// Use this for initialization
void Start()
{
rayPerception = GetComponent <MLAgents.RayPerception>();
AwayNetObservable.RegisterObserver(this);
HomeNetObservable.RegisterObserver(this);
startingPosition = this.transform.position;
startingRotation = this.transform.rotation;
academy = FindObjectOfType <MLAgents.Academy>();
rigidBody = GetComponent <Rigidbody>();
}
/// Monobehavior function that is called when the attached GameObject
/// becomes enabled or active.
void OnEnable()
{
textureArray = new Texture2D[agentParameters.agentCameras.Count];
for (int i = 0; i < agentParameters.agentCameras.Count; i++)
{
textureArray[i] = new Texture2D(1, 1, TextureFormat.RGB24, false);
}
id = gameObject.GetInstanceID();
Academy academy = Object.FindObjectOfType <Academy>() as Academy;
OnEnableHelper(academy);
}
/// Monobehavior function that is called when the attached GameObject
/// becomes disabled or inactive.
void OnDisable()
{
Academy academy = Object.FindObjectOfType <Academy>() as Academy;
if (academy != null)
{
academy.AgentSetStatus -= SetStatus;
academy.AgentResetIfDone -= ResetIfDone;
academy.AgentSendState -= SendInfo;
academy.AgentAct -= AgentStep;
academy.AgentForceReset -= _AgentReset;
}
}
/// Monobehavior function that is called when the attached GameObject
/// becomes enabled or active.
void OnEnable()
{
textureArray = new Texture2D[agentParameters.agentCameras.Count];
for (int i = 0; i < brain.brainParameters.cameraResolutions.Length; i++)
{
textureArray[i] = new Texture2D(brain.brainParameters.cameraResolutions[i].width,
brain.brainParameters.cameraResolutions[i].height, TextureFormat.RGB24, false);
}
id = gameObject.GetInstanceID();
Academy academy = Object.FindObjectOfType <Academy>() as Academy;
OnEnableHelper(academy);
}
void OnCollisionEnter(Collision collision)
{
if (collision.collider.CompareTag(Tags.SOCCER_BALL))
{
notify();
// TODO: move this somewhere else
// if a goal is scored, reset unless it's dribble mode. Then, just ignore.
MLAgents.Academy academy = GameObject.FindGameObjectWithTag(Tags.ACADEMY).GetComponentInChildren <MLAgents.Academy>();
if (academy.resetParameters.Count > 0 &&
(academy.resetParameters[ResetParameters.ADD_ENEMIES] >= 1.0f || academy.resetParameters[ResetParameters.ADD_OBSTACLES] >= 1.0f))
{
//academy.Done();
}
}
}
/// Monobehavior function that is called when the attached GameObject
/// becomes enabled or active.
void Start()
{
var textureCount = agentParameters.agentCameras.Count + agentParameters.agentRenderTextures.Count;
textureArray = new Texture2D[textureCount];
for (int i = 0; i < textureCount; i++)
{
textureArray[i] = new Texture2D(1, 1, TextureFormat.RGB24, false);
}
id = gameObject.GetInstanceID();
Academy academy = Object.FindObjectOfType <Academy>() as Academy;
OnEnableHelper(academy);
recorder = GetComponent <DemonstrationRecorder>();
}
private void Awake()
{
movieRecorder = GetComponent <MovieRecorder>();
academy = FindObjectOfType <Academy>();
Camera mCamera = GetComponent <Camera>();
RenderTexture rt = new RenderTexture(resolutionWidth, resolutionHeight, 16, RenderTextureFormat.ARGB32);
mCamera.targetTexture = rt;
movieRecorder.targetRT = rt;
movieRecorder.outputDir = new DataPath(DataPath.Root.Absolute, outputDirectory);
movieRecorder.captureAudio = captureAudio;
movieRecorder.resolutionUnit = RecorderBase.ResolutionUnit.Percent;
movieRecorder.resolutionPercent = 100;
movieRecorder.captureControl = RecorderBase.CaptureControl.Manual;
movieRecorder.framerateMode = RecorderBase.FrameRateMode.Constant;
movieRecorder.fixDeltaTime = false;
movieRecorder.waitDeltaTime = false;
}
void Awake()
{
academy = GetComponent <Academy>();
envIds = academy.agentSpawner.spawnableEnvDefinitions.Select(x => x.envId).ToArray();
fontSize = 26;
if (Screen.height < 720)
{
fontSize /= 2;
}
heightRequirments = (fontSize + 4) * (envIds.Length + 1);
if (envIdIdex == -1)
{
var envId = academy.GetAgentId();
var envDef = academy.agentSpawner.spawnableEnvDefinitions.FirstOrDefault(x => x.envId == envId);
envIdIdex = academy.agentSpawner.spawnableEnvDefinitions.IndexOf(envDef);
}
// exit if we should not dispplay the menu
if (academy.ShouldInitalizeOnAwake())
{
return;
}
showPopUp = true;
}
/// Helper method for the <see cref="OnEnable"/> event, created to
/// facilitate testing.
