diff --git a/Assets/URPEquirectangularCamera.meta b/Assets/10_URPEquirectangularCamera.meta similarity index 100% rename from Assets/URPEquirectangularCamera.meta rename to Assets/10_URPEquirectangularCamera.meta diff --git a/Assets/URPEquirectangularCamera/CubeMapMat.mat b/Assets/10_URPEquirectangularCamera/CubeMapMat.mat similarity index 95% rename from Assets/URPEquirectangularCamera/CubeMapMat.mat rename to Assets/10_URPEquirectangularCamera/CubeMapMat.mat index c89ca6c..133e3cd 100644 --- a/Assets/URPEquirectangularCamera/CubeMapMat.mat +++ b/Assets/10_URPEquirectangularCamera/CubeMapMat.mat @@ -21,14 +21,14 @@ Material: m_PrefabInstance: {fileID: 0} m_PrefabAsset: {fileID: 0} m_Name: CubeMapMat - m_Shader: {fileID: 4800000, guid: a97045f26d2947649b9d75d57ac0b255, type: 3} + m_Shader: {fileID: 4800000, guid: 6f992fe900ba1b54980ea05599f47164, type: 3} m_Parent: {fileID: 0} m_ModifiedSerializedProperties: 0 m_ValidKeywords: [] m_InvalidKeywords: [] m_LightmapFlags: 4 m_EnableInstancingVariants: 0 - m_DoubleSidedGI: 0 + m_DoubleSidedGI: 1 m_CustomRenderQueue: -1 stringTagMap: {} disabledShaderPasses: [] @@ -108,10 +108,10 @@ Material: - _DivideY: 3.5 - _DstBlend: 0 - _EnvironmentReflections: 1 - - _EquiRotation: 5.5 - - _EquiRotationY: 0.8 - - _FOVScale_X: 1.5 - - _FOVScale_Y: 0.2 + - _EquiRotation: 0.75 + - _EquiRotationY: 5.23 + - _FOVScale_X: 0.9 + - _FOVScale_Y: 0.3 - _FocalLength: 2.73 - _GlossMapScale: 0 - _Glossiness: 0 diff --git a/Assets/URPEquirectangularCamera/CubeMapMat.mat.meta b/Assets/10_URPEquirectangularCamera/CubeMapMat.mat.meta similarity index 100% rename from Assets/URPEquirectangularCamera/CubeMapMat.mat.meta rename to Assets/10_URPEquirectangularCamera/CubeMapMat.mat.meta diff --git a/Assets/URPEquirectangularCamera/CubeMapTexture1K.renderTexture b/Assets/10_URPEquirectangularCamera/CubeMapTexture1K.renderTexture similarity index 100% rename from Assets/URPEquirectangularCamera/CubeMapTexture1K.renderTexture rename to Assets/10_URPEquirectangularCamera/CubeMapTexture1K.renderTexture diff --git a/Assets/URPEquirectangularCamera/CubeMapTexture1K.renderTexture.meta b/Assets/10_URPEquirectangularCamera/CubeMapTexture1K.renderTexture.meta similarity index 100% rename from Assets/URPEquirectangularCamera/CubeMapTexture1K.renderTexture.meta rename to Assets/10_URPEquirectangularCamera/CubeMapTexture1K.renderTexture.meta diff --git a/Assets/URPEquirectangularCamera/CubeMapTexture4K.renderTexture b/Assets/10_URPEquirectangularCamera/CubeMapTexture4K.renderTexture similarity index 100% rename from Assets/URPEquirectangularCamera/CubeMapTexture4K.renderTexture rename to Assets/10_URPEquirectangularCamera/CubeMapTexture4K.renderTexture diff --git a/Assets/URPEquirectangularCamera/CubeMapTexture4K.renderTexture.meta b/Assets/10_URPEquirectangularCamera/CubeMapTexture4K.renderTexture.meta similarity index 100% rename from Assets/URPEquirectangularCamera/CubeMapTexture4K.renderTexture.meta rename to Assets/10_URPEquirectangularCamera/CubeMapTexture4K.renderTexture.meta diff --git a/Assets/URPEquirectangularCamera/CubemapCamera.prefab b/Assets/10_URPEquirectangularCamera/CubemapCamera.prefab similarity index 97% rename from Assets/URPEquirectangularCamera/CubemapCamera.prefab rename to Assets/10_URPEquirectangularCamera/CubemapCamera.prefab index f2e606c..9ff74ec 100644 --- a/Assets/URPEquirectangularCamera/CubemapCamera.prefab +++ b/Assets/10_URPEquirectangularCamera/CubemapCamera.prefab @@ -12,6 +12,7 @@ GameObject: - component: {fileID: 933460690407818094} - component: {fileID: 933460690407818088} - component: {fileID: 8431763121321237345} + - component: {fileID: 3226898658504447517} m_Layer: 0 m_Name: CubemapCamera m_TagString: Untagged @@ -234,6 +235,14 @@ MonoBehaviour: enableFptlForForwardOpaque: 0 enableBigTilePrepass: 0 isFptlEnabled: 0 +--- !u!81 &3226898658504447517 +AudioListener: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 933460690407818085} + m_Enabled: 0 --- !u!1 &933460690440954431 GameObject: m_ObjectHideFlags: 0 @@ -255,7 +264,7 @@ GameObject: m_Icon: {fileID: 0} m_NavMeshLayer: 0 m_StaticEditorFlags: 0 - m_IsActive: 1 + m_IsActive: 0 --- !u!224 &933460690440954401 RectTransform: m_ObjectHideFlags: 0 @@ -380,10 +389,10 @@ MonoBehaviour: m_PrefabInstance: {fileID: 0} m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 933460690440954431} - m_Enabled: 1 + m_Enabled: 0 m_EditorHideFlags: 0 m_Script: {fileID: 11500000, guid: 376cbea962fc8f945b32baff202fbc5e, type: 3} m_Name: m_EditorClassIdentifier: - m_Direction: 2 + m_Direction: 3 m_ProjectionType: 0 diff --git a/Assets/URPEquirectangularCamera/CubemapCamera.prefab.meta b/Assets/10_URPEquirectangularCamera/CubemapCamera.prefab.meta similarity index 100% rename from Assets/URPEquirectangularCamera/CubemapCamera.prefab.meta rename to Assets/10_URPEquirectangularCamera/CubemapCamera.prefab.meta diff --git a/Assets/Materials/ChairWalkingDemo.meta b/Assets/10_URPEquirectangularCamera/Scripts.meta similarity index 77% rename from Assets/Materials/ChairWalkingDemo.meta rename to Assets/10_URPEquirectangularCamera/Scripts.meta index 68c64ee..4d6706a 100644 --- a/Assets/Materials/ChairWalkingDemo.meta +++ b/Assets/10_URPEquirectangularCamera/Scripts.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 3775494be1d7ee54aad3b5269750d099 +guid: b4b610fcd9e74054c92dd4583e370296 folderAsset: yes DefaultImporter: externalObjects: {} diff --git a/Assets/URPEquirectangularCamera/CubemapRender.cs b/Assets/10_URPEquirectangularCamera/Scripts/CubemapRender.cs similarity index 100% rename from Assets/URPEquirectangularCamera/CubemapRender.cs rename to Assets/10_URPEquirectangularCamera/Scripts/CubemapRender.cs diff --git a/Assets/URPEquirectangularCamera/CubemapRender.cs.meta b/Assets/10_URPEquirectangularCamera/Scripts/CubemapRender.cs.meta similarity index 100% rename from Assets/URPEquirectangularCamera/CubemapRender.cs.meta rename to Assets/10_URPEquirectangularCamera/Scripts/CubemapRender.cs.meta diff --git a/Assets/10_URPEquirectangularCamera/Scripts/FrameManager.cs b/Assets/10_URPEquirectangularCamera/Scripts/FrameManager.cs new file mode 100644 index 0000000..3627bee --- /dev/null +++ b/Assets/10_URPEquirectangularCamera/Scripts/FrameManager.cs @@ -0,0 +1,72 @@ +using UnityEngine; +using UnityEngine.Rendering; +using UnityEngine.Rendering.HighDefinition; + +public class FrameManager : MonoBehaviour +{ + // The number of samples used for accumumation. + public int samples = 128; + [Range(0.0f, 1.0f)] + public float shutterInterval = 1.0f; + + // The time during shutter interval when the shutter is fully open + [Range(0.0f, 1.0f)] + public float shutterFullyOpen = 0.25f; + + // The time during shutter interval when the shutter begins closing. + [Range(0.0f, 1.0f)] + public float shutterBeginsClosing = 0.75f; + + bool m_Recording = false; + int m_Iteration = 0; + int m_RecordedFrames = 0; + + [ContextMenu("Start Recording")] + public void BeginMultiframeRendering() + { + RenderPipelineManager.beginFrameRendering += PrepareSubFrameCallBack; + HDRenderPipeline renderPipeline = RenderPipelineManager.currentPipeline as HDRenderPipeline; + renderPipeline.BeginRecording(samples, shutterInterval, shutterFullyOpen, shutterBeginsClosing); + m_Recording = true; + m_Iteration = 0; + m_RecordedFrames = 0; + } + + [ContextMenu("Stop Recording")] + public void StopMultiframeRendering() + { + RenderPipelineManager.beginFrameRendering -= PrepareSubFrameCallBack; + HDRenderPipeline renderPipeline = RenderPipelineManager.currentPipeline as HDRenderPipeline; + renderPipeline?.EndRecording(); + m_Recording = false; + } + + void PrepareSubFrameCallBack(ScriptableRenderContext cntx, Camera[] cams) + { + HDRenderPipeline renderPipeline = RenderPipelineManager.currentPipeline as HDRenderPipeline; + if (renderPipeline != null && m_Recording) + { + renderPipeline.PrepareNewSubFrame(); + m_Iteration++; + } + + if (m_Recording && m_Iteration % samples == 0) + { + ScreenCapture.CaptureScreenshot($"frame_{m_RecordedFrames++}.png"); + } + } + + void OnDestroy() + { + if (m_Recording) + { + StopMultiframeRendering(); + } + } + + void OnValidate() + { + // Make sure the shutter will begin closing sometime after it is fully open (and not before) + shutterBeginsClosing = Mathf.Max(shutterFullyOpen, shutterBeginsClosing); + } +} diff --git a/Assets/10_URPEquirectangularCamera/Scripts/FrameManager.cs.meta b/Assets/10_URPEquirectangularCamera/Scripts/FrameManager.cs.meta new file mode 100644 index 0000000..367e0d6 --- /dev/null +++ b/Assets/10_URPEquirectangularCamera/Scripts/FrameManager.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: f24a5cb99c11e5f4cae67b92e90159d6 \ No newline at end of file diff --git a/Assets/Scripts/ShaderManiuplation.cs b/Assets/10_URPEquirectangularCamera/Scripts/ShaderManiuplation.cs similarity index 90% rename from Assets/Scripts/ShaderManiuplation.cs rename to Assets/10_URPEquirectangularCamera/Scripts/ShaderManiuplation.cs index aedafde..f9b1931 100644 --- a/Assets/Scripts/ShaderManiuplation.cs +++ b/Assets/10_URPEquirectangularCamera/Scripts/ShaderManiuplation.cs @@ -11,6 +11,8 @@ using UnityEngine; using UnityEngine.Rendering.HighDefinition; using UnityEngine.UI; using UnityEngine.Windows.WebCam; + +[ExecuteInEditMode] public class ShaderManiuplation : MonoBehaviour { public enum EquilateralDirection @@ -53,11 +55,11 @@ public class ShaderManiuplation : MonoBehaviour if (m_ProjectionType == ProjectionType.Squeeze) { - SetShaderSqueezed(21, 0.8f, 2.5f, 3.5f, 4f, 0.9f); + SetShaderSqueezed(21, 0.85f, 2.5f, 3.5f, 4f, 5f); } else if (m_ProjectionType == ProjectionType.Gnomic) { - SetShaderGnomic(28, 1.5f, 0.2f, 5.13f, 0.125f, 0.6f); + SetShaderGnomic(28, 1.5f, 0.2f, 5.13f, 0.125f, 7f); } } } @@ -70,7 +72,7 @@ public class ShaderManiuplation : MonoBehaviour mat.SetFloat("_DivideY", yDivide); mat.SetFloat("_DivideX", xDivide); ChangeGameViewResolution(resolutionPreset); - m_CubeMapPrefab.transform.position = new Vector3(m_CubeMapPrefab.transform.position.x, cameraHeight, m_CubeMapPrefab.transform.position.z); + m_CubeMapPrefab.transform.localPosition = new Vector3(m_CubeMapPrefab.transform.localPosition.x, cameraHeight, m_CubeMapPrefab.transform.localPosition.z); } @@ -95,8 +97,8 @@ public class ShaderManiuplation : MonoBehaviour mat.SetFloat("_FOVScale_X", xFOV); mat.SetFloat("_FOVScale_Y", yFOV); - m_CubeMapPrefab.transform.position = new Vector3(m_CubeMapPrefab.transform.position.x, cameraHeight, m_CubeMapPrefab.transform.position.z); - + m_CubeMapPrefab.transform.localPosition = new Vector3(m_CubeMapPrefab.transform.localPosition.x, cameraHeight, m_CubeMapPrefab.transform.localPosition.z); + } private float SetDirection() @@ -151,6 +153,7 @@ public class ShaderManiuplation : MonoBehaviour void ChangeGameViewResolution(int index) { + Debug.Log($"{index}"); selectedSizeIndex.SetValue(window, index, null); } diff --git a/Assets/Scripts/ShaderManiuplation.cs.meta b/Assets/10_URPEquirectangularCamera/Scripts/ShaderManiuplation.cs.meta similarity index 100% rename from Assets/Scripts/ShaderManiuplation.cs.meta rename to Assets/10_URPEquirectangularCamera/Scripts/ShaderManiuplation.cs.meta diff --git a/Assets/Shaders.meta b/Assets/10_URPEquirectangularCamera/Shaders.meta similarity index 77% rename from Assets/Shaders.meta rename to Assets/10_URPEquirectangularCamera/Shaders.meta index dd83afc..712745d 100644 --- a/Assets/Shaders.meta +++ b/Assets/10_URPEquirectangularCamera/Shaders.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 26db8f302bd18dc42996eb9ae5245172 +guid: a234dd5a0eb76bb4381b87def1c2ff61 folderAsset: yes DefaultImporter: externalObjects: {} diff --git 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file mode 100644 index 0000000..64de67e --- /dev/null +++ b/Assets/7_Scripts/Agent.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: ef5139aec3190ec45b911f3a7d5c0555 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/7_Scripts/Agent/TargetControllerWalker.cs b/Assets/7_Scripts/Agent/TargetControllerWalker.cs new file mode 100644 index 0000000..b973576 --- /dev/null +++ b/Assets/7_Scripts/Agent/TargetControllerWalker.cs @@ -0,0 +1,164 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using Random = UnityEngine.Random; +using Unity.MLAgents; +using Unity.MLAgentsExamples; +using UnityEngine.Events; +using System; +using Unity.VisualScripting; + +namespace Unity.MLAgentsExamples +{ + /// + /// Utility class to allow target placement and collision detection with an agent + /// Add this script to the target you want the agent to touch. + /// Callbacks will be triggered any time the target is touched with a collider tagged as 'tagToDetect' + /// + public class TargetControllerWalker : MonoBehaviour + { + [Header("Reward")] + public float m_Reward; + + [Header("End Episode After Touch")] + public bool m_EndEpisodeOnTouch = false; + + [Header("Mesh Settings")] + [SerializeField] + private MeshFilter modelToChange; + + [SerializeField] + private Mesh modelToUse; + + [SerializeField] + [Header("Controller Colour")] + Material yellow; + + [Header("Collider Tag To Detect")] + public string tagToDetect = "agent"; //collider tag to detect + + [Header("Target Placement")] + public float spawnRadius; //The radius in which a target can be randomly spawned. + public bool respawnIfTouched; //Should the target respawn to a different position when touched + + [Header("Target Fell Protection")] + public bool respawnIfFallsOffPlatform = true; //If the target falls off the platform, reset the position. + public float fallDistance = 5; //distance below the starting height that will trigger a respawn + + public Agent chair; + private Vector3 m_startingPos; //the starting position of the target + + [System.Serializable] + public class TriggerEvent : UnityEvent + { + } + + [Header("Trigger Callbacks")] + public TriggerEvent onTriggerEnterEvent = new TriggerEvent(); + public TriggerEvent onTriggerStayEvent = new