CarCatching Environment LineRenderer

colourfulspring · Feb 23, 2024 · c01b72a · c01b72a
1 parent 3ec505b
commit c01b72a
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Showing 9 changed files with 252 additions and 23 deletions.
diff --git a/Project/Assets/ML-Agents/Examples/CarCatching/Prefabs/CarAgentGridCollab.prefab b/Project/Assets/ML-Agents/Examples/CarCatching/Prefabs/CarAgentGridCollab.prefab
@@ -329,6 +329,8 @@ GameObject:
   - component: {fileID: 5601152702967375707}
   - component: {fileID: 3822330893343168228}
   - component: {fileID: 5628194071647130095}
+  - component: {fileID: 6387908156284689739}
+  - component: {fileID: 2645550221542489290}
   m_Layer: 2
   m_Name: CarAgentGridCollab
   m_TagString: blueAgent
@@ -351,7 +353,7 @@ Transform:
   - {fileID: 2704888262008647423}
   - {fileID: 2709359580712052713}
   m_Father: {fileID: 0}
-  m_RootOrder: 0
+  m_RootOrder: -1
   m_LocalEulerAnglesHint: {x: 0, y: 180, z: 0}
 --- !u!114 &8110157416270102484
 MonoBehaviour:
@@ -366,7 +368,7 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   m_BrainParameters:
-    VectorObservationSize: 0
+    VectorObservationSize: 8
     NumStackedVectorObservations: 1
     m_ActionSpec:
       m_NumContinuousActions: 2
@@ -375,7 +377,7 @@ MonoBehaviour:
     VectorActionDescriptions: []
     VectorActionSpaceType: 1
     hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 0}
+  m_Model: {fileID: 5022602860645237092, guid: 3c50cb9026aba7e34955f04c12fa789a, type: 3}
   m_InferenceDevice: 0
   m_BehaviorType: 0
   m_BehaviorName: Catching
@@ -463,6 +465,124 @@ BoxCollider:
   serializedVersion: 3
   m_Size: {x: 45, y: 44, z: 60}
   m_Center: {x: 0, y: 0, z: 0}
+--- !u!120 &6387908156284689739
+LineRenderer:
+  serializedVersion: 2
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2710286047221272849}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_StaticShadowCaster: 0
+  m_MotionVectors: 0
+  m_LightProbeUsage: 0
+  m_ReflectionProbeUsage: 0
+  m_RayTracingMode: 0
+  m_RayTraceProcedural: 0
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: af274938e390bf241a2ec6dff21f7b4a, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
+  m_PreserveUVs: 0
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 1
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+  m_Positions:
+  - {x: 0, y: 0, z: 0}
+  - {x: 0, y: 0, z: 1}
+  m_Parameters:
+    serializedVersion: 3
+    widthMultiplier: 1
+    widthCurve:
+      serializedVersion: 2
+      m_Curve:
+      - serializedVersion: 3
+        time: 0
+        value: 1
+        inSlope: 0
+        outSlope: 0
+        tangentMode: 0
+        weightedMode: 0
+        inWeight: 0.33333334
+        outWeight: 0.33333334
+      m_PreInfinity: 2
+      m_PostInfinity: 2
+      m_RotationOrder: 4
+    colorGradient:
+      serializedVersion: 2
+      key0: {r: 1, g: 1, b: 1, a: 1}
+      key1: {r: 1, g: 1, b: 1, a: 1}
+      key2: {r: 0, g: 0, b: 0, a: 0}
+      key3: {r: 0, g: 0, b: 0, a: 0}
+      key4: {r: 0, g: 0, b: 0, a: 0}
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+      key6: {r: 0, g: 0, b: 0, a: 0}
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+      ctime0: 0
+      ctime1: 65535
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+      ctime3: 0
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+      atime1: 65535
+      atime2: 0
+      atime3: 0
+      atime4: 0
+      atime5: 0
+      atime6: 0
+      atime7: 0
+      m_Mode: 0
+      m_ColorSpace: -1
+      m_NumColorKeys: 2
+      m_NumAlphaKeys: 2
+    numCornerVertices: 0
+    numCapVertices: 0
+    alignment: 0
+    textureMode: 0
+    textureScale: {x: 1, y: 1}
+    shadowBias: 0.5
+    generateLightingData: 0
+  m_MaskInteraction: 0
+  m_UseWorldSpace: 1
+  m_Loop: 0
+  m_ApplyActiveColorSpace: 1
+--- !u!114 &2645550221542489290
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2710286047221272849}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: de79dcaa17358444fa44202c1787e270, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  minDistance: 0.1
+  width: 5
 --- !u!1 &2710572731397926669
 GameObject:
   m_ObjectHideFlags: 0

