edit: 1.10 task3 test1

colourfulspring · Jan 17, 2024 · 8a2fcc2 · 8a2fcc2
1 parent 5cd42cd
commit 8a2fcc2
Show file tree

Hide file tree

Showing 4 changed files with 37 additions and 20 deletions.
diff --git a/Project/Assets/ML-Agents/Examples/CarCatching/Prefabs/CarAgentGridCollab.prefab b/Project/Assets/ML-Agents/Examples/CarCatching/Prefabs/CarAgentGridCollab.prefab
@@ -427,8 +427,8 @@ NavMeshAgent:
   m_Enabled: 1
   m_AgentTypeID: -1372625422
   m_Radius: 37.5
-  m_Speed: 100
-  m_Acceleration: 500
+  m_Speed: 200
+  m_Acceleration: 1000
   avoidancePriority: 50
   m_AngularSpeed: 120
   m_StoppingDistance: 0

diff --git a/Project/Assets/ML-Agents/Examples/CarCatching/Prefabs/CarCatchingArea.prefab b/Project/Assets/ML-Agents/Examples/CarCatching/Prefabs/CarCatchingArea.prefab
@@ -238,7 +238,7 @@ PrefabInstance:
     - target: {fileID: 8880364502379087430, guid: a431228058383324287911e110279f5a,
         type: 3}
       propertyPath: customNavigationGoal.x
-      value: -212
+      value: 281
       objectReference: {fileID: 0}
     - target: {fileID: 8880364502379087430, guid: a431228058383324287911e110279f5a,
         type: 3}
@@ -248,7 +248,7 @@ PrefabInstance:
     - target: {fileID: 8880364502379087430, guid: a431228058383324287911e110279f5a,
         type: 3}
       propertyPath: customNavigationGoal.z
-      value: -231
+      value: -152
       objectReference: {fileID: 0}
     - target: {fileID: 8880364502379087430, guid: a431228058383324287911e110279f5a,
         type: 3}

diff --git a/Project/Assets/ML-Agents/Examples/CarCatching/Scripts/CarAgent.cs b/Project/Assets/ML-Agents/Examples/CarCatching/Scripts/CarAgent.cs
@@ -1,5 +1,4 @@
-using System;
-using UnityEngine;
+using UnityEngine;
 using Unity.MLAgents;
 using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Sensors;
@@ -23,8 +22,12 @@ protected override void Awake()
 
     void Start()
     {
-        var goal = useRandomNavigationGoal ? customNavigationGoal : customNavigationGoal;
-        GetComponent<NavMeshAgent>().SetDestination(customNavigationGoal);
+        var localY = transform.localPosition.y; // Attention: local Y
+
+        var navigationGoal = useRandomNavigationGoal
+            ? carCatchingEnvController.GetRandomPos() + new Vector3(0f, localY, 0f)
+            : customNavigationGoal;
+        GetComponent<NavMeshAgent>().SetDestination(navigationGoal);
     }
 
     /// <summary>

diff --git a/Project/Assets/ML-Agents/Examples/CarCatching/Scripts/CarCatchingEnvController.cs b/Project/Assets/ML-Agents/Examples/CarCatching/Scripts/CarCatchingEnvController.cs
@@ -48,22 +48,41 @@ public class CarInfo
 
     // private int m_ResetTimer;
 
-    void Start()
+    protected void Awake()
     {
         // Get the ground's bounds
         areaBounds = ground.GetComponent<Collider>().bounds;
         m_CarCatchingSettings = FindObjectOfType<CarCatchingSettings>();
+    }
+
+    void Start()
+    {
         foreach (var item in AgentsList)
         {
-            item.StartingPos = item.Agent.transform.position;
-            item.StartingRot = item.Agent.transform.rotation;
-            item.StartingScale = item.Agent.transform.localScale;
-            item.GoalPosition = item.Agent.transform.position;
+            var itemTrans = item.Agent.transform;
+            item.StartingPos = itemTrans.position;
+            item.StartingRot = itemTrans.rotation;
+            item.StartingScale = itemTrans.localScale;
+            item.GoalPosition = itemTrans.position;
         }
 
         ResetScene();
     }
 
+    /// <summary>
+    /// Use the ground's bounds to pick a random local position in the area bounds. Make sure the Y value
+    /// is 0, X and Z value lies in [-areaBounds.extents.x(z), areaBounds.extents.x(z)], respectively.
+    /// </summary>
+    public Vector3 GetRandomPos()
+    {
+        var randomPosX = Random.Range(-areaBounds.extents.x * m_CarCatchingSettings.spawnAreaMarginMultiplier,
+            areaBounds.extents.x * m_CarCatchingSettings.spawnAreaMarginMultiplier);
+
+        var randomPosZ = Random.Range(-areaBounds.extents.z * m_CarCatchingSettings.spawnAreaMarginMultiplier,
+            areaBounds.extents.z * m_CarCatchingSettings.spawnAreaMarginMultiplier);
+        return new Vector3(randomPosX, 0f, randomPosZ);
+    }
+
     /// <summary>
     /// Use the ground's bounds to pick a random spawn position. The requirements is that the car's collider
     /// doesn't collide with any wall's collider
@@ -76,13 +95,8 @@ public Vector3 GetRandomSpawnPos(Quaternion rot)
         var agentHalfExtents = AgentsList[0].StartingScale * 0.5f;
         while (foundNewSpawnLocation == false)
         {
-            var randomPosX = Random.Range(-areaBounds.extents.x * m_CarCatchingSettings.spawnAreaMarginMultiplier,
-                areaBounds.extents.x * m_CarCatchingSettings.spawnAreaMarginMultiplier);
-
-            var randomPosZ = Random.Range(-areaBounds.extents.z * m_CarCatchingSettings.spawnAreaMarginMultiplier,
-                areaBounds.extents.z * m_CarCatchingSettings.spawnAreaMarginMultiplier);
-            //Global Position
-            randomSpawnPos = ground.transform.position + new Vector3(randomPosX, localY, randomPosZ);
+            //Global Position = ground position + x,z local position + y
+            randomSpawnPos = ground.transform.position + GetRandomPos() + new Vector3(0f, localY, 0f);
             if (Physics.CheckBox(randomSpawnPos, agentHalfExtents, rot) == false)
             {
                 foundNewSpawnLocation = true;