TriggerEvent(); + public TriggerEvent onTriggerExitEvent = new TriggerEvent(); + + [System.Serializable] + public class CollisionEvent : UnityEvent + { + } + + [Header("Collision Callbacks")] + public CollisionEvent onCollisionEnterEvent = new CollisionEvent(); + public CollisionEvent onCollisionStayEvent = new CollisionEvent(); + public CollisionEvent onCollisionExitEvent = new CollisionEvent(); + + void OnEnable() + { + m_startingPos = transform.position; + + if (respawnIfTouched) + { + MoveTargetToRandomPosition(); + } + } + + void Update() + { + if (respawnIfFallsOffPlatform) + { + if (transform.position.y < m_startingPos.y - fallDistance) + { + Debug.Log($"{transform.name} Fell Off Platform"); + MoveTargetToRandomPosition(); + } + } + } + + /// + /// Moves target to a random position within specified radius. + /// + public void MoveTargetToRandomPosition() + { + var newTargetPos = m_startingPos + (Random.insideUnitSphere * spawnRadius); + newTargetPos.y = m_startingPos.y; + transform.position = newTargetPos; + } + + private void OnCollisionEnter(Collision col) + { + if (col.transform.CompareTag(tagToDetect)) + { + chair.SetReward(m_Reward); + + if (respawnIfTouched) + { + MoveTargetToRandomPosition(); + } + + if (m_EndEpisodeOnTouch) + { + chair.EndEpisode(); + } + + onCollisionEnterEvent.Invoke(col); + } + } + + private void OnCollisionStay(Collision col) + { + if (col.transform.CompareTag(tagToDetect)) + { + onCollisionStayEvent.Invoke(col); + } + } + + private void OnCollisionExit(Collision col) + { + if (col.transform.CompareTag(tagToDetect)) + { + onCollisionExitEvent.Invoke(col); + } + } + + private void OnTriggerEnter(Collider col) + { + if (col.CompareTag(tagToDetect)) + { + onTriggerEnterEvent.Invoke(col); + } + } + + private void OnTriggerStay(Collider col) + { + if (col.CompareTag(tagToDetect)) + { + onTriggerStayEvent.Invoke(col); + } + } + + private void OnTriggerExit(Collider col) + { + if (col.CompareTag(tagToDetect)) + { + onTriggerExitEvent.Invoke(col); + } + } + } +} + diff --git a/Assets/7_Scripts/Agent/TargetControllerWalker.cs.meta b/Assets/7_Scripts/Agent/TargetControllerWalker.cs.meta new file mode 100644 index 0000000..b85ce26 --- /dev/null +++ b/Assets/7_Scripts/Agent/TargetControllerWalker.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 688132802d6546041aea7c1df9d5073d +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/7_Scripts/Agent/Walker.cs b/Assets/7_Scripts/Agent/Walker.cs new file mode 100644 index 0000000..99cbeb1 --- /dev/null +++ b/Assets/7_Scripts/Agent/Walker.cs @@ -0,0 +1,507 @@ +using UnityEngine; +using Unity.MLAgents.Actuators; +using Unity.MLAgentsExamples; +using Unity.MLAgents.Sensors; +using Unity.MLAgents; +using BodyPart = Unity.MLAgentsExamples.BodyPart; +using Random = UnityEngine.Random; +using static UnityEngine.GraphicsBuffer; +using UnityEngine.UI; +using Unity.VisualScripting; +using System.Collections.Generic; +using System.Xml.Linq; +//using System.Diagnostics; + +public class Walker : Agent +{ + + + + public enum Brain + { + Walker, + Getup, + Climber, + Balance, + DMScrambler + } + + public Brain m_SelectedBrain; + + [Header("Walk Speed")] + [Range(0.1f, 10)] + [SerializeField] + private float m_TargetWalkingSpeed = 10; + + public float MTargetWalkingSpeed + { + get { return m_TargetWalkingSpeed; } + set { m_TargetWalkingSpeed = Mathf.Clamp(value, .1f, m_MaxWalkingSpeed); } + } + + // The Max Walking Speed + const float m_MaxWalkingSpeed = 10; + + [Header("Randomise")] + // Randomise Walking Speed every Episode + public bool rWalkSpeedEachEpisode; + public bool m_RandomiseYRotation = true; + public bool m_RandomiseXYZRotation = false; + + [Header("Swap Model Settings")] + public bool m_ModelSwap = false; + public bool m_ProximitySwapper = false; + public bool m_SwitchModelAfterFalling = false; + + [Header("DM Monitor")] + public int m_StepCountAtLastMeter = 0; + public int m_LastXPosition = 0; + private Terrain m_Terrain; + + [HideInInspector] + public bool m_FinishedSwap = false; + + [HideInInspector] + public ModelSwap m_ModelSwapper; + + // The direction the Agent will walk towards during training + private Vector3 m_WorldDirectionToWalk = Vector3.right; + + // Specifies the Target the Agent will Walk towards + [Header("Target to Walk Towards")] + public Transform target; + + /* Orientation Cube Controller - a reference point for observations, as + Ragdolls can be very erratic in their movements */ + OrientationCubeController m_OrientationCube; + + // Joint Drive Controller - Controls the params of Joints + JointDriveController m_JointDriveController; + + // Specifies all the Body Parts (Configurable Joints) + [Header("Body Parts")] + public Transform rest; + public Transform seat; + + public Transform FLT; + public Transform FLL; + public Transform FLF; + + public Transform FRT; + public Transform FRL; + public Transform FRF; + + public Transform BRT; + public Transform BRL; + public Transform BRF; + + public Transform BLT; + public Transform BLL; + public Transform BLF; + + // Setup + public override void Initialize() + { + m_OrientationCube = GetComponentInChildren(); + m_JointDriveController = GetComponent(); + m_ModelSwapper = GetComponent(); + + var parent = gameObject.transform.parent; + + try{ + m_Terrain = parent.GetComponentInChildren(); + }catch{ + m_Terrain = null; + } + + // Setup each Body Part + m_JointDriveController.SetupBodyPart(seat); + m_JointDriveController.SetupBodyPart(rest); + + m_JointDriveController.SetupBodyPart(FRT); + m_JointDriveController.SetupBodyPart(FRL); + m_JointDriveController.SetupBodyPart(FRF); + + m_JointDriveController.SetupBodyPart(FLT); + m_JointDriveController.SetupBodyPart(FLL); + m_JointDriveController.SetupBodyPart(FLF); + + m_JointDriveController.SetupBodyPart(BRT); + m_JointDriveController.SetupBodyPart(BRL); + m_JointDriveController.SetupBodyPart(BRF); + + m_JointDriveController.SetupBodyPart(BLT); + m_JointDriveController.SetupBodyPart(BLL); + m_JointDriveController.SetupBodyPart(BLF); + } + + /* Loop over Body Parts & Reset them to inital conditions + */ + public override void OnEpisodeBegin() + { + // Set values of Joint Controller for exploring emrgent behvaiours + if (m_SelectedBrain == Brain.DMScrambler) + { + //this.GetComponent().Reset(); + } + + foreach (var bodyPart in m_JointDriveController.bodyPartsDict.Values) + { + bodyPart.Reset(bodyPart); + } + + // Apply Random Rotation to Seat + if (m_SelectedBrain == Brain.Getup) { if(m_RandomiseXYZRotation) seat.rotation = Quaternion.Euler(Random.Range(0.0f, 360f), Random.Range(0.0f, 360f), Random.Range(0.0f, 360f)); } + else { if (m_RandomiseYRotation) seat.rotation = Quaternion.Euler(0f, Random.Range(0.0f, 360f), 0f); } + + UpdateOrientationObject(); + + // Set our Walking Speed goal + MTargetWalkingSpeed = + rWalkSpeedEachEpisode ? Random.Range(0.1f, m_MaxWalkingSpeed) : MTargetWalkingSpeed; + + // Check if model swapper is enabled, and set model if so + if (m_ModelSwap) + { + m_ModelSwapper.SwitchModel(3, this); + } + + m_LastXPosition = (int)GetAverageXPositionFeet(); + + } + + /* Add relevant information for each body part (observations) + */ + public void CollectObservationsBP(BodyPart bp, VectorSensor sensor) + { + // Check if touching Ground + sensor.AddObservation(bp.groundContact.touchingGround); + sensor.AddObservation(bp.groundContact.touchingStairs); + sensor.AddObservation(bp.groundContact.touchingObject); + + // Get Velocities in Context of the Orientation Cube Space + sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(bp.rb.velocity)); + sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(bp.rb.angularVelocity)); + + // Gets Position relative to the Seat in Context of our Orientation Cube + sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(bp.rb.position - seat.position)); + + if (bp.rb.transform != seat) + { + sensor.AddObservation(bp.rb.transform.localRotation); + sensor.AddObservation(bp.currentStrength / m_JointDriveController.maxJointForceLimit); + } + } + + /* Main method to Collect Observations about environemt + */ + public override void CollectObservations(VectorSensor sensor) + { + // Direction Agent is Facing + var cubeForward = m_OrientationCube.transform.forward; + + // Velocity we want to Match + var velocityGoal = cubeForward * MTargetWalkingSpeed; + + // Ragdolls AVG Velocity + var avgVelocity = GetAvgVelocity(); + + // Current Ragdoll Vecloty, Normalised (How far away is the goal vs. current vel) + sensor.AddObservation(Vector3.Distance(velocityGoal, avgVelocity)); + + // Avgerage Body Velocity Relative to Orientation Cube + sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(avgVelocity)); + + // Velocity Goal Relative to the Cube + sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(velocityGoal)); + + // Rotation Delta + sensor.AddObservation(Quaternion.FromToRotation(seat.forward, cubeForward)); + + // Position of target relative to Cube + sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(target.transform.position)); + + // Distance of the target relative to the Cube + //sensor.AddObservation(Vector3.Distance(m_OrientationCube.transform.position, target.transform.position)); + + foreach (var bodyPart in m_JointDriveController.bodyPartsList) + { + CollectObservationsBP(bodyPart, sensor); + } + } + + public override void Heuristic(in ActionBuffers actionsOut) + { + ActionSegment continuousActionsOut = actionsOut.ContinuousActions; + } + + public override void OnActionReceived(ActionBuffers actions) + { + var bpDict = m_JointDriveController.bodyPartsDict; + var element = -1; + + var continuousActions = actions.ContinuousActions; + + bpDict[rest].SetJointTargetRotation(continuousActions[++element], 0, 0); + + bpDict[FRT].SetJointTargetRotation(continuousActions[++element], 0, 0); + bpDict[FRL].SetJointTargetRotation(continuousActions[++element], continuousActions[++element], 0); + bpDict[FLT].SetJointTargetRotation(continuousActions[++element], 0, 0); + bpDict[FLL].SetJointTargetRotation(continuousActions[++element], continuousActions[++element], 0); + bpDict[BRT].SetJointTargetRotation(continuousActions[++element], 0, 0); + bpDict[BRL].SetJointTargetRotation(continuousActions[++element], continuousActions[++element], 0); + bpDict[BLT].SetJointTargetRotation(continuousActions[++element], 0, 0); + bpDict[BLL].SetJointTargetRotation(continuousActions[++element], continuousActions[++element], 0); + bpDict[BRF].SetJointTargetRotation(continuousActions[++element], 0, 0); + bpDict[BLF].SetJointTargetRotation(continuousActions[++element], 0, 0); + bpDict[FRF].SetJointTargetRotation(continuousActions[++element], 0, 0); + bpDict[FLF].SetJointTargetRotation(continuousActions[++element], 0, 0); + + bpDict[rest].SetJointStrength(continuousActions[++element]); + bpDict[FRT].SetJointStrength(continuousActions[++element]); + bpDict[FRL].SetJointStrength(continuousActions[++element]); + bpDict[FLT].SetJointStrength(continuousActions[++element]); + bpDict[FLL].SetJointStrength(continuousActions[++element]); + bpDict[BRT].SetJointStrength(continuousActions[++element]); + bpDict[BRL].SetJointStrength(continuousActions[++element]); + bpDict[BLT].SetJointStrength(continuousActions[++element]); + bpDict[BLL].SetJointStrength(continuousActions[++element]); + bpDict[BLF].SetJointStrength(continuousActions[++element]); + bpDict[BRF].SetJointStrength(continuousActions[++element]); + bpDict[FLF].SetJointStrength(continuousActions[++element]); + bpDict[FRF].SetJointStrength(continuousActions[++element]); + } + + void UpdateOrientationObject() + { + m_WorldDirectionToWalk = target.position - seat.position; + m_OrientationCube.UpdateOrientation(seat, target); + } + + void FixedUpdate() + { + + if (m_SelectedBrain == Brain.DMScrambler) + { + if (seat.position.y < -15f) + { + SetReward(-1f); + EndEpisode(); + } + } + + // Check if model swapper is on + if (m_ModelSwap) + { + SwitchModelAfterFalling(); + } + + UpdateOrientationObject(); + + var cubeForward = m_OrientationCube.transform.forward; + + var matchSpeedReward = GetMatchingVelocityReward(cubeForward * MTargetWalkingSpeed, GetAvgVelocity()); + + var lookAtTargetReward = (Vector3.Dot(cubeForward, seat.forward) + 1) * .5f; + + // (3) Distance from ground + // var distFromGround = Mathf.Pow(Mathf.Clamp(Vector3.Distance(seat.transform.position, GameObject.Find("Ground").transform.position) + 0.2f, 0, 1), 2); + + if (m_SelectedBrain == Brain.Getup) + { + + Vector2 deltaAngle = GetAngleDeltaXZ(); + AddReward(deltaAngle.x * deltaAngle.y); + + } + else if(m_SelectedBrain == Brain.Balance) + { + // Sets reward for the agent based on its stableness, while moving towards a target + Vector2 deltaAngle = GetAngleDeltaXZ(); + AddReward(matchSpeedReward * lookAtTargetReward * (deltaAngle.x * deltaAngle.y)); + + } + else if(m_SelectedBrain == Brain.DMScrambler) + { + // Normalised Velocity in a certain direciton. + //var seatVelocity = GetAvgVelocitySeat(); + //float normalisedVelcoity = Mathf.Clamp(GetNormalizedVelocity(seatVelocity).z, 0f, 1f); + //AddReward(normalisedVelcoity); + //AddReward(matchSpeedReward * lookAtTargetReward); + // If it hasnt moved forward in a certain amount of steps, end the episode. + // (1) Get X Position of the Foot, or Avgerge of all Feet + + AddReward(matchSpeedReward * lookAtTargetReward * DistanceFromTarget(20f)); + + float feetXPosition = GetAverageXPositionFeet(); + int newXPosition = (int)feetXPosition; + + + + // (2) Compare step count with highest X position + if (newXPosition > m_LastXPosition) + { + m_LastXPosition = newXPosition; + m_StepCountAtLastMeter = this.StepCount; + } + + // If the agent goes 1000 steps w/o making any progress, we will end the episode. + if (this.StepCount - m_StepCountAtLastMeter >= (1000)) + { + SetReward(-1f); + EndEpisode(); + } + + //AddReward(-0.002f); + + //Debug.Log(DistanceFromTarget(20f)); + } + else if(m_SelectedBrain == Brain.Walker) + { + AddReward(matchSpeedReward * lookAtTargetReward); + } + else if(m_SelectedBrain == Brain.Climber) + { + //AddReward(matchSpeedReward * lookAtTargetReward * DistanceFromTarget(20f)); + AddReward(-0.002f); + } + } + + // Use regular update to listen for keypresses + void Update() + { + if (m_ModelSwap) + { + InputSwitchModel(); + } + + } + + private void InputSwitchModel() + { + if (Input.GetKeyDown(KeyCode.O)) + { + m_ModelSwapper.SwitchModel(0, this); + } + + if (Input.GetKeyDown(KeyCode.P)) + { + m_ModelSwapper.SwitchModel(1, this); + } + } + + private void SwitchModelAfterFalling() + { + if (m_SwitchModelAfterFalling) + { + // If on, check its rotation, and if certain parts are touching the floor + Vector2 deltaAngle = GetAngleDeltaXZ(); + + if ((deltaAngle.y < 0.5 || deltaAngle.x < 0.5) && !m_FinishedSwap) + { + // Swap Model + m_FinishedSwap = true; + m_ModelSwapper.SwitchModel("Getup", this); + } + else if (deltaAngle.y > 0.8 && deltaAngle.x > 0.8 && m_FinishedSwap) + { + // Swap to Original Model + m_FinishedSwap = false; + m_ModelSwapper.SwitchModel(4, this); + } + + } + } + float DistanceFromTarget(float maxDistance) + { + float dist = Vector3.Distance(seat.transform.position, target.transform.position); + float normalisedValue = 1- Mathf.InverseLerp(0f, maxDistance, dist); + return Mathf.Pow(normalisedValue, 2); + } + + Vector3 GetAvgVelocity() + { + Vector3 velSum = Vector3.zero; + + int rbCount = 0; + foreach (var item in m_JointDriveController.bodyPartsList) + { + rbCount++; + velSum += item.rb.velocity; + } + + var avgVelocity = velSum / rbCount; + return avgVelocity; + } + + Vector3 GetAvgVelocitySeat() + { + Vector3 velSum = Vector3.zero; + + + foreach (var item in m_JointDriveController.bodyPartsList) + { + if(item.rb.transform == seat) + { + velSum = item.rb.velocity; + break; + } + } + + return velSum; + } + + public float GetMatchingVelocityReward(Vector3 velGoal, Vector3 currentVel) + { + var velDeltaMag = Mathf.Clamp(Vector3.Distance(currentVel, velGoal), 0, MTargetWalkingSpeed); + return Mathf.Pow(1 - Mathf.Pow(velDeltaMag / MTargetWalkingSpeed, 2), 2); + } + + float DeltaAngle(float angle) + { + var currentZRot = angle; + float zRotDist = Mathf.Abs(Mathf.DeltaAngle(0f, currentZRot)); + float normalizedDistance = 1f - Mathf.InverseLerp(0f, 180f, zRotDist); + float expZDist = Mathf.Pow(normalizedDistance, 2); + return expZDist; + } + + Vector2 GetAngleDeltaXZ() + { + return new Vector2(DeltaAngle(seat.eulerAngles.x), DeltaAngle(seat.eulerAngles.z)); + } + + float DistanceFromGround() + { + float normalizedValue = Mathf.Clamp01( (seat.position.y) / 3.0f); + Debug.Log(seat.position.y/3.0f); + return Mathf.Pow(normalizedValue, 2); + } + + float GetAverageXPositionFeet() + { + float average = (FLF.position.z + FRF.position.z + BLF.position.z + BRF.position.z) / 4.0f; + return average; + } + + Vector3 GetNormalizedVelocity(Vector3 metersPerSecond) + { + var maxMetersPerSecond = m_Terrain.terrainData.bounds.size + / this.MaxStep + / Time.fixedDeltaTime; + + var maxXZ = Mathf.Max(maxMetersPerSecond.x, maxMetersPerSecond.z); + maxMetersPerSecond.x = maxXZ; + maxMetersPerSecond.z = maxXZ; + maxMetersPerSecond.y = 53; // override with + float x = metersPerSecond.x / maxMetersPerSecond.x; + float y = metersPerSecond.y / maxMetersPerSecond.y; + float z = metersPerSecond.z / maxMetersPerSecond.z; + // clamp result + x = Mathf.Clamp(x, -1f, 1f); + y = Mathf.Clamp(y, -1f, 1f); + z = Mathf.Clamp(z, -1f, 1f); + Vector3 normalizedVelocity = new Vector3(x, y, z); + return normalizedVelocity; + } +} diff --git a/Assets/7_Scripts/Agent/Walker.cs.meta b/Assets/7_Scripts/Agent/Walker.cs.meta new file mode 100644 index 0000000..22734e0 --- /dev/null +++ b/Assets/7_Scripts/Agent/Walker.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 8eef8514d8a6a8d4c89b2b1e1338aaee +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/7_Scripts/Audio.meta b/Assets/7_Scripts/Audio.meta new file mode 100644 index 0000000..7682c69 --- /dev/null +++ b/Assets/7_Scripts/Audio.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 1976c87b972f75744b2de40999a83c7c +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/7_Scripts/Audio/AudioTest.cs b/Assets/7_Scripts/Audio/AudioTest.cs new file mode 100644 index 0000000..f1cffba --- /dev/null +++ b/Assets/7_Scripts/Audio/AudioTest.cs @@ -0,0 +1,23 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public class AudioTest : MonoBehaviour +{ + // Start is called before the first frame update + AudioSource m_AudioSource; + void Start() + { + m_AudioSource = GetComponent(); + } + + // Update is called once per frame + void Update() + { + if (Input.GetKeyDown(KeyCode.M)) + { + Debug.Log("Sound"); + m_AudioSource.Play(); + } + } +} diff --git a/Assets/7_Scripts/Audio/AudioTest.cs.meta b/Assets/7_Scripts/Audio/AudioTest.cs.meta new file mode 100644 index 0000000..b558b23 --- /dev/null +++ b/Assets/7_Scripts/Audio/AudioTest.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 723635b2d5110cc44903384803f9ef40 \ No newline at end of file diff --git a/Assets/7_Scripts/Demo.meta b/Assets/7_Scripts/Demo.meta new file mode 100644 index 0000000..c14032f --- /dev/null +++ b/Assets/7_Scripts/Demo.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 3450f9f170d18b24db6899fe0b663557 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/RotationScript.cs b/Assets/7_Scripts/Demo/RotationScript.cs similarity index 100% rename from Assets/Scripts/RotationScript.cs rename to Assets/7_Scripts/Demo/RotationScript.cs diff --git a/Assets/Scripts/RotationScript.cs.meta b/Assets/7_Scripts/Demo/RotationScript.cs.meta similarity index 100% rename from Assets/Scripts/RotationScript.cs.meta rename to Assets/7_Scripts/Demo/RotationScript.cs.meta diff --git a/Assets/7_Scripts/Model Swapping.meta b/Assets/7_Scripts/Model Swapping.meta new file mode 100644 index 0000000..f4ed191 --- /dev/null +++ b/Assets/7_Scripts/Model Swapping.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: cdd8c8bab6f6aa2419edd464a7d665d0 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/7_Scripts/Model Swapping/ModelSwap.cs b/Assets/7_Scripts/Model Swapping/ModelSwap.cs new file mode 100644 index 0000000..b42c6f7 --- /dev/null +++ b/Assets/7_Scripts/Model Swapping/ModelSwap.cs @@ -0,0 +1,144 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using Unity.MLAgents; +using Unity.Barracuda; +using Unity.MLAgents.Policies; +using System; +using Unity.Barracuda.ONNX; +using System.IO; +using System.Linq; + +public class ModelSwap : MonoBehaviour +{ + // Models + + public NNModel m_InitialModel; + // public Agent agent; + + [HideInInspector] public List nnModelList; + [HideInInspector] public int currentModel = 0; + [HideInInspector] public int m_PastModel = 0; + + // Path to .onnx files + string m_relPath = string.Empty; + + private void Start() + { + // Load Models From Dir + NNFileList(); + } + + + public void NNFileList() + { + m_relPath = Application.dataPath; + m_relPath = Path.GetDirectoryName(m_relPath); + m_relPath = m_relPath + "\\ModelSwaper\\ModelList"; + DirectoryInfo dirInfo = new DirectoryInfo(m_relPath); + FileInfo[] nnList = dirInfo.GetFiles("*.onnx"); + + // Sort files by creation date + Array.Sort(nnList, delegate (FileInfo x, FileInfo y) { return DateTime.Compare(x.CreationTime, y.CreationTime); }); + + ConvertNNModels(nnList); + } + + public void ConvertNNModels(FileInfo[] nnList) + { + foreach (FileInfo element in nnList) + { + var converter = new ONNXModelConverter(true); + byte[] modelData = File.ReadAllBytes(element.FullName.ToString()); + Model model = converter.Convert(modelData); + NNModelData modelD = ScriptableObject.CreateInstance(); + using (var memoryStream = new MemoryStream()) + using (var writer = new BinaryWriter(memoryStream)) + { + ModelWriter.Save(writer, model); + modelD.Value = memoryStream.ToArray(); + } + modelD.name = "Data"; + modelD.hideFlags = HideFlags.HideInHierarchy; + NNModel result = ScriptableObject.CreateInstance(); + result.modelData = modelD; + result.name = element.Name; + // Add Model to Model List + nnModelList.Add(result); + } + + Debug.Log("Total Number of Models: " + nnModelList.Count); + // Set the inital model to 0 + m_InitialModel = nnModelList[currentModel]; + // Removed for import errors + //GlobalVars.g_CurrentModel = nnModelList[currentModel].name; + } + + public void SwitchModel(int modelActive, Agent inst) + { + /* + 0 = -1 on the model list + 1 = +1 on the model list + 3 = Starting model + 4 = Return to last model active + */ + + if (modelActive == 0) + { + currentModel -= 1; + if(currentModel < 0) + { + currentModel = 0; + } + + inst.SetModel("Swap", nnModelList[currentModel]); + //GlobalVars.g_CurrentModel = nnModelList[currentModel].name; + } + + else if (modelActive == 3) + { + inst.SetModel("Swap", m_InitialModel); + } + else if (modelActive == 1) + { + currentModel += 1; + if (currentModel > nnModelList.Count - 1) + { + currentModel = nnModelList.Count - 1; + } + + inst.SetModel("Swap", nnModelList[currentModel]); + //GlobalVars.g_CurrentModel = nnModelList[currentModel].name; + } + else if (modelActive == 4) + { + currentModel = m_PastModel; + inst.SetModel("Swap", nnModelList[currentModel]); + //GlobalVars.g_CurrentModel = nnModelList[currentModel].name; + } + //Debug.Log("Current Model: " + GlobalVars.g_CurrentModel); + } + + // Set Model by name + public void SwitchModel(string modelName, Agent inst) + { + m_PastModel = currentModel; + FindModelByName(modelName); + inst.SetModel("Swap", nnModelList[currentModel]); + //GlobalVars.g_CurrentModel = nnModelList[currentModel].name; + //Debug.Log("Current Model: " + GlobalVars.g_CurrentModel); + } + + private void FindModelByName(string modelName) + { + int i = 0; + foreach (NNModel element in nnModelList) + { + if(element.name.Equals(modelName+".onnx")) + { + currentModel = i; + return; + } + } + } +}; diff --git a/Assets/7_Scripts/Model Swapping/ModelSwap.cs.meta b/Assets/7_Scripts/Model Swapping/ModelSwap.cs.meta new file mode 100644 index 0000000..d763069 --- /dev/null +++ b/Assets/7_Scripts/Model Swapping/ModelSwap.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 4d4f1f9b90b1b3949a25ccabbf8429d4 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/7_Scripts/Model Swapping/SwapModelOnContact.cs b/Assets/7_Scripts/Model Swapping/SwapModelOnContact.cs new file mode 100644 index 0000000..01eee25 --- /dev/null +++ b/Assets/7_Scripts/Model Swapping/SwapModelOnContact.cs @@ -0,0 +1,64 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using Unity.MLAgents; + + +namespace Unity.MLAgentsExamples +{ + [DisallowMultipleComponent] + public class SwapModelOnContact : MonoBehaviour + { + [Header("List of Collision Types & Models")] + public string m_BalanceSwap = "swap_Balance"; + public string m_WalkerSwap = "swap_Walker"; + public string m_SloperSwap = "swap_Sloper"; + public string m_GetupSwap = "swap_Getup"; + + private ModelSwap m_ModelSwapper; + private Agent m_Agent; + + void OnEnable() + { + m_ModelSwapper = GetComponentInParent(); + m_Agent = GetComponentInParent(); + } + private void OnTriggerEnter(Collider col) + { + + if (col.gameObject.CompareTag(m_GetupSwap)) + { + // Swap Model to this + m_ModelSwapper.SwitchModel("Getup", m_Agent); + } + + if (col.gameObject.CompareTag(m_WalkerSwap)) + { + // Swap Model to this + m_ModelSwapper.SwitchModel("Walker", m_Agent); + } + + if (col.gameObject.CompareTag(m_BalanceSwap)) + { + // Swap Model to this + m_ModelSwapper.SwitchModel("Balance", m_Agent); + } + + if (col.gameObject.CompareTag(m_SloperSwap)) + { + // Swap Model to this + m_ModelSwapper.SwitchModel("Sloper", m_Agent); + } + + + } + + void OnTriggerExit(Collider col) + { + if (col.gameObject.CompareTag(m_GetupSwap)) + { + m_ModelSwapper.SwitchModel(4, m_Agent); + } + } + } +} diff --git a/Assets/7_Scripts/Model Swapping/SwapModelOnContact.cs.meta b/Assets/7_Scripts/Model Swapping/SwapModelOnContact.cs.meta new file mode 100644 index 0000000..325a1d0 --- /dev/null +++ b/Assets/7_Scripts/Model Swapping/SwapModelOnContact.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 5c07b818612782c47bc265efc0b072dd +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/7_Scripts/Recording.meta b/Assets/7_Scripts/Recording.meta new file mode 100644 index 0000000..1c3fe3d --- /dev/null +++ b/Assets/7_Scripts/Recording.