = transform.gameObject.AddComponent <RigTransformAgent>();
}
rta.Index = i;
rta.IndexRange = transforms.Count;
rta.MaxStep = MaxStep;
DecisionRequester dr = transform.GetComponent <DecisionRequester>();
if (dr == null)
{
dr = transform.gameObject.AddComponent <DecisionRequester>();
}
dr.DecisionPeriod = 2;
dr.TakeActionsBetweenDecisions = true;
RenderTextureSensorComponent rts = transform.GetComponent <RenderTextureSensorComponent>();
if (rts == null)
{
rts = transform.gameObject.AddComponent <RenderTextureSensorComponent>();
}
rts.RenderTexture = camTexture;
rts.Grayscale = true;
}
}
public override void InitializeAgent()
{
base.InitializeAgent();
perception = GetComponent <RayPerception>();
behaviorParameters = GetComponent <BehaviorParameters>();
parentTransform = transform.parent;
parentBody = GetComponentInParent <Rigidbody>();
totalFoodEaten = 0;
movement = GetComponent <MovementBehaviour>();
eating = GetComponent <EatingBehaviour>();
}
/// <summary>
/// Construct an <see cref="InputActionActuator"/> with the <see cref="BehaviorParameters"/> of the
/// <see cref="Agent"/> component, the relevant <see cref="InputAction"/>, and the relevant
/// <see cref="IRLActionInputAdaptor"/> to convert between ml-agents <--> <see cref="InputSystem"/>.
/// </summary>
/// <param name="inputDevice">The input device this action is bound to.</param>
/// <param name="behaviorParameters">Used to determine if the <see cref="Agent"/> is running in
/// heuristic mode.</param>
/// <param name="action">The <see cref="InputAction"/> this <see cref="IActuator"/> we read/write data to/from
/// via the <see cref="IRLActionInputAdaptor"/>.</param>
/// <param name="adaptor">The <see cref="IRLActionInputAdaptor"/> that will convert data between ML-Agents
/// and the <see cref="InputSystem"/>.</param>
public InputActionActuator(InputDevice inputDevice, BehaviorParameters behaviorParameters,
InputAction action,
IRLActionInputAdaptor adaptor)
{
m_BehaviorParameters = behaviorParameters;
Name = $"InputActionActuator-{action.name}";
m_Action = action;
m_InputAdaptor = adaptor;
ActionSpec = adaptor.GetActionSpecForInputAction(m_Action);
m_Device = inputDevice;
m_Control = m_Device?.GetChildControl(m_Action.name);
}
public override void Initialize()
{
float xPos = UnityEngine.Random.Range(-3, 3);
float zPos = UnityEngine.Random.Range(-3, 3);
m_Existential = 1f / MaxStep;
m_BehaviorParameters = gameObject.GetComponent <BehaviorParameters>();
if (m_BehaviorParameters.TeamId == (int)Team.Blue)
{
team = Team.Blue;
m_Transform = new Vector3(transform.position.x - xPos, .5f, transform.position.z - zPos);
//m_Transform = new Vector3(transform.position.x - 4f, .5f, transform.position.z);
}
else
{
team = Team.Purple;
m_Transform = new Vector3(transform.position.x - xPos, .5f, transform.position.z - zPos);
//_Transform = new Vector3(transform.position.x + 4f, .5f, transform.position.z);
}
if (position == Position.Goalie)
{
m_LateralSpeed = 1.0f;
m_ForwardSpeed = 1.0f;
}
else if (position == Position.Striker)
{
m_LateralSpeed = 0.3f;
m_ForwardSpeed = 1.3f;
}
else
{
m_LateralSpeed = 0.3f;
m_ForwardSpeed = 1.0f;
}
m_SoccerSettings = FindObjectOfType <SoccerSettings>();
agentRb = GetComponent <Rigidbody>();
agentRb.maxAngularVelocity = 500;
var playerState = new PlayerState
{
agentRb = agentRb,
startingPos = transform.position,
agentScript = this,
};
area.playerStates.Add(playerState);
m_PlayerIndex = area.playerStates.IndexOf(playerState);
playerState.playerIndex = m_PlayerIndex;
m_ResetParams = Academy.Instance.EnvironmentParameters;
}
// private AgentAgentHelper AgentHelper = new AgentAgentHelper();
public override void Initialize()
{
Time.timeScale = 1;
// Debug.Log(Thread.CurrentThread.ManagedThreadId);
//Random.seed = Thread.CurrentThread.ManagedThreadId;
team = this.gameObject.tag;
