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 a/Assets/URPEquirectangularCamera/CubemapToEquirectangular.shader b/Assets/10_URPEquirectangularCamera/Shaders/CubemapToEquirectangular.shader
similarity index 100%
rename from Assets/URPEquirectangularCamera/CubemapToEquirectangular.shader
rename to Assets/10_URPEquirectangularCamera/Shaders/CubemapToEquirectangular.shader
diff --git a/Assets/URPEquirectangularCamera/CubemapToEquirectangular.shader.meta b/Assets/10_URPEquirectangularCamera/Shaders/CubemapToEquirectangular.shader.meta
similarity index 100%
rename from Assets/URPEquirectangularCamera/CubemapToEquirectangular.shader.meta
rename to Assets/10_URPEquirectangularCamera/Shaders/CubemapToEquirectangular.shader.meta
diff --git a/Assets/URPEquirectangularCamera/CubemapToEquirectangularCropped.shader b/Assets/10_URPEquirectangularCamera/Shaders/CubemapToEquirectangularCropped.shader
similarity index 100%
rename from Assets/URPEquirectangularCamera/CubemapToEquirectangularCropped.shader
rename to Assets/10_URPEquirectangularCamera/Shaders/CubemapToEquirectangularCropped.shader
diff --git a/Assets/URPEquirectangularCamera/CubemapToEquirectangularCropped.shader.meta b/Assets/10_URPEquirectangularCamera/Shaders/CubemapToEquirectangularCropped.shader.meta
similarity index 100%
rename from Assets/URPEquirectangularCamera/CubemapToEquirectangularCropped.shader.meta
rename to Assets/10_URPEquirectangularCamera/Shaders/CubemapToEquirectangularCropped.shader.meta
diff --git a/Assets/Shaders/CubemapToEquirectangularGnomic.shader b/Assets/10_URPEquirectangularCamera/Shaders/CubemapToEquirectangularGnomic.shader
similarity index 100%
rename from Assets/Shaders/CubemapToEquirectangularGnomic.shader
rename to Assets/10_URPEquirectangularCamera/Shaders/CubemapToEquirectangularGnomic.shader
diff --git a/Assets/Shaders/CubemapToEquirectangularGnomic.shader.meta b/Assets/10_URPEquirectangularCamera/Shaders/CubemapToEquirectangularGnomic.shader.meta
similarity index 100%
rename from Assets/Shaders/CubemapToEquirectangularGnomic.shader.meta
rename to Assets/10_URPEquirectangularCamera/Shaders/CubemapToEquirectangularGnomic.shader.meta
diff --git a/Assets/URPEquirectangularCamera/CubemapToEquirectangularSqueeze.shader b/Assets/10_URPEquirectangularCamera/Shaders/CubemapToEquirectangularSqueeze.shader
similarity index 100%
rename from Assets/URPEquirectangularCamera/CubemapToEquirectangularSqueeze.shader
rename to Assets/10_URPEquirectangularCamera/Shaders/CubemapToEquirectangularSqueeze.shader
diff --git a/Assets/URPEquirectangularCamera/CubemapToEquirectangularSqueeze.shader.meta b/Assets/10_URPEquirectangularCamera/Shaders/CubemapToEquirectangularSqueeze.shader.meta
similarity index 100%
rename from Assets/URPEquirectangularCamera/CubemapToEquirectangularSqueeze.shader.meta
rename to Assets/10_URPEquirectangularCamera/Shaders/CubemapToEquirectangularSqueeze.shader.meta
diff --git a/Assets/Models/1_House.meta b/Assets/1_House.meta
similarity index 77%
rename from Assets/Models/1_House.meta
rename to Assets/1_House.meta
index e16bf1c..00c3ef6 100644
--- a/Assets/Models/1_House.meta
+++ b/Assets/1_House.meta
@@ -1,5 +1,5 @@
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diff --git a/Assets/1_House/BB_Suburbia-V2.fbx b/Assets/1_House/BB_Suburbia-V2.fbx
new file mode 100644
index 0000000..b0eff2d
Binary files /dev/null and b/Assets/1_House/BB_Suburbia-V2.fbx differ
diff --git a/Assets/1_House/BB_Suburbia-V2.fbx.meta b/Assets/1_House/BB_Suburbia-V2.fbx.meta
new file mode 100644
index 0000000..941f849
--- /dev/null
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@@ -0,0 +1,1072 @@
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diff --git a/Assets/Scenes/WalkingChairDemo.unity.meta b/Assets/6_Scenes/Beep.unity.meta
similarity index 100%
rename from Assets/Scenes/WalkingChairDemo.unity.meta
rename to Assets/6_Scenes/Beep.unity.meta
diff --git a/Assets/Scripts.meta b/Assets/7_Scripts.meta
similarity index 100%
rename from Assets/Scripts.meta
rename to Assets/7_Scripts.meta
diff --git a/Assets/7_Scripts/Agent.meta b/Assets/7_Scripts/Agent.meta
new file mode 100644
index 0000000..64de67e
--- /dev/null
+++ b/Assets/7_Scripts/Agent.meta
@@ -0,0 +1,8 @@
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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 @@
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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 @@
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+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
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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 @@
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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
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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 @@
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+ userData:
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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 @@
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+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
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+++ b/Assets/7_Scripts/Model Swapping/SwapModelOnContact.cs.meta
@@ -0,0 +1,11 @@
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+guid: 5c07b818612782c47bc265efc0b072dd
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+ serializedVersion: 2
+ defaultReferences: []
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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:
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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 @@
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+folderAsset: yes
+DefaultImporter:
+ externalObjects: {}
+ userData:
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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 @@
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+folderAsset: yes
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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 @@
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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