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 8f0060ae0ee3a914a93458337f83441b +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/RenderText.cs b/Assets/7_Scripts/Recording/RenderText.cs similarity index 91% rename from Assets/Scripts/RenderText.cs rename to Assets/7_Scripts/Recording/RenderText.cs index 64b7121..c9dbf3f 100644 --- a/Assets/Scripts/RenderText.cs +++ b/Assets/7_Scripts/Recording/RenderText.cs @@ -2,20 +2,29 @@ using System; using System.Collections; using System.Collections.Generic; using System.IO; +using UnityEditor; using UnityEngine; +using UnityEngine.EventSystems; using UnityEngine.UI; public class RenderText : MonoBehaviour { int frame = 60; public int m_CaptureFrameRate; + public string outputDirectory = "SampleRecordings/Projection"; + [HideInInspector] public Texture2D texture; + public ProjectionType m_ProjectionType = ProjectionType.Gnomic; + public bool m_Record = false; + + int txt_W; int txt_H; - + + public int m_RecordedFrames; public Material material; @@ -39,11 +48,11 @@ public class RenderText : MonoBehaviour Squeezed, Gnomic } - public ProjectionType m_ProjectionType = ProjectionType.Gnomic; private void Awake() { SetupMatShaders(); + m_RecordedFrames = 0; } // Initial configuration for frame rate @@ -59,12 +68,17 @@ public class RenderText : MonoBehaviour if (m_Record) { - for (int frameCount = 0; frameCount < 4; frameCount++) { SetMaterialParametersBasedOnProjectionType(frameCount); } + m_RecordedFrames++; + + } + else + { + m_RecordedFrames = 0; } frame++; @@ -85,7 +99,7 @@ public class RenderText : MonoBehaviour y_FOV = 0.2f; y_Rotation = 5.13f; x_Rotation = 0.25f; - m_HeightY = 0.6f; + m_HeightY = 7f; material.shader = m_ShaderList[1]; } @@ -117,11 +131,11 @@ public class RenderText : MonoBehaviour { txt_W = 6750; txt_H = 1080; - y_Rotation = 0.8f; + y_Rotation = 0.85f; x_Rotation = 1f; y_Divide = 3.5f; x_Divide = 4f; - m_HeightY = 0.9f; + m_HeightY = 5f; material.shader = m_ShaderList[0]; } } @@ -136,7 +150,7 @@ public class RenderText : MonoBehaviour y_FOV = 0.3f; y_Rotation = 5.23f; x_Rotation = 0.25f; - m_HeightY = 0.6f; + m_HeightY = 7f; material.shader = m_ShaderList[1]; } @@ -168,11 +182,11 @@ public class RenderText : MonoBehaviour { txt_W = 6750; txt_H = 1080; - y_Rotation = 0.8f; + y_Rotation = 0.85f; x_Rotation = 1f; y_Divide = 3.5f; x_Divide = 4f; - m_HeightY = 0.9f; + m_HeightY = 5f; material.shader = m_ShaderList[0]; } @@ -183,7 +197,8 @@ public class RenderText : MonoBehaviour void CycleThroughOrientations(int frameCount, float m_HeightY) { - if(m_ProjectionType != ProjectionType.CroppedFOV) + m_CubeMapPrefab.transform.localPosition = new Vector3(m_CubeMapPrefab.transform.localPosition.x, m_HeightY, m_CubeMapPrefab.transform.localPosition.z); + if (m_ProjectionType != ProjectionType.CroppedFOV) { material.SetFloat("_EquiRotation", x_Rotation * frameCount); } else @@ -209,14 +224,13 @@ public class RenderText : MonoBehaviour material.SetFloat("_DivideY", y_Divide); material.SetFloat("_DivideX", x_Divide); } - - m_CubeMapPrefab.transform.position = new Vector3(m_CubeMapPrefab.transform.position.x, m_HeightY, m_CubeMapPrefab.transform.position.z); - ExportTexture(frameCount); } private void ExportTexture(int frameCount) { + + RenderTexture buffer = new RenderTexture( txt_W, txt_H, @@ -236,8 +250,7 @@ public class RenderText : MonoBehaviour false); // No mipmaps // Create a timestamped folder in the /SampleRecordings directory - - var recordingsDir = Path.Combine(Application.dataPath, "..", "SampleRecordings", "Projection", m_Timestamp); + var recordingsDir = Path.Combine(Application.dataPath, "..", outputDirectory, m_Timestamp); // Create the direction-specific folder if it doesn't exist var directionFolder = ""; @@ -258,6 +271,7 @@ public class RenderText : MonoBehaviour } var fullDirectionPath = Path.Combine(recordingsDir, directionFolder); + if (!Directory.Exists(fullDirectionPath)) { Directory.CreateDirectory(fullDirectionPath); @@ -293,10 +307,8 @@ public class RenderText : MonoBehaviour { if (Input.GetKeyUp(KeyCode.R)) { - m_Record = true; - - //Update Timestamp m_Timestamp = DateTime.Now.ToString("yyyyMMddHHmmss"); + m_Record = true; } if (Input.GetKeyUp(KeyCode.S)) diff --git a/Assets/Scripts/RenderText.cs.meta b/Assets/7_Scripts/Recording/RenderText.cs.meta similarity index 100% rename from Assets/Scripts/RenderText.cs.meta rename to Assets/7_Scripts/Recording/RenderText.cs.meta diff --git a/Assets/Textures.meta b/Assets/8_Textures.meta similarity index 100% rename from Assets/Textures.meta rename to Assets/8_Textures.meta diff --git a/Assets/Textures/l8n7cgraly071.jpg b/Assets/8_Textures/UV Grid.jpg similarity index 100% rename from Assets/Textures/l8n7cgraly071.jpg rename to Assets/8_Textures/UV Grid.jpg diff --git a/Assets/Textures/l8n7cgraly071.jpg.meta b/Assets/8_Textures/UV Grid.jpg.meta similarity index 100% rename from Assets/Textures/l8n7cgraly071.jpg.meta rename to Assets/8_Textures/UV Grid.jpg.meta diff --git a/Assets/9_ML-Agents.meta b/Assets/9_ML-Agents.meta new file mode 100644 index 0000000..3ae3359 --- /dev/null +++ b/Assets/9_ML-Agents.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 02dd0de83f0b9e64bbf6ad44f77d7497 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/9_ML-Agents/Shared Assets MLA.meta b/Assets/9_ML-Agents/Shared Assets MLA.meta new file mode 100644 index 0000000..bec254b --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 9c640e429422ad747b008ca7f96abbca +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets.meta b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets.meta new file mode 100644 index 0000000..2bf4c16 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 85e7c5af7cdd6274e939579ab8b647d2 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts.meta b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts.meta new file mode 100644 index 0000000..71d7124 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 3a91586d3e996b8498537012bb79e33e +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/AdjustTrainingTimescale.cs b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/AdjustTrainingTimescale.cs new file mode 100644 index 0000000..e111353 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/AdjustTrainingTimescale.cs @@ -0,0 +1,54 @@ +//This script lets you change time scale during training. It is not a required script for this demo to function + +using UnityEngine; + +namespace MLAgentsExamples +{ + public class AdjustTrainingTimescale : MonoBehaviour + { + // Update is called once per frame + void Update() + { + if (Input.GetKeyDown(KeyCode.Alpha1)) + { + Time.timeScale = 1f; + } + if (Input.GetKeyDown(KeyCode.Alpha2)) + { + Time.timeScale = 2f; + } + if (Input.GetKeyDown(KeyCode.Alpha3)) + { + Time.timeScale = 3f; + } + if (Input.GetKeyDown(KeyCode.Alpha4)) + { + Time.timeScale = 4f; + } + if (Input.GetKeyDown(KeyCode.Alpha5)) + { + Time.timeScale = 5f; + } + if (Input.GetKeyDown(KeyCode.Alpha6)) + { + Time.timeScale = 6f; + } + if (Input.GetKeyDown(KeyCode.Alpha7)) + { + Time.timeScale = 7f; + } + if (Input.GetKeyDown(KeyCode.Alpha8)) + { + Time.timeScale = 8f; + } + if (Input.GetKeyDown(KeyCode.Alpha9)) + { + Time.timeScale = 9f; + } + if (Input.GetKeyDown(KeyCode.Alpha0)) + { + Time.timeScale *= 2f; + } + } + } +} diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/AdjustTrainingTimescale.cs.meta b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/AdjustTrainingTimescale.cs.meta new file mode 100644 index 0000000..ed6469d --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/AdjustTrainingTimescale.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 3d6f3eab3776b4fb79724ac4216dfd7b +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/Area.cs b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/Area.cs new file mode 100644 index 0000000..65bc08a --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/Area.cs @@ -0,0 +1,11 @@ +using UnityEngine; + +namespace Unity.MLAgentsExamples +{ + public class Area : MonoBehaviour + { + public virtual void ResetArea() + { + } + } +} diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/Area.cs.meta b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/Area.cs.meta new file mode 100644 index 0000000..b08c7db --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/Area.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: b46b66a9b32b24fab9d7ffcca24f1f43 +timeCreated: 1506809357 +licenseType: Pro +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/CameraFollow.cs b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/CameraFollow.cs new file mode 100644 index 0000000..d387223 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/CameraFollow.cs @@ -0,0 +1,31 @@ +using UnityEngine; + +namespace Unity.MLAgentsExamples +{ + public class CameraFollow : MonoBehaviour + { + [Tooltip("The target to follow")] public Transform target; + + [Tooltip("The time it takes to move to the new position")] + public float smoothingTime; //The time it takes to move to the new position + + private Vector3 m_Offset; + private Vector3 m_CamVelocity; //Camera's velocity (used by SmoothDamp) + + // Use this for initialization + void Start() + { + m_Offset = gameObject.transform.position - target.position; + } + + void FixedUpdate() + { + var newPosition = new Vector3(target.position.x + m_Offset.x, transform.position.y, + target.position.z + m_Offset.z); + + gameObject.transform.position = + Vector3.SmoothDamp(transform.position, newPosition, ref m_CamVelocity, smoothingTime, Mathf.Infinity, + Time.fixedDeltaTime); + } + } +} diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/CameraFollow.cs.meta b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/CameraFollow.cs.meta new file mode 100644 index 0000000..cd6bf51 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/CameraFollow.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: ec40c70d5160b47cd8deaab79e24892c +timeCreated: 1508523647 +licenseType: Free +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/CollisionCallbacks.cs b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/CollisionCallbacks.cs new file mode 100644 index 0000000..c9a26bf --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/CollisionCallbacks.cs @@ -0,0 +1,141 @@ +using UnityEngine; +using UnityEngine.Events; + +namespace Unity.MLAgentsExamples +{ + /// + /// Utility class to allow target placement and collision detection with an agent + /// Add this script to the target you want the agent to touch. + /// Callbacks will be triggered any time the target is touched with a collider tagged as 'tagToDetect' + /// + public class CollisionCallbacks : MonoBehaviour + { + // [System.Serializable] public class BoolEvent : UnityEvent { } + // [SerializeField] BoolEvent boolEvent = new BoolEvent(); + // public void OnBoolEvent(bool value) + // { + // Debug.Log($"OnBoolEvent {value}"); + // } + + + [Header("Collider Tag To Detect")] + public string tagToDetect = "agent"; //collider tag to detect + + // [Header("Target Placement")] + // public float spawnRadius; //The radius in which a target can be randomly spawned. + // public bool respawnIfTouched; //Should the target respawn to a different position when touched + // + // [Header("Target Fell Protection")] + // public bool respawnIfFallsOffPlatform = true; //If the target falls off the platform, reset the position. + // public float fallDistance = 5; //distance below the starting height that will trigger a respawn + // + // + // private Vector3 m_startingPos; //the starting position of the target + // private Agent m_agentTouching; //the agent currently touching the target + + [System.Serializable] + // public class TriggerEvent : UnityEvent + public class TriggerEvent : UnityEvent + { + } + + [Header("Trigger Callbacks")] + public TriggerEvent onTriggerEnterEvent = new TriggerEvent(); + public TriggerEvent onTriggerStayEvent = new TriggerEvent(); + public TriggerEvent onTriggerExitEvent = new TriggerEvent(); + + [System.Serializable] + public class CollisionEvent : UnityEvent + { + } + + [Header("Collision Callbacks")] + public CollisionEvent onCollisionEnterEvent = new CollisionEvent(); + public CollisionEvent onCollisionStayEvent = new CollisionEvent(); + public CollisionEvent onCollisionExitEvent = new CollisionEvent(); + + // // Start is called before the first frame update + // void OnEnable() + // { + // m_startingPos = transform.position; + // if (respawnIfTouched) + // { + // MoveTargetToRandomPosition(); + // } + // } + + // void Update() + // { + // if (respawnIfFallsOffPlatform) + // { + // if (transform.position.y < m_startingPos.y - fallDistance) + // { + // Debug.Log($"{transform.name} Fell Off Platform"); + // MoveTargetToRandomPosition(); + // } + // } + // } + + // /// + // /// Moves target to a random position within specified radius. + // /// + // public void MoveTargetToRandomPosition() + // { + // var newTargetPos = m_startingPos + (Random.insideUnitSphere * spawnRadius); + // newTargetPos.y = m_startingPos.y; + // transform.position = newTargetPos; + // } + + private void OnCollisionEnter(Collision col) + { + if (col.transform.CompareTag(tagToDetect)) + { + onCollisionEnterEvent.Invoke(col, transform); + // if (respawnIfTouched) + // { + // MoveTargetToRandomPosition(); + // } + } + } + + private void OnCollisionStay(Collision col) + { + if (col.transform.CompareTag(tagToDetect)) + { + onCollisionStayEvent.Invoke(col, transform); + } + } + + private void OnCollisionExit(Collision col) + { + if (col.transform.CompareTag(tagToDetect)) + { + onCollisionExitEvent.Invoke(col, transform); + } + } + + private void OnTriggerEnter(Collider col) + { + if (col.CompareTag(tagToDetect)) + { + onTriggerEnterEvent.Invoke(col); + } + } + + private void OnTriggerStay(Collider col) + { + if (col.CompareTag(tagToDetect)) + { + onTriggerStayEvent.Invoke(col); + } + } + + private void OnTriggerExit(Collider col) + { + if (col.CompareTag(tagToDetect)) + { + onTriggerExitEvent.Invoke(col); + } + } + } +} diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/CollisionCallbacks.cs.meta b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/CollisionCallbacks.cs.meta new file mode 100644 index 0000000..c9219d2 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/CollisionCallbacks.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: df05ec10e50114a9d92106879d04d89d +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/DirectionIndicator.cs b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/DirectionIndicator.cs new file mode 100644 index 0000000..fe6a07f --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/DirectionIndicator.cs @@ -0,0 +1,37 @@ +using UnityEngine; + +namespace Unity.MLAgentsExamples +{ + public class DirectionIndicator : MonoBehaviour + { + + public bool updatedByAgent; //should this be updated by the agent? If not, it will use local settings + public Transform transformToFollow; //ex: hips or body + public Transform targetToLookAt; //target in the scene the indicator will point to + public float heightOffset; + private float m_StartingYPos; + + void OnEnable() + { + m_StartingYPos = transform.position.y; + } + + void Update() + { + if (updatedByAgent) + return; + transform.position = new Vector3(transformToFollow.position.x, m_StartingYPos + heightOffset, + transformToFollow.position.z); + Vector3 walkDir = targetToLookAt.position - transform.position; + walkDir.y = 0; //flatten dir on the y + transform.rotation = Quaternion.LookRotation(walkDir); + } + + //Public method to allow an agent to directly update this component + public void MatchOrientation(Transform t) + { + transform.position = new Vector3(t.position.x, m_StartingYPos + heightOffset, t.position.z); + transform.rotation = t.rotation; + } + } +} diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/DirectionIndicator.cs.meta b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/DirectionIndicator.cs.meta new file mode 100644 index 0000000..7d3b767 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/DirectionIndicator.