diff --git a/Project/Assets/ML-Agents/Examples/CarCatching/Prefabs/CarCatchingArea.prefab b/Project/Assets/ML-Agents/Examples/CarCatching/Prefabs/CarCatchingArea.prefab
@@ -61,24 +61,28 @@ MonoBehaviour:
     StartingScale: {x: 0, y: 0, z: 0}
     DecisionRequester: {fileID: 0}
     NavMeshAgent: {fileID: 0}
+    LineRenderer: {fileID: 0}
   - Agent: {fileID: 7246486209573452180}
     StartingPos: {x: 0, y: 0, z: 0}
     StartingRot: {x: 0, y: 0, z: 0, w: 0}
     StartingScale: {x: 0, y: 0, z: 0}
     DecisionRequester: {fileID: 0}
     NavMeshAgent: {fileID: 0}
+    LineRenderer: {fileID: 0}
   - Agent: {fileID: 3964309580746521657}
     StartingPos: {x: 0, y: 0, z: 0}
     StartingRot: {x: 0, y: 0, z: 0, w: 0}
     StartingScale: {x: 0, y: 0, z: 0}
     DecisionRequester: {fileID: 0}
     NavMeshAgent: {fileID: 0}
+    LineRenderer: {fileID: 0}
   - Agent: {fileID: 4005891969102443327}
     StartingPos: {x: 0, y: 0, z: 0}
     StartingRot: {x: 0, y: 0, z: 0, w: 0}
     StartingScale: {x: 0, y: 0, z: 0}
     DecisionRequester: {fileID: 0}
     NavMeshAgent: {fileID: 0}
+    LineRenderer: {fileID: 0}
   UseRandomAgentRotation: 1
   UseRandomAgentPosition: 1
   ResetTimer: 0
@@ -406,11 +410,6 @@ PrefabInstance:
     serializedVersion: 3
     m_TransformParent: {fileID: 1581870063183487095}
     m_Modifications:
-    - target: {fileID: 1548337883655231979, guid: a431228058383324287911e110279f5a,
-        type: 3}
-      propertyPath: m_ShowGizmos
-      value: 1
-      objectReference: {fileID: 0}
     - target: {fileID: 2708762399863795223, guid: a431228058383324287911e110279f5a,
         type: 3}
       propertyPath: m_RootOrder
@@ -602,6 +601,11 @@ PrefabInstance:
       propertyPath: m_Enabled
       value: 1
       objectReference: {fileID: 0}
+    - target: {fileID: 6387908156284689739, guid: a431228058383324287911e110279f5a,
+        type: 3}
+      propertyPath: m_Materials.Array.data[0]
+      value: 
+      objectReference: {fileID: 2100000, guid: 524edbe6e93be4be3bcce154cad79235, type: 2}
     - target: {fileID: 8110157416270102484, guid: a431228058383324287911e110279f5a,
         type: 3}
       propertyPath: m_Model

diff --git a/Project/Assets/ML-Agents/Examples/CarCatching/Scripts/CarAgent.cs b/Project/Assets/ML-Agents/Examples/CarCatching/Scripts/CarAgent.cs
@@ -4,6 +4,7 @@
 using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Sensors;
 using UnityEngine.AI;
+using Random = UnityEngine.Random;
 
 public class CarAgent : Agent
 {
@@ -58,12 +59,12 @@ public override void CollectObservations(VectorSensor sensor)
         Debug.Log(this.transform.parent.gameObject.name +
                   ", " + this.name + "  CollectObservations: " + carCatchingEnvController.ResetTimer);
         Vector2[] obs = carCatchingEnvController.GetAgentPosObs(this);
-        // foreach (var myobs in obs)
-        // {
-        //     Debug.Log(this.transform.parent.gameObject.name +
-        //               ", " + this.name + "  Observations: " + myobs);
-        //     sensor.AddObservation(myobs);
-        // }
+        foreach (var myobs in obs)
+        {
+            Debug.Log(this.transform.parent.gameObject.name +
+                      ", " + this.name + "  Observations: " + myobs);
+            sensor.AddObservation(myobs);
+        }
         // sensor.AddOneHotObservation(2, 8);
     }
 