initial_position = this.transform.position;
initial_rotation = this.transform.rotation;
parent = this.transform.parent;
ball = parent.Find("Soccer Ball").gameObject;
m_BehaviorParameters = gameObject.GetComponent <BehaviorParameters>();
car_controller = GetComponent <CarController>();
self_rBody = GetComponent <Rigidbody>();
ball_rBody = ball.GetComponent <Rigidbody>();
goalCheck = ball.GetComponent <GoalCheck_1v1>();
GameObject car_sphere = this.transform.Find("Sphere").gameObject;
if (team == "Blue")
{
car_sphere.GetComponent <Renderer>().material.SetColor("_Color", Color.blue);
own_goal = parent.Find("Blue_goal").gameObject;
other_goal = parent.Find("Red_goal").gameObject;
friends = new List <GameObject>();
foreach (GameObject go in AgentHelper.FindGameObjectInChildWithTag(parent, team))
{
if (go.Equals(this.gameObject)) // I do this to exclude itself (not sure if its a good idea yet)
{
continue;
}
friends.Add(go);
}
enemies = new List <GameObject>(AgentHelper.FindGameObjectInChildWithTag(parent, "Red"));
}
else if (team == "Red")
{
car_sphere.GetComponent <Renderer>().material.SetColor("_Color", Color.red);
own_goal = parent.Find("Red_goal").gameObject;
other_goal = parent.Find("Blue_goal").gameObject;
friends = new List <GameObject>();
foreach (GameObject go in AgentHelper.FindGameObjectInChildWithTag(parent, team))
{
if (go.Equals(this.gameObject)) // I do this to exclude itself (not sure if its a good idea yet)
{
continue;
}
friends.Add(go);
}
enemies = new List <GameObject>(AgentHelper.FindGameObjectInChildWithTag(parent, "Blue"));
}
}
// Start is called before the first frame update
void Start()
{
// check behaviour sizes
BehaviorParameters behaviorParameters = this.gameObject.GetComponent <BehaviorParameters>();
Debug.Log("size of continuous observation vector = " + behaviorParameters.BrainParameters.VectorObservationSize);
Debug.Log("size of continuous action vector = " + behaviorParameters.BrainParameters.ActionSpec.NumContinuousActions);
// check policy type
_heuristic = behaviorParameters.BehaviorType == BehaviorType.HeuristicOnly;
/* Env setup */
_rAgent = this.GetComponent <Rigidbody>(); // get rigid body attached to Agent gameobject
}
public override void Initialize()//reset vars
{
behaviorParameters = GetComponent <BehaviorParameters>();
GameObject environment = gameObject.transform.parent.gameObject;
ballRgd = ball.GetComponent <Rigidbody>();
//basket = environment.transform.GetChild(right == 1 ? 3 : 4).GetChild(4);
ballRgd.angularVelocity = Vector3.zero;
ballRgd.velocity = Vector3.zero;
manager = transform.GetComponentInParent <ShootingPlayerScript>();
counter = 0;
//un-comment if using inference only shooting
//transform.localPosition = new Vector3(Random.Range(3f, 18f), 1f, Random.Range(-9f, 9f));
//ball.transform.localPosition = new Vector3(transform.localPosition.x + right * 1.1f, transform.localPosition.y + 0.75f, transform.localPosition.z);
}
public override void Setup()
{
base.Setup();
m_Actions = new TestPushBlockActions();
m_Asset = m_Actions.asset;
m_GameObject = new GameObject();
m_PlayerInput = m_GameObject.AddComponent <PlayerInput>();
m_Provider = m_GameObject.AddComponent <TestProvider>();
m_Provider.asset = m_Asset;
m_Provider.collection = m_Actions;
m_ActuatorComponent = m_GameObject.AddComponent <InputActuatorComponent>();
m_BehaviorParameters = m_GameObject.AddComponent <BehaviorParameters>();
m_BehaviorParameters.BehaviorName = "InputTest";
m_BehaviorParameters.BehaviorType = BehaviorType.Default;
}
private void Awake()
{
healthController = GetComponent <HealthController>();
rb = GetComponent <Rigidbody>();
environment = this.transform.parent;
gameController = environment.GetComponentInChildren <GameController>();
behaviorParameters = GetComponent <BehaviorParameters>();
for (int i = 0; i < rateFire; i++)