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 1513f8a85fedd47efba089213b7c5bde +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/FlyCamera.cs b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/FlyCamera.cs new file mode 100644 index 0000000..8fe3fd0 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/FlyCamera.cs @@ -0,0 +1,116 @@ +using UnityEngine; + +namespace Unity.MLAgentsExamples +{ + public class FlyCamera : MonoBehaviour + { + /* + wasd : basic movement + shift : Makes camera accelerate + space : Moves camera on X and Z axis only. So camera doesn't gain any height*/ + + + public float mainSpeed = 100.0f; // regular speed + public float shiftAdd = 250.0f; // multiplied by how long shift is held. Basically running + public float maxShift = 1000.0f; // Maximum speed when holdin gshift + public float camSens = 0.25f; // How sensitive it with mouse + public bool rotateOnlyIfMousedown = true; + public bool movementStaysFlat = true; + + Vector3 + m_LastMouse = + new Vector3(255, 255, + 255); // kind of in the middle of the screen, rather than at the top (play) + + float m_TotalRun = 1.0f; + + void Awake() + { + Debug.Log("FlyCamera Awake() - RESETTING CAMERA POSITION"); // nop? + // nop: + // transform.position.Set(0,8,-32); + // transform.rotation.Set(15,0,0,1); + transform.position = new Vector3(0, 8, -32); + transform.rotation = Quaternion.Euler(25, 0, 0); + } + + void Update() + { + if (Input.GetMouseButtonDown(1)) + { + m_LastMouse = Input.mousePosition; // $CTK reset when we begin + } + + if (!rotateOnlyIfMousedown || + (rotateOnlyIfMousedown && Input.GetMouseButton(1))) + { + m_LastMouse = Input.mousePosition - m_LastMouse; + m_LastMouse = new Vector3(-m_LastMouse.y * camSens, m_LastMouse.x * camSens, 0); + m_LastMouse = new Vector3(transform.eulerAngles.x + m_LastMouse.x, + transform.eulerAngles.y + m_LastMouse.y, 0); + transform.eulerAngles = m_LastMouse; + m_LastMouse = Input.mousePosition; + // Mouse camera angle done. + } + + // Keyboard commands + var p = GetBaseInput(); + if (Input.GetKey(KeyCode.LeftShift)) + { + m_TotalRun += Time.deltaTime; + p = shiftAdd * m_TotalRun * p; + p.x = Mathf.Clamp(p.x, -maxShift, maxShift); + p.y = Mathf.Clamp(p.y, -maxShift, maxShift); + p.z = Mathf.Clamp(p.z, -maxShift, maxShift); + } + else + { + m_TotalRun = Mathf.Clamp(m_TotalRun * 0.5f, 1f, 1000f); + p = p * mainSpeed; + } + + p = p * Time.deltaTime; + var newPosition = transform.position; + if (Input.GetKey(KeyCode.Space) + || (movementStaysFlat && !(rotateOnlyIfMousedown && Input.GetMouseButton(1)))) + { + // If player wants to move on X and Z axis only + transform.Translate(p); + newPosition.x = transform.position.x; + newPosition.z = transform.position.z; + transform.position = newPosition; + } + else + { + transform.Translate(p); + } + } + + Vector3 GetBaseInput() + { + // returns the basic values, if it's 0 than it's not active. + var pVelocity = new Vector3(); + if (Input.GetKey(KeyCode.W)) + { + pVelocity += new Vector3(0, 0, 1); + } + + if (Input.GetKey(KeyCode.S)) + { + pVelocity += new Vector3(0, 0, -1); + } + + if (Input.GetKey(KeyCode.A)) + { + pVelocity += new Vector3(-1, 0, 0); + } + + if (Input.GetKey(KeyCode.D)) + { + pVelocity += new Vector3(1, 0, 0); + } + + return pVelocity; + } + } +} diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/FlyCamera.cs.meta b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/FlyCamera.cs.meta new file mode 100644 index 0000000..31dd480 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/FlyCamera.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 83d7b886385fb48b999bc3fbc41bc181 +timeCreated: 1508627099 +licenseType: Pro +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/GroundContact.cs b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/GroundContact.cs new file mode 100644 index 0000000..e9cd8e7 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/GroundContact.cs @@ -0,0 +1,96 @@ +using UnityEngine; +using Unity.MLAgents; + +namespace Unity.MLAgentsExamples +{ + /// + /// This class contains logic for locomotion agents with joints which might make contact with the ground. + /// By attaching this as a component to those joints, their contact with the ground can be used as either + /// an observation for that agent, and/or a means of punishing the agent for making undesirable contact. + /// + [DisallowMultipleComponent] + public class GroundContact : MonoBehaviour + { + [HideInInspector] public Agent agent; + + [Header("Ground Check")] public bool agentDoneOnGroundContact; // Whether to reset agent on ground contact. + public bool penalizeGroundContact; // Whether to penalize on contact. + public bool rewardOnContact; + public bool isFoot; + public bool isBody; + public float groundContactPenalty; // Penalty amount (ex: -1). + public bool touchingObject; + public bool touchingGround; + public bool touchingStairs; + const string k_Ground = "ground"; // Tag of ground object. + const string k_Stairs = "stairs"; + const string k_Object = "object"; + + /// + /// Check for collision with ground, and optionally penalize agent. + /// + void OnCollisionEnter(Collision col) + { + if (col.transform.CompareTag(k_Ground)) + { + touchingGround = true; + + if (penalizeGroundContact) + { + agent.SetReward(groundContactPenalty); + } + + if (rewardOnContact) + { + agent.AddReward(groundContactPenalty); + } + + if (agentDoneOnGroundContact) + { + agent.EndEpisode(); + } + } + + if (col.transform.CompareTag(k_Stairs)) + { + touchingStairs = true; + if(isFoot) + { + agent.AddReward(0.002f); + } + if (isBody) + { + agent.SetReward(-1f); + agent.EndEpisode(); + } + } + + if (col.transform.CompareTag(k_Object)) + { + touchingObject = true; + if (isFoot) + { + agent.AddReward(0.002f); + } + } + } + + void OnCollisionExit(Collision other) + { + if (other.transform.CompareTag(k_Ground)) + { + touchingGround = false; + } + + if (other.transform.CompareTag(k_Stairs)) + { + touchingStairs = false; + } + + if (other.transform.CompareTag(k_Object)) + { + touchingObject = false; + } + } + } +} diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/GroundContact.cs.meta b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/GroundContact.cs.meta new file mode 100644 index 0000000..d085793 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/GroundContact.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 2666e257ea992476cae0f7f163165e71 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/JointDriveController.cs b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/JointDriveController.cs new file mode 100644 index 0000000..c96d563 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/JointDriveController.cs @@ -0,0 +1,189 @@ +using System.Collections.Generic; +using UnityEngine; +using UnityEngine.Serialization; +using Unity.MLAgents; + +namespace Unity.MLAgentsExamples +{ + /// + /// Used to store relevant information for acting and learning for each body part in agent. + /// + [System.Serializable] + public class BodyPart + { + [Header("Body Part Info")] [Space(10)] public ConfigurableJoint joint; + public Rigidbody rb; + [HideInInspector] public Vector3 startingPos; + [HideInInspector] public Quaternion startingRot; + + [Header("Ground & Target Contact")] + [Space(10)] + public GroundContact groundContact; + + public TargetContact targetContact; + + [FormerlySerializedAs("thisJDController")] + [HideInInspector] public JointDriveController thisJdController; + + [Header("Current Joint Settings")] + [Space(10)] + public Vector3 currentEularJointRotation; + + [HideInInspector] public float currentStrength; + public float currentXNormalizedRot; + public float currentYNormalizedRot; + public float currentZNormalizedRot; + + [Header("Other Debug Info")] + [Space(10)] + public Vector3 currentJointForce; + + public float currentJointForceSqrMag; + public Vector3 currentJointTorque; + public float currentJointTorqueSqrMag; + public AnimationCurve jointForceCurve = new AnimationCurve(); + public AnimationCurve jointTorqueCurve = new AnimationCurve(); + + /// + /// Reset body part to initial configuration. + /// + public void Reset(BodyPart bp) + { + bp.rb.transform.position = bp.startingPos; + bp.rb.transform.rotation = bp.startingRot; + bp.rb.velocity = Vector3.zero; + bp.rb.angularVelocity = Vector3.zero; + if (bp.groundContact) + { + bp.groundContact.touchingGround = false; + } + + if (bp.targetContact) + { + bp.targetContact.touchingTarget = false; + } + } + + /// + /// Apply torque according to defined goal `x, y, z` angle and force `strength`. + /// + public void SetJointTargetRotation(float x, float y, float z) + { + x = (x + 1f) * 0.5f; + y = (y + 1f) * 0.5f; + z = (z + 1f) * 0.5f; + + var xRot = Mathf.Lerp(joint.lowAngularXLimit.limit, joint.highAngularXLimit.limit, x); + var yRot = Mathf.Lerp(-joint.angularYLimit.limit, joint.angularYLimit.limit, y); + var zRot = Mathf.Lerp(-joint.angularZLimit.limit, joint.angularZLimit.limit, z); + + currentXNormalizedRot = + Mathf.InverseLerp(joint.lowAngularXLimit.limit, joint.highAngularXLimit.limit, xRot); + currentYNormalizedRot = Mathf.InverseLerp(-joint.angularYLimit.limit, joint.angularYLimit.limit, yRot); + currentZNormalizedRot = Mathf.InverseLerp(-joint.angularZLimit.limit, joint.angularZLimit.limit, zRot); + + joint.targetRotation = Quaternion.Euler(xRot, yRot, zRot); + currentEularJointRotation = new Vector3(xRot, yRot, zRot); + } + + public void SetJointStrength(float strength) + { + var rawVal = (strength + 1f) * 0.5f * thisJdController.maxJointForceLimit; + var jd = new JointDrive + { + positionSpring = thisJdController.maxJointSpring, + positionDamper = thisJdController.jointDampen, + maximumForce = rawVal + }; + joint.slerpDrive = jd; + currentStrength = jd.maximumForce; + } + } + + public class JointDriveController : MonoBehaviour + { + [Header("Joint Drive Settings")] + [Space(10)] + public float maxJointSpring; + + public float jointDampen; + public float maxJointForceLimit; + float m_FacingDot; + + [HideInInspector] public Dictionary bodyPartsDict = new Dictionary(); + + [HideInInspector] public List bodyPartsList = new List(); + const float k_MaxAngularVelocity = 50.0f; + + /// + /// Create BodyPart object and add it to dictionary. + /// + public void SetupBodyPart(Transform t) + { + var bp = new BodyPart + { + rb = t.GetComponent(), + joint = t.GetComponent(), + startingPos = t.position, + startingRot = t.rotation + }; + bp.rb.maxAngularVelocity = k_MaxAngularVelocity; + + // Add & setup the ground contact script + bp.groundContact = t.GetComponent(); + if (!bp.groundContact) + { + bp.groundContact = t.gameObject.AddComponent(); + bp.groundContact.agent = gameObject.GetComponent(); + } + else + { + bp.groundContact.agent = gameObject.GetComponent(); + } + + if (bp.joint) + { + var jd = new JointDrive + { + positionSpring = maxJointSpring, + positionDamper = jointDampen, + maximumForce = maxJointForceLimit + }; + bp.joint.slerpDrive = jd; + } + + bp.thisJdController = this; + bodyPartsDict.Add(t, bp); + bodyPartsList.Add(bp); + } + + public void GetCurrentJointForces() + { + foreach (var bodyPart in bodyPartsDict.Values) + { + if (bodyPart.joint) + { + bodyPart.currentJointForce = bodyPart.joint.currentForce; + bodyPart.currentJointForceSqrMag = bodyPart.joint.currentForce.magnitude; + bodyPart.currentJointTorque = bodyPart.joint.currentTorque; + bodyPart.currentJointTorqueSqrMag = bodyPart.joint.currentTorque.magnitude; + if (Application.isEditor) + { + if (bodyPart.jointForceCurve.length > 1000) + { + bodyPart.jointForceCurve = new AnimationCurve(); + } + + if (bodyPart.jointTorqueCurve.length > 1000) + { + bodyPart.jointTorqueCurve = new AnimationCurve(); + } + + bodyPart.jointForceCurve.AddKey(Time.time, bodyPart.currentJointForceSqrMag); + bodyPart.jointTorqueCurve.AddKey(Time.time, bodyPart.currentJointTorqueSqrMag); + } + } + } + } + } +} diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/JointDriveController.cs.meta b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/JointDriveController.cs.meta new file mode 100644 index 0000000..03c214a --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/JointDriveController.