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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:
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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}
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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 @@
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+guid: df05ec10e50114a9d92106879d04d89d
+MonoImporter:
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+ icon: {instanceID: 0}
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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
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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 @@
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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
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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), Quaternion.identity);
+ area.name = m_TrainingAreaName;
+ }
+ }
+ }
+ }
+ }
+}
diff --git a/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/TrainingAreaReplicator.cs.meta b/Assets/9_ML-Agents/Shared Assets MLA/SharedAssets/Scripts/TrainingAreaReplicator.cs.meta
new file mode 100644
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diff --git a/Assets/9_ML-Agents/Timers/Beep_timers.json b/Assets/9_ML-Agents/Timers/Beep_timers.json
new file mode 100644
index 0000000..ac9b56d
--- /dev/null
+++ b/Assets/9_ML-Agents/Timers/Beep_timers.json
@@ -0,0 +1 @@
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new file mode 100644
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index 09c1258..dcee066 100644
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index e7dc139..b6e29c5 100644
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m_Script: {fileID: 11500000, guid: 59b6606ef2548734bb6d11b9d160bc7e, type: 3}
m_Name: HDRISky
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m_Script: {fileID: 11500000, guid: 24f077503be6ae942a1e1245dbd53ea9, type: 3}
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skyType:
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diff --git a/Assets/Settings/SkyandFogSettingsProfile.asset b/Assets/Settings/SkyandFogSettingsProfile.asset
index 1d0b3fd..54bc9df 100644
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m_OverrideState: 1
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m_Script: {fileID: 11500000, guid: d877a03bef431a847adca8ab343db3e1, type: 3}
m_Name: RayTracingSettings
m_EditorClassIdentifier:
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distantRayBias:
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m_Name: WaterRendering
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m_Script: {fileID: 11500000, guid: 24f077503be6ae942a1e1245dbd53ea9, type: 3}
m_Name: Bloom
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m_Name: ScreenSpaceLensFlare
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chromaticAbberationSampleCount:
m_OverrideState: 1
m_Value: 3
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m_Name: ScreenSpaceReflection
m_EditorClassIdentifier:
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m_Script: {fileID: 11500000, guid: 59b6606ef2548734bb6d11b9d160bc7e, type: 3}
m_Name: HDRISky
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m_Script: {fileID: 11500000, guid: aaa3b8214f75b354e9ba2caadd022259, type: 3}
m_Name: DepthOfField
m_EditorClassIdentifier:
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focusMode:
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m_OverrideState: 1
m_Value: 20
@@ -1259,6 +1360,34 @@ MonoBehaviour:
m_LimitManualRangeNearBlur:
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+ m_Script: {fileID: 11500000, guid: 8c604242b4dd4c8caa4d1944b94189e0, type: 3}
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m_EditorClassIdentifier:
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m_Name: Vignette
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m_Name: ProbeVolumesOptions
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m_Name: RecursiveRendering
m_EditorClassIdentifier:
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m_Script: {fileID: 11500000, guid: 5a6b00fcf518bb94a90b408492e07b44, type: 3}
m_Name: FilmGrain
m_EditorClassIdentifier:
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m_Name: VolumetricClouds
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m_EditorClassIdentifier:
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shadows:
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m_Name: ColorCurves
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m_Value:
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diffusionProfiles:
m_OverrideState: 1
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cameraClusterRange:
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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
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- 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
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- 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:
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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
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- m_EnablePackageDependencies: 0
m_AdvancedSettingsExpanded: 1
m_ScopedRegistriesSettingsExpanded: 1
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+ 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
- -
+ - Door
- Water
- UI
-
diff --git a/ProjectSettings/TimelineSettings.asset b/ProjectSettings/TimelineSettings.asset
new file mode 100644
index 0000000..b21943a
--- /dev/null
+++ b/ProjectSettings/TimelineSettings.asset
@@ -0,0 +1,16 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!114 &1
+MonoBehaviour:
+ m_ObjectHideFlags: 53
+ m_CorrespondingSourceObject: {fileID: 0}
+ m_PrefabInstance: {fileID: 0}
+ m_PrefabAsset: {fileID: 0}
+ m_GameObject: {fileID: 0}
+ m_Enabled: 1
+ m_EditorHideFlags: 0
+ m_Script: {fileID: 11500000, guid: a287be6c49135cd4f9b2b8666c39d999, type: 3}
+ m_Name:
+ m_EditorClassIdentifier:
+ assetDefaultFramerate: 60
+ m_DefaultFrameRate: 60