{
GameObject newShell = Instantiate <GameObject>(shellPrefab, this.transform.parent);
newShell.SetActive(false);
shells.Add(newShell);
}
}
public override void Initialize()//reset vals
{
behaviorParameters = GetComponent <BehaviorParameters>();
right = 1;
parent.GetComponent <Rigidbody>().useGravity = true;
GameObject environment = gameObject.transform.parent.gameObject.transform.parent.gameObject;
//ballRgd = environment.transform.GetChild(1).GetComponent<Rigidbody>();
ballRgd = ball.GetComponent <Rigidbody>();//environment.transform.GetChild(1).transform;
ballRgd.angularVelocity = Vector3.zero;
ballRgd.velocity = Vector3.zero;
counter = 0;
//ResetLocations();
manager = transform.GetComponentInParent <ShootingPlayerScript>();
manager.hasBall = false;
}
public override void Initialize()
{
SoccerEnvController envController = GetComponentInParent <SoccerEnvController>();
if (envController != null)
{
m_Existential = 1f / envController.MaxEnvironmentSteps;
}
else
{
m_Existential = 1f / MaxStep;
}
m_BehaviorParameters = gameObject.GetComponent <BehaviorParameters>();
if (m_BehaviorParameters.TeamId == (int)Team.Blue)
{
team = Team.Blue;
initialPos = new Vector3(transform.position.x - 5f, .5f, transform.position.z);
rotSign = 1f;
}
else
{
team = Team.Purple;
initialPos = new Vector3(transform.position.x + 5f, .5f, transform.position.z);
rotSign = -1f;
}
if (position == Position.Goalie)
{
m_LateralSpeed = 1.0f;
m_ForwardSpeed = 1.0f;
}
else if (position == Position.Striker)
{
m_LateralSpeed = 0.3f;
m_ForwardSpeed = 1.3f;
}
else
{
m_LateralSpeed = 0.3f;
m_ForwardSpeed = 1.0f;
}
m_SoccerSettings = FindObjectOfType <SoccerSettings>();
agentRb = GetComponent <Rigidbody>();
agentRb.maxAngularVelocity = 500;
m_ResetParams = Academy.Instance.EnvironmentParameters;
}
void Start()
{
_rBody = GetComponent <Rigidbody>();
_fJoint = GetComponent <FixedJoint>();
_viewField = GetComponent <ViewField>();
_bufferSensor = GetComponent <BufferSensorComponent>();
_behaviorParameters = GetComponent <BehaviorParameters>();
var parent = transform.parent;
_manager = parent.GetComponent <ObjectsManager>();
_config = parent.GetComponent <Config>();
_spawnHelper = parent.GetComponent <SpawnHelper>();
_seenHolder = parent.GetComponent <SeenHolder>();
team = _behaviorParameters.TeamId == (int)Team.Hider ? Team.Hider : Team.Seeker;
MaxStep = _config.episodeLength;
}
public override void Initialize()
{
behaviorParameters = gameObject.GetComponent <BehaviorParameters>();
if (behaviorParameters.TeamId == (int)Team.Red)
{
team = Team.Red;
iniPos = new Vector3(transform.position.x - 3f, 1.1f, transform.position.z);
}
else
{
team = Team.Blue;
iniPos = new Vector3(transform.position.x + 3f, 1.1f, transform.position.z);
}
HorizontalSpeed = 0.4f;
VerticalSpeed = 1.1f;
rb = GetComponent <Rigidbody>();
rb.maxAngularVelocity = 500;
}
public override void Initialize()
{
// f**k you mlagents team
m_ExistentialReward = 1f / 1000000f;
m_OutOfBoundsReward = 1f / 10000f;
totalHitReward = 0f;
m_HitReward = 0.05f;
m_BehaviorParameters = gameObject.GetComponent <BehaviorParameters>();
if (m_BehaviorParameters.TeamId == (int)RectTeam.Blue)
{
team = RectTeam.Blue;
m_Transform = new Vector3(transform.position.x, 1f, transform.position.z);
}
else
{
team = RectTeam.Yellow;
m_Transform = new Vector3(transform.position.x, 1f, transform.position.z);
}
m_LateralSpeed = 2.0f;
m_ForwardSpeed = 2.0f;
m_Settings = FindObjectOfType <RectSettings>();
agentRb = GetComponent <Rigidbody>();
agentRb.maxAngularVelocity = 500;
var playerState = new RectState
{
agentRb = agentRb,
startingPos = transform.position,
agentScript = this,
};
area.playerStates.Add(playerState);
m_PlayerIndex = area.playerStates.IndexOf(playerState);
playerState.playerIndex = m_PlayerIndex;
m_ResetParams = Academy.Instance.EnvironmentParameters;
}