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 1b29724baddfa457da6eeab446fa49ca +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/ModelOverrider.cs b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/ModelOverrider.cs new file mode 100644 index 0000000..9390598 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/ModelOverrider.cs @@ -0,0 +1,378 @@ +using System; +using System.Collections.Generic; +using UnityEngine; +using Unity.Barracuda; +using System.IO; +using Unity.Barracuda.ONNX; +using Unity.MLAgents; +using Unity.MLAgents.Policies; +#if UNITY_EDITOR +using UnityEditor; +#endif + +namespace Unity.MLAgentsExamples +{ + /// + /// Utility class to allow the NNModel file for an agent to be overriden during inference. + /// This is used internally to validate the file after training is done. + /// The behavior name to override and file path are specified on the commandline, e.g. + /// player.exe --mlagents-override-model-directory /path/to/models + /// + /// Additionally, a number of episodes to run can be specified; after this, the application will quit. + /// Note this will only work with example scenes that have 1:1 Agent:Behaviors. More complicated scenes like WallJump + /// probably won't override correctly. + /// + public class ModelOverrider : MonoBehaviour + { + HashSet k_SupportedExtensions = new HashSet { "nn", "onnx" }; + const string k_CommandLineModelOverrideDirectoryFlag = "--mlagents-override-model-directory"; + const string k_CommandLineModelOverrideExtensionFlag = "--mlagents-override-model-extension"; + const string k_CommandLineQuitAfterEpisodesFlag = "--mlagents-quit-after-episodes"; + const string k_CommandLineQuitAfterSeconds = "--mlagents-quit-after-seconds"; + const string k_CommandLineQuitOnLoadFailure = "--mlagents-quit-on-load-failure"; + + // The attached Agent + Agent m_Agent; + + // Whether or not the commandline args have already been processed. + // Used to make sure that HasOverrides doesn't spam the logs if it's called multiple times. + private bool m_HaveProcessedCommandLine; + + string m_BehaviorNameOverrideDirectory; + + private string m_OriginalBehaviorName; + + private List m_OverrideExtensions = new List(); + + // Cached loaded NNModels, with the behavior name as the key. + Dictionary m_CachedModels = new Dictionary(); + + + // Max episodes to run. Only used if > 0 + // Will default to 1 if override models are specified, otherwise 0. + int m_MaxEpisodes; + + // Deadline - exit if the time exceeds this + DateTime m_Deadline = DateTime.MaxValue; + + int m_NumSteps; + int m_PreviousNumSteps; + int m_PreviousAgentCompletedEpisodes; + + bool m_QuitOnLoadFailure; + [Tooltip("Debug values to be used in place of the command line for overriding models.")] + public string debugCommandLineOverride; + + // Static values to keep track of completed episodes and steps across resets + // These are updated in OnDisable. + static int s_PreviousAgentCompletedEpisodes; + static int s_PreviousNumSteps; + + int TotalCompletedEpisodes + { + get { return m_PreviousAgentCompletedEpisodes + (m_Agent == null ? 0 : m_Agent.CompletedEpisodes); } + } + + int TotalNumSteps + { + get { return m_PreviousNumSteps + m_NumSteps; } + } + + public bool HasOverrides + { + get + { + GetAssetPathFromCommandLine(); + return !string.IsNullOrEmpty(m_BehaviorNameOverrideDirectory); + } + } + + /// + /// The original behavior name of the agent. The actual behavior name will change when it is overridden. + /// + public string OriginalBehaviorName + { + get + { + if (string.IsNullOrEmpty(m_OriginalBehaviorName)) + { + var bp = m_Agent.GetComponent(); + m_OriginalBehaviorName = bp.BehaviorName; + } + + return m_OriginalBehaviorName; + } + } + + public static string GetOverrideBehaviorName(string originalBehaviorName) + { + return $"Override_{originalBehaviorName}"; + } + + /// + /// Get the asset path to use from the commandline arguments. + /// Can be called multiple times - if m_HaveProcessedCommandLine is set, will have no effect. + /// + /// + void GetAssetPathFromCommandLine() + { + if (m_HaveProcessedCommandLine) + { + return; + } + var maxEpisodes = 0; + var timeoutSeconds = 0; + + string[] commandLineArgsOverride = null; + if (!string.IsNullOrEmpty(debugCommandLineOverride) && Application.isEditor) + { + commandLineArgsOverride = debugCommandLineOverride.Split(' '); + } + + var args = commandLineArgsOverride ?? Environment.GetCommandLineArgs(); + for (var i = 0; i < args.Length; i++) + { + if (args[i] == k_CommandLineModelOverrideDirectoryFlag && i < args.Length - 1) + { + m_BehaviorNameOverrideDirectory = args[i + 1].Trim(); + } + else if (args[i] == k_CommandLineModelOverrideExtensionFlag && i < args.Length - 1) + { + var overrideExtension = args[i + 1].Trim().ToLower(); + var isKnownExtension = k_SupportedExtensions.Contains(overrideExtension); + if (!isKnownExtension) + { + Debug.LogError($"loading unsupported format: {overrideExtension}"); + Application.Quit(1); +#if UNITY_EDITOR + EditorApplication.isPlaying = false; +#endif + } + m_OverrideExtensions.Add(overrideExtension); + } + else if (args[i] == k_CommandLineQuitAfterEpisodesFlag && i < args.Length - 1) + { + Int32.TryParse(args[i + 1], out maxEpisodes); + } + else if (args[i] == k_CommandLineQuitAfterSeconds && i < args.Length - 1) + { + Int32.TryParse(args[i + 1], out timeoutSeconds); + } + else if (args[i] == k_CommandLineQuitOnLoadFailure) + { + m_QuitOnLoadFailure = true; + } + } + + if (!string.IsNullOrEmpty(m_BehaviorNameOverrideDirectory)) + { + // If overriding models, set maxEpisodes to 1 or the command line value + m_MaxEpisodes = maxEpisodes > 0 ? maxEpisodes : 1; + Debug.Log($"setting m_MaxEpisodes to {maxEpisodes}"); + } + + if (timeoutSeconds > 0) + { + m_Deadline = DateTime.Now + TimeSpan.FromSeconds(timeoutSeconds); + Debug.Log($"setting deadline to {timeoutSeconds} from now."); + } + + m_HaveProcessedCommandLine = true; + } + + void OnEnable() + { + // Start with these initialized to previous values in the case where we're resetting scenes. + m_PreviousNumSteps = s_PreviousNumSteps; + m_PreviousAgentCompletedEpisodes = s_PreviousAgentCompletedEpisodes; + + m_Agent = GetComponent(); + + GetAssetPathFromCommandLine(); + if (HasOverrides) + { + OverrideModel(); + } + } + + void OnDisable() + { + // Update the static episode and step counts. + // For a single agent in the scene, this will be a straightforward increment. + // If there are multiple agents, we'll increment the count by the Agent that completed the most episodes. + s_PreviousAgentCompletedEpisodes = Mathf.Max(s_PreviousAgentCompletedEpisodes, TotalCompletedEpisodes); + s_PreviousNumSteps = Mathf.Max(s_PreviousNumSteps, TotalNumSteps); + } + + void FixedUpdate() + { + if (m_MaxEpisodes > 0) + { + // For Agents without maxSteps, exit as soon as we've hit the target number of episodes. + // For Agents that specify MaxStep, also make sure we've gone at least that many steps. + // Since we exit as soon as *any* Agent hits its target, the maxSteps condition keeps us running + // a bit longer in case there's an early failure. + if (TotalCompletedEpisodes >= m_MaxEpisodes && TotalNumSteps > m_MaxEpisodes * m_Agent.MaxStep) + { + Debug.Log($"ModelOverride reached {TotalCompletedEpisodes} episodes and {TotalNumSteps} steps. Exiting."); + Application.Quit(0); +#if UNITY_EDITOR + EditorApplication.isPlaying = false; +#endif + } + else if (DateTime.Now >= m_Deadline) + { + Debug.Log( + $"Deadline exceeded. " + + $"{TotalCompletedEpisodes}/{m_MaxEpisodes} episodes and " + + $"{TotalNumSteps}/{m_MaxEpisodes * m_Agent.MaxStep} steps completed. Exiting."); + Application.Quit(0); +#if UNITY_EDITOR + EditorApplication.isPlaying = false; +#endif + } + } + + m_NumSteps++; + } + + public NNModel GetModelForBehaviorName(string behaviorName) + { + if (m_CachedModels.ContainsKey(behaviorName)) + { + return m_CachedModels[behaviorName]; + } + + if (string.IsNullOrEmpty(m_BehaviorNameOverrideDirectory)) + { + Debug.Log($"No override directory set."); + return null; + } + + // Try the override extensions in order. If they weren't set, try .nn first, then .onnx. + var overrideExtensions = (m_OverrideExtensions.Count > 0) + ? m_OverrideExtensions.ToArray() + : new[] { "nn", "onnx" }; + + byte[] rawModel = null; + bool isOnnx = false; + string assetName = null; + foreach (var overrideExtension in overrideExtensions) + { + var assetPath = Path.Combine(m_BehaviorNameOverrideDirectory, $"{behaviorName}.{overrideExtension}"); + try + { + rawModel = File.ReadAllBytes(assetPath); + isOnnx = overrideExtension.Equals("onnx"); + assetName = "Override - " + Path.GetFileName(assetPath); + break; + } + catch (IOException) + { + // Do nothing - try the next extension, or we'll exit if nothing loaded. + } + } + + if (rawModel == null) + { + Debug.Log($"Couldn't load model file(s) for {behaviorName} in {m_BehaviorNameOverrideDirectory} (full path: {Path.GetFullPath(m_BehaviorNameOverrideDirectory)}"); + // Cache the null so we don't repeatedly try to load a missing file + m_CachedModels[behaviorName] = null; + return null; + } + + var asset = isOnnx ? LoadOnnxModel(rawModel) : LoadBarracudaModel(rawModel); + asset.name = assetName; + m_CachedModels[behaviorName] = asset; + return asset; + } + + NNModel LoadBarracudaModel(byte[] rawModel) + { + var asset = ScriptableObject.CreateInstance(); + asset.modelData = ScriptableObject.CreateInstance(); + asset.modelData.Value = rawModel; + return asset; + } + + NNModel LoadOnnxModel(byte[] rawModel) + { + var converter = new ONNXModelConverter(true); + var onnxModel = converter.Convert(rawModel); + + NNModelData assetData = ScriptableObject.CreateInstance(); + using (var memoryStream = new MemoryStream()) + using (var writer = new BinaryWriter(memoryStream)) + { + ModelWriter.Save(writer, onnxModel); + assetData.Value = memoryStream.ToArray(); + } + assetData.name = "Data"; + assetData.hideFlags = HideFlags.HideInHierarchy; + + var asset = ScriptableObject.CreateInstance(); + asset.modelData = assetData; + return asset; + } + + + /// + /// Load the NNModel file from the specified path, and give it to the attached agent. + /// + void OverrideModel() + { + bool overrideOk = false; + string overrideError = null; + + m_Agent.LazyInitialize(); + + NNModel nnModel = null; + try + { + nnModel = GetModelForBehaviorName(OriginalBehaviorName); + } + catch (Exception e) + { + overrideError = $"Exception calling GetModelForBehaviorName: {e}"; + } + + if (nnModel == null) + { + if (string.IsNullOrEmpty(overrideError)) + { + overrideError = + $"Didn't find a model for behaviorName {OriginalBehaviorName}. Make " + + "sure the behaviorName is set correctly in the commandline " + + "and that the model file exists"; + } + } + else + { + var modelName = nnModel != null ? nnModel.name : ""; + Debug.Log($"Overriding behavior {OriginalBehaviorName} for agent with model {modelName}"); + try + { + m_Agent.SetModel(GetOverrideBehaviorName(OriginalBehaviorName), nnModel); + overrideOk = true; + } + catch (Exception e) + { + overrideError = $"Exception calling Agent.SetModel: {e}"; + } + } + + if (!overrideOk && m_QuitOnLoadFailure) + { + if (!string.IsNullOrEmpty(overrideError)) + { + Debug.LogWarning(overrideError); + } + Application.Quit(1); +#if UNITY_EDITOR + EditorApplication.isPlaying = false; +#endif + } + + } + } +} diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/ModelOverrider.cs.meta b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/ModelOverrider.cs.meta new file mode 100644 index 0000000..f16a462 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/ModelOverrider.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 3a6da8f78a394c6ab027688eab81e04d +timeCreated: 1579651041 \ No newline at end of file diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/Monitor.cs b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/Monitor.cs new file mode 100644 index 0000000..73e7c34 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/Monitor.cs @@ -0,0 +1,563 @@ +using System.Collections.Generic; +using System.Linq; +using UnityEngine; + +namespace Unity.MLAgents +{ + /// + /// Monitor is used to display information about the Agent within the Unity + /// scene. Use the log function to add information to your monitor. + /// + public class Monitor : MonoBehaviour + { + /// + /// The type of monitor the information must be displayed in. + /// corresponds to a single rectangle whose width is given + /// by a float between -1 and 1. (green is positive, red is negative) + /// + /// corresponds to n vertical sliders. + /// is a text field. + /// is a rectangle of fixed length to represent the proportions + /// of a list of floats. + /// + public enum DisplayType + { + Independent, + Proportion + } + + /// + /// Represents how high above the target the monitors will be. + /// + public static float verticalOffset = 3f; + + static bool s_IsInstantiated; + static GameObject s_Canvas; + static Dictionary> s_DisplayTransformValues; + + /// + /// Camera used to calculate GUI screen position relative to the target + /// transform. + /// + static Dictionary s_TransformCamera; + + static Color[] s_BarColors; + + struct DisplayValue + { + public float time; + public string stringValue; + public float floatValue; + public float[] floatArrayValues; + + public enum ValueType + { + Float, + FloatarrayIndependent, + FloatarrayProportion, + String + } + + public ValueType valueType; + } + + static GUIStyle s_KeyStyle; + static GUIStyle s_ValueStyle; + static GUIStyle s_GreenStyle; + static GUIStyle s_RedStyle; + static GUIStyle[] s_ColorStyle; + static bool s_Initialized; + + /// + /// Use the Monitor.Log static function to attach information to a transform. + /// + /// The log. + /// The name of the information you wish to Log. + /// The string value you want to display. + /// The transform you want to attach the information to. + /// + /// Camera used to calculate GUI position relative to + /// the target. If null, `Camera.main` will be used. + public static void Log( + string key, + string value, + Transform target = null, + Camera camera = null) + { + if (!s_IsInstantiated) + { + InstantiateCanvas(); + s_IsInstantiated = true; + } + if (s_Canvas == null) + { + return; + } + + if (target == null) + { + target = s_Canvas.transform; + } + + s_TransformCamera[target] = camera; + + if (!s_DisplayTransformValues.Keys.Contains(target)) + { + s_DisplayTransformValues[target] = + new Dictionary(); + } + + var displayValues = + s_DisplayTransformValues[target]; + + if (value == null) + { + RemoveValue(target, key); + return; + } + + if (!displayValues.ContainsKey(key)) + { + var dv = new DisplayValue(); + dv.time = Time.timeSinceLevelLoad; + dv.stringValue = value; + dv.valueType = DisplayValue.ValueType.String; + displayValues[key] = dv; + while (displayValues.Count > 20) + { + var max = ( + displayValues + .Aggregate((l, r) => l.Value.time < r.Value.time ? l : r) + .Key + ); + RemoveValue(target, max); + } + } + else + { + var dv = displayValues[key]; + dv.stringValue = value; + dv.valueType = DisplayValue.ValueType.String; + displayValues[key] = dv; + } + } + + /// + /// Use the Monitor.Log static function to