@@ -209,8 +210,10 @@ public override void Heuristic(in ActionBuffers actionsOut)
         //     discreteActionsOut[0] = 2;
         // }
         var continuousActionsOut = actionsOut.ContinuousActions;
-        continuousActionsOut[0] = 0f;
-        continuousActionsOut[1] = 0f;
+        // continuousActionsOut[0] = 0f;
+        // continuousActionsOut[1] = 0f;
+        continuousActionsOut[0] = Random.Range(-1f,1f);
+        continuousActionsOut[1] = Random.Range(-1f, 1f);
     }
 
     public void FixedUpdate()

diff --git a/Project/Assets/ML-Agents/Examples/CarCatching/Scripts/CarCatchingEnvController.cs b/Project/Assets/ML-Agents/Examples/CarCatching/Scripts/CarCatchingEnvController.cs
@@ -23,6 +23,7 @@ public class CarInfo
         [HideInInspector] public Vector3 StartingScale;
         [HideInInspector] public DecisionRequester DecisionRequester;
         [HideInInspector] public NavMeshAgent NavMeshAgent;
+        [HideInInspector] public LineRenderer LineRenderer;
     }
 
     /// <summary>
@@ -79,6 +80,7 @@ void Start()
             item.StartingScale = itemTrans.localScale;
             item.DecisionRequester = item.Agent.GetComponent<DecisionRequester>();
             item.NavMeshAgent = item.Agent.GetComponent<NavMeshAgent>();
+            item.LineRenderer = item.Agent.GetComponent<LineRenderer>();
         }
 
         for (; RunningNum < AgentsList.Count && AgentsList[RunningNum].Agent.isRunning; ++RunningNum) ;
@@ -142,6 +144,7 @@ public void ResetScene()
             var pos = UseRandomAgentPosition ? GetRandomSpawnPos(rot) : item.StartingPos;
 
             item.Agent.transform.SetPositionAndRotation(pos, rot);
+            item.LineRenderer.positionCount = 0;
         }
     }
 

diff --git a/Project/Assets/ML-Agents/Examples/NavMeshTest/Scenes/Player.prefab b/Project/Assets/ML-Agents/Examples/NavMeshTest/Scenes/Player.prefab
@@ -211,17 +211,17 @@ LineRenderer:
       m_RotationOrder: 4
     colorGradient:
       serializedVersion: 2
-      key0: {r: 0, g: 0, b: 0, a: 1}
-      key1: {r: 0, g: 0, b: 0, a: 1}
-      key2: {r: 1, g: 0.10272626, b: 0, a: 0}
+      key0: {r: 1, g: 1, b: 1, a: 1}
+      key1: {r: 1, g: 1, b: 1, a: 1}
+      key2: {r: 0, g: 0, b: 0, a: 0}
       key3: {r: 0, g: 0, b: 0, a: 0}
       key4: {r: 0, g: 0, b: 0, a: 0}
       key5: {r: 0, g: 0, b: 0, a: 0}
       key6: {r: 0, g: 0, b: 0, a: 0}
       key7: {r: 0, g: 0, b: 0, a: 0}
       ctime0: 0
       ctime1: 65535
-      ctime2: 1542
+      ctime2: 65535
       ctime3: 0
       ctime4: 0
       ctime5: 0
@@ -263,4 +263,4 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   minDistance: 0.1
-  width: 2
+  width: 5
diff --git a/Project/Assets/ML-Agents/Examples/NavMeshTest/Scripts/LineRender.cs b/Project/Assets/ML-Agents/Examples/NavMeshTest/Scripts/LineRender.cs
@@ -9,7 +9,7 @@ public class LineRender : MonoBehaviour
     private LineRenderer line;
     private Vector3 previousPosition;
     [SerializeField] private float minDistance = 0.1f;
-    [SerializeField, Range(0f, 20f)] private float width = 2f;
+    [SerializeField, Range(0f, 20f)] private float width = 5f;
 
     private void Start()
     {

diff --git a/Project/Assets/ML-Agents/Examples/SharedAssets/Materials/SpiritBlue.mat b/Project/Assets/ML-Agents/Examples/SharedAssets/Materials/SpiritBlue.mat
@@ -84,7 +84,7 @@ Material:
     - _UVSec: 0
     - _ZWrite: 1
     m_Colors:
-    - _Color: {r: 0, g: 0, b: 1, a: 1}
+    - _Color: {r: 0.12941177, g: 0.5882353, b: 0.9529412, a: 1}
     - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
     - _Flip: {r: 1, g: 1, b: 1, a: 1}
     - _RendererColor: {r: 1, g: 1, b: 1, a: 1}