void OnEnableHelper(Academy academy)
{
m_Info = new AgentInfo();
m_Action = new AgentAction();
m_Sensors = new List <ISensor>();
if (academy == null)
{
throw new UnityAgentsException(
"No Academy Component could be found in the scene.");
}
academy.AgentSetStatus += SetStatus;
academy.AgentResetIfDone += ResetIfDone;
academy.AgentSendState += SendInfo;
academy.DecideAction += DecideAction;
academy.AgentAct += AgentStep;
academy.AgentForceReset += _AgentReset;
m_PolicyFactory = GetComponent <BehaviorParameters>();
m_Brain = m_PolicyFactory.GeneratePolicy(Heuristic);
ResetData();
InitializeAgent();
InitializeSensors();
}
/// Monobehavior function that is called when the attached GameObject
/// becomes enabled or active.
void OnEnable()
{
/// Modified by M.Baske to enable frame-stacking.
///
/// Changing
/// textureArray = new Texture2D[agentParameters.agentCameras.Count];
/// to
textureArray = new Texture2D[brain.brainParameters.cameraResolutions.Length];
/// to prevent a runtime error since agentCameras.Count no longer
/// matches cameraResolutions.Length
///
/// textureArray is not used with frame-stacking. It is replaced by
/// TextureManager's input property.
for (int i = 0; i < brain.brainParameters.cameraResolutions.Length; i++)
{
textureArray[i] = new Texture2D(brain.brainParameters.cameraResolutions[i].width,
brain.brainParameters.cameraResolutions[i].height, TextureFormat.RGB24, false);
}
id = gameObject.GetInstanceID();
Academy academy = Object.FindObjectOfType <Academy>() as Academy;
OnEnableHelper(academy);
}
public override void AgentReset()
{
hasTouchedBall = false;
if (academy == null)
{
academy = FindObjectOfType <MLAgents.Academy>();
}
if (academy.resetParameters.Count > 0)
{
if (academy.resetParameters[ResetParameters.THREE_V_THREE] >= 1f)
{
practiceMode = PRACTICE_MODE.THREE_V_THREE;
}
else if (academy.resetParameters[ResetParameters.ADD_ENEMIES] >= 1.0f)
{
practiceMode = PRACTICE_MODE.MATCH;
}
else if (academy.resetParameters[ResetParameters.ADD_OBSTACLES] >= 1.0f)
{
practiceMode = PRACTICE_MODE.AVOID_OBSTACLES;
}
else
{
practiceMode = PRACTICE_MODE.DRIBBLE;
}
}
const float PADDING = 0.5f;
float maxWidthStartingPosition = (stadiumMetadata.GetWidth() / 2.0f) - PADDING;
if (practiceMode == PRACTICE_MODE.DRIBBLE)
{
float minDistanceFromBall = 1f;
float currentDistanceFromBall = Mathf.Clamp(academy.resetParameters[ResetParameters.START_DISTANCE_FROM_BALL], minDistanceFromBall, maxWidthStartingPosition);
this.transform.position = this.transform.parent.position + transform.TransformDirection(PolarToCartesian(currentDistanceFromBall, Random.Range(0, 359))) + new Vector3(0f, 0.5f, 0f);
SetRandomXZRotation();
}
else if (practiceMode == PRACTICE_MODE.AVOID_OBSTACLES)
{
//Vector3 avoidObstaclesStartingPosition = startingPosition;
//avoidObstaclesStartingPosition.z = Random.Range(-maxWidthStartingPosition, maxWidthStartingPosition);
//const float avoidObstaclesStartingXPosition = 2f; // position bot in middle of obstacles
//avoidObstaclesStartingPosition.x = avoidObstaclesStartingPosition.x + avoidObstaclesStartingXPosition;
//transform.position = avoidObstaclesStartingPosition;
//SetRandomXZRotation();
transform.position = startingPosition;
transform.rotation = startingRotation;
}
else if (practiceMode == PRACTICE_MODE.MATCH || practiceMode == PRACTICE_MODE.THREE_V_THREE)
{
if (academy.resetParameters[ResetParameters.START_RANDOM_Z] >= 1f)
{
Vector3 startingPositionRandomZ = startingPosition;
startingPositionRandomZ.z = Random.Range(-maxWidthStartingPosition, maxWidthStartingPosition);
this.transform.position = startingPositionRandomZ;
}
else
{
this.transform.position = startingPosition;
}
this.transform.rotation = startingRotation;
}
else
{
Debug.LogWarning("No mode detected");
}
this.rigidBody.angularVelocity = Vector3.zero;
this.rigidBody.velocity = Vector3.zero;
notify();
}
/// <summary>
/// Monobehavior function called at the very beginning of environment
/// creation. Academy uses this time to initialize internal data
/// structures, initialize the environment and check for the existence
/// of a communicator.
/// </summary>
public virtual void Awake()
{
Instance = this;
InitializeEnvironment();
}
/// <summary>
/// Initializes the agent, called once when the agent is enabled. Can be
/// left empty if there is no special, unique set-up behavior for the
/// agent.
/// </summary>
/// <remarks>
/// One sample use is to store local references to other objects in the
/// scene which would facilitate computing this agents observation.
/// </remarks>
public virtual void InitializeAgent(Academy academy)
{
}