attach information to a transform. + /// + /// The log. + /// The name of the information you wish to Log. + /// The float value you want to display. + /// The transform you want to attach the information to. + /// + /// Camera used to calculate GUI position relative to + /// the target. If null, `Camera.main` will be used. + public static void Log( + string key, + float value, + Transform target = null, + Camera camera = null) + { + if (!s_IsInstantiated) + { + InstantiateCanvas(); + s_IsInstantiated = true; + } + + if (target == null) + { + target = s_Canvas.transform; + } + + s_TransformCamera[target] = camera; + + if (!s_DisplayTransformValues.Keys.Contains(target)) + { + s_DisplayTransformValues[target] = new Dictionary(); + } + + var displayValues = s_DisplayTransformValues[target]; + + if (!displayValues.ContainsKey(key)) + { + var dv = new DisplayValue(); + dv.time = Time.timeSinceLevelLoad; + dv.floatValue = value; + dv.valueType = DisplayValue.ValueType.Float; + displayValues[key] = dv; + while (displayValues.Count > 20) + { + var max = ( + displayValues.Aggregate((l, r) => l.Value.time < r.Value.time ? l : r).Key); + RemoveValue(target, max); + } + } + else + { + var dv = displayValues[key]; + dv.floatValue = value; + dv.valueType = DisplayValue.ValueType.Float; + displayValues[key] = dv; + } + } + + /// + /// Use the Monitor.Log static function to attach information to a transform. + /// + /// The log. + /// The name of the information you wish to Log. + /// The array of float you want to display. + /// The type of display. + /// The transform you want to attach the information to. + /// + /// Camera used to calculate GUI position relative to + /// the target. If null, `Camera.main` will be used. + public static void Log( + string key, + float[] value, + Transform target = null, + DisplayType displayType = DisplayType.Independent, + Camera camera = null + ) + { + if (!s_IsInstantiated) + { + InstantiateCanvas(); + s_IsInstantiated = true; + } + + if (target == null) + { + target = s_Canvas.transform; + } + + s_TransformCamera[target] = camera; + + if (!s_DisplayTransformValues.Keys.Contains(target)) + { + s_DisplayTransformValues[target] = new Dictionary(); + } + + var displayValues = s_DisplayTransformValues[target]; + + if (!displayValues.ContainsKey(key)) + { + var dv = new DisplayValue(); + dv.time = Time.timeSinceLevelLoad; + dv.floatArrayValues = value; + if (displayType == DisplayType.Independent) + { + dv.valueType = DisplayValue.ValueType.FloatarrayIndependent; + } + else + { + dv.valueType = DisplayValue.ValueType.FloatarrayProportion; + } + + displayValues[key] = dv; + while (displayValues.Count > 20) + { + var max = ( + displayValues.Aggregate((l, r) => l.Value.time < r.Value.time ? l : r).Key); + RemoveValue(target, max); + } + } + else + { + var dv = displayValues[key]; + dv.floatArrayValues = value; + if (displayType == DisplayType.Independent) + { + dv.valueType = DisplayValue.ValueType.FloatarrayIndependent; + } + else + { + dv.valueType = DisplayValue.ValueType.FloatarrayProportion; + } + + displayValues[key] = dv; + } + } + + /// + /// Remove a value from a monitor. + /// + /// + /// The transform to which the information is attached. + /// + /// The key of the information you want to remove. + public static void RemoveValue(Transform target, string key) + { + if (target == null) + { + target = s_Canvas.transform; + } + + if (s_DisplayTransformValues.Keys.Contains(target)) + { + if (s_DisplayTransformValues[target].ContainsKey(key)) + { + s_DisplayTransformValues[target].Remove(key); + if (s_DisplayTransformValues[target].Keys.Count == 0) + { + s_DisplayTransformValues.Remove(target); + } + } + } + } + + /// + /// Remove all information from a monitor. + /// + /// + /// The transform to which the information is attached. + /// + public static void RemoveAllValues(Transform target) + { + if (target == null) + { + target = s_Canvas.transform; + } + + if (s_DisplayTransformValues.Keys.Contains(target)) + { + s_DisplayTransformValues.Remove(target); + } + } + + /// + /// Use SetActive to enable or disable the Monitor via script + /// + /// Value to set the Monitor's status to. + public static void SetActive(bool active) + { + if (!s_IsInstantiated) + { + InstantiateCanvas(); + s_IsInstantiated = true; + } + + if (s_Canvas != null) + { + s_Canvas.SetActive(active); + } + } + + /// Initializes the canvas. + static void InstantiateCanvas() + { + s_Canvas = GameObject.Find("AgentMonitorCanvas"); + if (s_Canvas == null) + { + s_Canvas = new GameObject(); + s_Canvas.name = "AgentMonitorCanvas"; + s_Canvas.AddComponent(); + } + + s_DisplayTransformValues = new Dictionary>(); + + s_TransformCamera = new Dictionary(); + } + + void OnGUI() + { + if (!s_Initialized) + { + Initialize(); + s_Initialized = true; + } + + var toIterate = s_DisplayTransformValues.Keys.ToList(); + foreach (var target in toIterate) + { + if (target == null) + { + s_DisplayTransformValues.Remove(target); + continue; + } + + // get camera + var cam = s_TransformCamera[target]; + if (cam == null) + { + cam = Camera.main; + } + + var widthScaler = (Screen.width / 1000f); + var keyPixelWidth = 100 * widthScaler; + var keyPixelHeight = 20 * widthScaler; + var paddingWidth = 10 * widthScaler; + + var scale = 1f; + var origin = new Vector3( + Screen.width / 2.0f - keyPixelWidth, Screen.height); + if (!(target == s_Canvas.transform)) + { + var camTransform = cam.transform; + var position = target.position; + var cam2Obj = position - camTransform.position; + scale = Mathf.Min( + 1, + 20f / (Vector3.Dot(cam2Obj, camTransform.forward))); + var worldPosition = cam.WorldToScreenPoint( + position + new Vector3(0, verticalOffset, 0)); + origin = new Vector3( + worldPosition.x - keyPixelWidth * scale, Screen.height - worldPosition.y); + } + + keyPixelWidth *= scale; + keyPixelHeight *= scale; + paddingWidth *= scale; + s_KeyStyle.fontSize = (int)(keyPixelHeight * 0.8f); + if (s_KeyStyle.fontSize < 2) + { + continue; + } + + + var displayValues = s_DisplayTransformValues[target]; + + var index = 0; + var orderedKeys = displayValues.Keys.OrderBy(x => -displayValues[x].time); + foreach (var key in orderedKeys) + { + s_KeyStyle.alignment = TextAnchor.MiddleRight; + GUI.Label( + new Rect( + origin.x, origin.y - (index + 1) * keyPixelHeight, + keyPixelWidth, keyPixelHeight), + key, + s_KeyStyle); + float[] vals; + GUIStyle s; + switch (displayValues[key].valueType) + { + case DisplayValue.ValueType.String: + s_ValueStyle.alignment = TextAnchor.MiddleLeft; + GUI.Label( + new Rect( + origin.x + paddingWidth + keyPixelWidth, + origin.y - (index + 1) * keyPixelHeight, + keyPixelWidth, keyPixelHeight), + displayValues[key].stringValue, + s_ValueStyle); + break; + case DisplayValue.ValueType.Float: + var sliderValue = displayValues[key].floatValue; + sliderValue = Mathf.Min(1f, sliderValue); + s = s_GreenStyle; + if (sliderValue < 0) + { + sliderValue = Mathf.Min(1f, -sliderValue); + s = s_RedStyle; + } + + GUI.Box( + new Rect( + origin.x + paddingWidth + keyPixelWidth, + origin.y - (index + 0.9f) * keyPixelHeight, + keyPixelWidth * sliderValue, keyPixelHeight * 0.8f), + GUIContent.none, + s); + break; + + case DisplayValue.ValueType.FloatarrayIndependent: + const float histWidth = 0.15f; + vals = displayValues[key].floatArrayValues; + for (var i = 0; i < vals.Length; i++) + { + var value = Mathf.Min(vals[i], 1); + s = s_GreenStyle; + if (value < 0) + { + value = Mathf.Min(1f, -value); + s = s_RedStyle; + } + + GUI.Box( + new Rect( + origin.x + paddingWidth + keyPixelWidth + + (keyPixelWidth * histWidth + paddingWidth / 2) * i, + origin.y - (index + 0.1f) * keyPixelHeight, + keyPixelWidth * histWidth, -keyPixelHeight * value), + GUIContent.none, + s); + } + + break; + + case DisplayValue.ValueType.FloatarrayProportion: + var valsSum = 0f; + var valsCum = 0f; + vals = displayValues[key].floatArrayValues; + foreach (var f in vals) + { + valsSum += Mathf.Max(f, 0); + } + + if (valsSum < float.Epsilon) + { + Debug.LogError( + $"The Monitor value for key {key} " + + "must be a list or array of " + + "positive values and cannot " + + "be empty."); + } + else + { + for (var i = 0; i < vals.Length; i++) + { + var value = Mathf.Max(vals[i], 0) / valsSum; + GUI.Box( + new Rect( + origin.x + paddingWidth + + keyPixelWidth + keyPixelWidth * valsCum, + origin.y - (index + 0.9f) * keyPixelHeight, + keyPixelWidth * value, keyPixelHeight * 0.8f), + GUIContent.none, + s_ColorStyle[i % s_ColorStyle.Length]); + valsCum += value; + } + } + + break; + } + + index++; + } + } + } + + /// Helper method used to initialize the GUI. Called once. + void Initialize() + { + s_KeyStyle = GUI.skin.label; + s_ValueStyle = GUI.skin.label; + s_ValueStyle.clipping = TextClipping.Overflow; + s_ValueStyle.wordWrap = false; + s_BarColors = new[] + { + Color.magenta, + Color.blue, + Color.cyan, + Color.green, + Color.yellow, + Color.red + }; + s_ColorStyle = new GUIStyle[s_BarColors.Length]; + for (var i = 0; i < s_BarColors.Length; i++) + { + var texture = new Texture2D(1, 1, TextureFormat.ARGB32, false); + texture.SetPixel(0, 0, s_BarColors[i]); + texture.Apply(); + var staticRectStyle = new GUIStyle(); + staticRectStyle.normal.background = texture; + s_ColorStyle[i] = staticRectStyle; + } + + s_GreenStyle = s_ColorStyle[3]; + s_RedStyle = s_ColorStyle[5]; + } + } +} diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/Monitor.cs.meta b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/Monitor.cs.meta new file mode 100644 index 0000000..e10bd36 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/Monitor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: eca114d0a5b45439384024291ba7d40a +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/OrientationCubeController.cs b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/OrientationCubeController.cs new file mode 100644 index 0000000..b257b30 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/OrientationCubeController.cs @@ -0,0 +1,24 @@ +using UnityEngine; + +namespace Unity.MLAgentsExamples +{ + /// + /// Utility class to allow a stable observation platform. + /// + public class OrientationCubeController : MonoBehaviour + { + //Update position and Rotation + public void UpdateOrientation(Transform rootBP, Transform target) + { + var dirVector = target.position - transform.position; + dirVector.y = 0; //flatten dir on the y. this will only work on level, uneven surfaces + var lookRot = + dirVector == Vector3.zero + ? Quaternion.identity + : Quaternion.LookRotation(dirVector); //get our look rot to the target + + //UPDATE ORIENTATION CUBE POS & ROT + transform.SetPositionAndRotation(rootBP.position, lookRot); + } + } +} diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/OrientationCubeController.cs.meta b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/OrientationCubeController.cs.meta new file mode 100644 index 0000000..9fb2a07 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/OrientationCubeController.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 771e78c5e980e440e8cd19716b55075f +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/ProjectSettingsOverrides.cs b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/ProjectSettingsOverrides.cs new file mode 100644 index 0000000..9b77251 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/ProjectSettingsOverrides.cs @@ -0,0 +1,69 @@ +using UnityEngine; +using Unity.MLAgents; + +namespace Unity.MLAgentsExamples +{ + /// + /// A helper class for the ML-Agents example scenes to override various + /// global settings, and restore them afterwards. + /// This can modify some Physics and time-stepping properties, so you + /// shouldn't copy it into your project unless you know what you're doing. + /// + public class ProjectSettingsOverrides : MonoBehaviour + { + // Original values + Vector3 m_OriginalGravity; + float m_OriginalFixedDeltaTime; + float m_OriginalMaximumDeltaTime; + int m_OriginalSolverIterations; + int m_OriginalSolverVelocityIterations; + bool m_OriginalReuseCollisionCallbacks; + + [Tooltip("Increase or decrease the scene gravity. Use ~3x to make things less floaty")] + public float gravityMultiplier = 1.0f; + + [Header("Advanced physics settings")] + [Tooltip("The interval in seconds at which physics and other fixed frame rate updates (like MonoBehaviour's FixedUpdate) are performed.")] + public float fixedDeltaTime = .02f; + [Tooltip("The maximum time a frame can take. Physics and other fixed frame rate updates (like MonoBehaviour's FixedUpdate) will be performed only for this duration of time per frame.")] + public float maximumDeltaTime = 1.0f / 3.0f; + [Tooltip("Determines how accurately Rigidbody joints and collision contacts are resolved. (default 6). Must be positive.")] + public int solverIterations = 6; + [Tooltip("Affects how accurately the Rigidbody joints and collision contacts are resolved. (default 1). Must be positive.")] + public int solverVelocityIterations = 1; + [Tooltip("Determines whether the garbage collector should reuse only a single instance of a Collision type for all collision callbacks. Reduces Garbage.")] + public bool reuseCollisionCallbacks = true; + + public void Awake() + { + // Save the original values + m_OriginalGravity = Physics.gravity; + m_OriginalFixedDeltaTime = Time.fixedDeltaTime; + m_OriginalMaximumDeltaTime = Time.maximumDeltaTime; + m_OriginalSolverIterations = Physics.defaultSolverIterations; + m_OriginalSolverVelocityIterations = Physics.defaultSolverVelocityIterations; + m_OriginalReuseCollisionCallbacks = Physics.reuseCollisionCallbacks; + + // Override + Physics.gravity *= gravityMultiplier; + Time.fixedDeltaTime = fixedDeltaTime; + Time.maximumDeltaTime = maximumDeltaTime; + Physics.defaultSolverIterations = solverIterations; + Physics.defaultSolverVelocityIterations = solverVelocityIterations; + Physics.reuseCollisionCallbacks = reuseCollisionCallbacks; + + // Make sure the Academy singleton is initialized first, since it will create the SideChannels. + Academy.Instance.EnvironmentParameters.RegisterCallback("gravity", f => { Physics.gravity = new Vector3(0, -f, 0); }); + } + + public void OnDestroy() + { + Physics.gravity = m_OriginalGravity; + Time.fixedDeltaTime = m_OriginalFixedDeltaTime; + Time.maximumDeltaTime = m_OriginalMaximumDeltaTime; + Physics.defaultSolverIterations = m_OriginalSolverIterations; + Physics.defaultSolverVelocityIterations = m_OriginalSolverVelocityIterations; + Physics.reuseCollisionCallbacks = m_OriginalReuseCollisionCallbacks; + } + } +} diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/ProjectSettingsOverrides.cs.meta b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/ProjectSettingsOverrides.cs.meta new file mode 100644 index 0000000..9dbadc5 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/ProjectSettingsOverrides.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: ec51f47c5ed0478080c449c74fd9c154 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 100 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/SensorBase.cs b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/SensorBase.cs new file mode 100644 index 0000000..31bc7c8 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/SensorBase.cs @@ -0,0 +1,59 @@ +using Unity.MLAgents.Sensors; + +namespace Unity.MLAgentsExamples +{ + /// + /// A simple sensor that provides a number default implementations. + /// + public abstract class SensorBase : ISensor + { + /// + /// Write the observations to the output buffer. This size of the buffer will be product + /// of the Shape array values returned by . + /// + /// + public abstract void WriteObservation(float[] output); + + /// + public abstract ObservationSpec GetObservationSpec(); + + /// + public abstract string GetName(); + + /// + /// Default implementation of Write interface. This creates a temporary array, + /// calls WriteObservation, and then writes the results to the ObservationWriter. + /// + /// + /// The number of elements written. + public virtual int Write(ObservationWriter writer) + { + // TODO reuse buffer for similar agents + var numFloats = this.ObservationSize(); + float[] buffer = new float[numFloats]; + WriteObservation(buffer); + + writer.AddList(buffer); + + return numFloats; + } + + /// + public void Update() { } + + /// + public void Reset() { } + + /// + public virtual byte[] GetCompressedObservation() + { + return null; + } + + /// + public virtual CompressionSpec GetCompressionSpec() + { + return CompressionSpec.Default(); + } + } +} diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/SensorBase.cs.meta b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/SensorBase.cs.meta new file mode 100644 index 0000000..af6783d --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/SensorBase.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: cf19888920fa24df7ad75a52ede51cf3 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/TargetContact.cs b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/TargetContact.cs new file mode 100644 index 0000000..fa4580f --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/TargetContact.cs @@ -0,0 +1,38 @@ +using UnityEngine; + +namespace Unity.MLAgentsExamples +{ + /// + /// This class contains logic for locomotion agents with joints which might make contact with a target. + /// By attaching this as a component to those joints, their contact with the ground can be used as + /// an observation for that agent. + /// + [DisallowMultipleComponent] + public class TargetContact : MonoBehaviour + { + [Header("Detect Targets")] public bool touchingTarget; + const string k_Target = "target"; // Tag on target object. + + /// + /// Check for collision with a target. + /// + void OnCollisionEnter(Collision col) + { + if (col.transform.CompareTag(k_Target)) + { + touchingTarget = true; + } + } + + /// + /// Check for end of ground collision and reset flag appropriately. + /// + void OnCollisionExit(Collision other) + { + if (other.transform.CompareTag(k_Target)) + { + touchingTarget = false; + } + } + } +} diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/TargetContact.cs.meta b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/TargetContact.cs.meta new file mode 100644 index 0000000..02b1fe7 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/TargetContact.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 5086c435d3e8b44ffa8262a5c124661f +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/TrainingAreaReplicator.cs b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/TrainingAreaReplicator.cs new file mode 100644 index 0000000..40b3d29 --- /dev/null +++ b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/TrainingAreaReplicator.cs @@ -0,0 +1,105 @@ +using System; +using Unity.Mathematics; +using UnityEngine; + +namespace Unity.MLAgents.Areas +{ + /// + /// The Training Ares Replicator allows for a training area object group to be replicated dynamically during runtime. + /// + [DefaultExecutionOrder(-5)] + public class TrainingAreaReplicator : MonoBehaviour + { + /// + /// The base training area to be replicated. + /// + public GameObject baseArea; + + /// + /// The number of training areas to replicate. + /// + public int numAreas = 1; + + /// + /// The separation between each training area. + /// + public float separation = 10f; + + int3 m_GridSize = new int3(1, 1, 1); + int m_areaCount = 0; + string m_TrainingAreaName; + + /// + /// The size of the computed grid to pack the training areas into. + /// + public int3 GridSize => m_GridSize; + + /// + /// The name of the training area. + /// + public string TrainingAreaName => m_TrainingAreaName; + + /// + /// Called before the simulation begins to computed the grid size for distributing + /// the replicated training areas and set the area name. + /// + public void Awake() + { + // Computes the Grid Size on Awake + ComputeGridSize(); + // Sets the TrainingArea name to the name of the base area. + m_TrainingAreaName = baseArea.name; + } + + /// + /// Called after Awake and before the simulation begins and adds the training areas before + /// the Academy begins. + /// + public void OnEnable() + { + // Adds the training are replicas during OnEnable to ensure they are added before the Academy begins its work. + AddEnvironments(); + } + + /// + /// Computes the Grid Size for replicating the training area. + /// + void ComputeGridSize() + { + var rootNumAreas = Mathf.Pow(numAreas, 1.0f / 2.0f); + m_GridSize.x = Mathf.CeilToInt(rootNumAreas); + var zSize = Mathf.CeilToInt((float)numAreas / (m_GridSize.x * m_GridSize.y)); + m_GridSize.z = zSize == 0 ? 1 : zSize; + } + + /// + /// Adds replicas of the training area to the scene. + /// + /// + void AddEnvironments() + { + if (numAreas > m_GridSize.x * m_GridSize.y * m_GridSize.z) + { + throw new UnityAgentsException("The number of training areas that you have specified exceeds the size of the grid."); + } + + for (int z = 0; z < m_GridSize.z; z++) + { + for (int x = 0; x < m_GridSize.x; x++) + { + if (m_areaCount == 0) + { + // Skip this first area since it already exists. + m_areaCount = 1; + } + else if (m_areaCount < numAreas) + { + m_areaCount++; + var area = Instantiate(baseArea, new Vector3(x * separation, 0, z * separation), 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&7642060734654139733 MonoBehaviour: m_ObjectHideFlags: 3 @@ -2483,7 +2618,7 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: b51a78e223a2e504bb88a059b55229ea, type: 3} m_Name: WhiteBalance m_EditorClassIdentifier: - active: 0 + active: 1 temperature: m_OverrideState: 1 m_Value: 0 @@ -2502,7 +2637,7 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 2f1984a7ac01bf84b86559f7595cdc68, type: 3} m_Name: LightCluster m_EditorClassIdentifier: - active: 0 + active: 1 cameraClusterRange: m_OverrideState: 1 m_Value: 10 diff --git a/Packages/manifest.json b/Packages/manifest.json index 3c7a444..607d720 100644 --- a/Packages/manifest.json +++ b/Packages/manifest.json @@ -2,6 +2,7 @@ "dependencies": { "com.unity.collab-proxy": "2.2.0", "com.unity.feature.development": "1.0.2", + "com.unity.ml-agents": "2.3.0-exp.3", "com.unity.recorder": "5.0.0", "com.unity.render-pipelines.high-definition": "16.0.5", "com.unity.rendering.denoising": "1.0.3", diff --git a/Packages/packages-lock.json b/Packages/packages-lock.json index 2ff8f53..eea5745 100644 --- a/Packages/packages-lock.json +++ b/Packages/packages-lock.json @@ -1,5 +1,16 @@ { "dependencies": { + "com.unity.barracuda": { + "version": "3.0.0", + "depth": 1, + "source": "registry", + "dependencies": { + "com.unity.burst": "1.6.0", + "com.unity.modules.jsonserialize": "1.0.0", + "com.unity.modules.imageconversion": "1.0.0" + }, + "url": "https://packages.unity.com" + }, "com.unity.burst": { "version": "1.8.12", "depth": 1, @@ -80,6 +91,17 @@ "dependencies": {}, "url": "https://packages.unity.com" }, + "com.unity.ml-agents": { + "version": "2.3.0-exp.3", + "depth": 0, + "source": "registry", + "dependencies": { + "com.unity.barracuda": "3.0.0", + "com.unity.modules.imageconversion": "1.0.0", + "com.unity.modules.jsonserialize": "1.0.0" + }, + "url": "https://packages.unity.com" + }, "com.unity.nuget.mono-cecil": { "version": "1.11.4", "depth": 2, diff --git a/ProjectSettings/DynamicsManager.asset b/ProjectSettings/DynamicsManager.asset index 1596c42..47b16a7 100644 --- a/ProjectSettings/DynamicsManager.asset +++ b/ProjectSettings/DynamicsManager.asset @@ -3,34 +3,33 @@ --- !u!55 &1 PhysicsManager: m_ObjectHideFlags: 0 - serializedVersion: 13 + serializedVersion: 16 m_Gravity: {x: 0, y: -9.81, z: 0} m_DefaultMaterial: {fileID: 0} m_BounceThreshold: 2 + m_DefaultMaxDepenetrationVelocity: 10 m_SleepThreshold: 0.005 m_DefaultContactOffset: 0.01 - m_DefaultSolverIterations: 6 - m_DefaultSolverVelocityIterations: 1 + m_DefaultSolverIterations: 12 + m_DefaultSolverVelocityIterations: 12 m_QueriesHitBackfaces: 0 m_QueriesHitTriggers: 1 m_EnableAdaptiveForce: 0 m_ClothInterCollisionDistance: 0.1 m_ClothInterCollisionStiffness: 0.2 - m_ContactsGeneration: 1 m_LayerCollisionMatrix: ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff - m_AutoSimulation: 1 - m_AutoSyncTransforms: 0 - m_ReuseCollisionCallbacks: 0 + m_SimulationMode: 0 + m_AutoSyncTransforms: 1 + m_ReuseCollisionCallbacks: 1 + m_InvokeCollisionCallbacks: 1 m_ClothInterCollisionSettingsToggle: 0 m_ClothGravity: {x: 0, y: -9.81, z: 0} m_ContactPairsMode: 0 m_BroadphaseType: 0 - m_WorldBounds: - m_Center: {x: 0, y: 0, z: 0} - m_Extent: {x: 250, y: 250, z: 250} - m_WorldSubdivisions: 8 m_FrictionType: 0 - m_EnableEnhancedDeterminism: 0 + m_EnableEnhancedDeterminism: 1 m_EnableUnifiedHeightmaps: 1 + m_ImprovedPatchFriction: 0 m_SolverType: 0 - m_DefaultMaxAngularSpeed: 50 + m_DefaultMaxAngularSpeed: 7 + m_ScratchBufferChunkCount: 4 diff --git a/ProjectSettings/EditorSettings.asset b/ProjectSettings/EditorSettings.asset index 39a108d..56f7be5 100644 --- a/ProjectSettings/EditorSettings.asset +++ b/ProjectSettings/EditorSettings.asset @@ -3,14 +3,16 @@ --- !u!159 &1 EditorSettings: m_ObjectHideFlags: 0 - serializedVersion: 11 + serializedVersion: 12 m_SerializationMode: 2 m_LineEndingsForNewScripts: 2 m_DefaultBehaviorMode: 0 m_PrefabRegularEnvironment: {fileID: 0} m_PrefabUIEnvironment: {fileID: 0} m_SpritePackerMode: 0 + m_SpritePackerCacheSize: 10 m_SpritePackerPaddingPower: 1 + m_Bc7TextureCompressor: 0 m_EtcTextureCompressorBehavior: 1 m_EtcTextureFastCompressor: 1 m_EtcTextureNormalCompressor: 2 @@ -19,18 +21,20 @@ EditorSettings: m_ProjectGenerationRootNamespace: m_EnableTextureStreamingInEditMode: 1 m_EnableTextureStreamingInPlayMode: 1 + m_EnableEditorAsyncCPUTextureLoading: 0 m_AsyncShaderCompilation: 1 - m_CachingShaderPreprocessor: 1 m_PrefabModeAllowAutoSave: 1 m_EnterPlayModeOptionsEnabled: 0 m_EnterPlayModeOptions: 3 m_GameObjectNamingDigits: 1 m_GameObjectNamingScheme: 0 m_AssetNamingUsesSpace: 1 + m_InspectorUseIMGUIDefaultInspector: 0 m_UseLegacyProbeSampleCount: 0 m_SerializeInlineMappingsOnOneLine: 0 m_DisableCookiesInLightmapper: 0 m_AssetPipelineMode: 1 + m_RefreshImportMode: 0 m_CacheServerMode: 0 m_CacheServerEndpoint: m_CacheServerNamespacePrefix: default @@ -38,3 +42,6 @@ EditorSettings: m_CacheServerEnableUpload: 1 m_CacheServerEnableAuth: 0 m_CacheServerEnableTls: 0 + m_CacheServerValidationMode: 2 + m_CacheServerDownloadBatchSize: 128 + m_EnableEnlightenBakedGI: 0 diff --git a/ProjectSettings/PackageManagerSettings.asset b/ProjectSettings/PackageManagerSettings.asset index d6b6d80..4f49fe3 100644 --- a/ProjectSettings/PackageManagerSettings.asset +++ b/ProjectSettings/PackageManagerSettings.asset @@ -13,11 +13,12 @@ MonoBehaviour: m_Name: m_EditorClassIdentifier: m_EnablePreReleasePackages: 0 - m_EnablePackageDependencies: 0 m_AdvancedSettingsExpanded: 1 m_ScopedRegistriesSettingsExpanded: 1 m_SeeAllPackageVersions: 0 + m_DismissPreviewPackagesInUse: 1 oneTimeWarningShown: 0 + oneTimeDeprecatedPopUpShown: 0 m_Registries: - m_Id: main m_Name: @@ -25,11 +26,12 @@ MonoBehaviour: m_Scopes: [] m_IsDefault: 1 m_Capabilities: 0 + m_ConfigSource: 0 m_UserSelectedRegistryName: m_UserAddingNewScopedRegistry: 0 m_RegistryInfoDraft: m_Modified: 0 m_ErrorMessage: - m_UserModificationsInstanceId: -822 - m_OriginalInstanceId: -824 + m_UserModificationsInstanceId: -850 + m_OriginalInstanceId: -852 m_LoadAssets: 0 diff --git a/ProjectSettings/TagManager.asset b/ProjectSettings/TagManager.asset index 1c92a78..227288a 100644 --- a/ProjectSettings/TagManager.asset +++ b/ProjectSettings/TagManager.asset @@ -3,12 +3,24 @@ --- !u!78 &1 TagManager: serializedVersion: 2 - tags: [] + tags: + - ground + - target + - wall + - stairs + - agent + - sit + - agent_seat + - object + - swap_Balance + - swap_Walker + - swap_Getup + - swap_Sloper layers: - Default - TransparentFX - Ignore Raycast - - + - 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