add: data.json, DataLoader class

Project/Assets/ML-Agents/Examples/CarCatching/Scripts/CarAgent.cs

@@ -18,6 +18,8 @@ public class CarAgent : Agent
     // to this range
     public int decisionRangeRadius;
 
+    private NavMeshAgent m_AgentNavMeshAgent;  //cached on initialization
+
     protected override void Awake()
     {
         base.Awake();
@@ -34,6 +36,12 @@ void Start()
         // GetComponent<NavMeshAgent>().SetDestination(navigationGoal);
     }
 
+    public override void Initialize()
+    {
+        base.Initialize();
+        m_AgentNavMeshAgent = GetComponent<NavMeshAgent>();
+    }
+
     /// <summary>
     /// Collects vector observations for each agent.
     /// </summary>
@@ -104,7 +112,7 @@ public override void OnActionReceived(ActionBuffers actionBuffers)
 
         Debug.Log(this.transform.parent.gameObject.name +
                   ", " + this.name + "onActionReceived: navigationGoal " + navigationGoal);
-        GetComponent<NavMeshAgent>().SetDestination(navigationGoal);
+        m_AgentNavMeshAgent.SetDestination(navigationGoal);
 
         // Move the agent using the action.
         // MoveAgent(actionBuffers.DiscreteActions);

Project/Assets/ML-Agents/Examples/CarCatching/Scripts/CarCatchingEnvController.cs

@@ -1,9 +1,6 @@
-using System;
-using System.Collections;
-using System.Collections.Generic;
+using System.Collections.Generic;
 using Unity.MLAgents;
 using UnityEngine;
-using Random = UnityEngine.Random;
 
 public class CarCatchingEnvController : MonoBehaviour
 {
@@ -46,13 +43,16 @@ public class CarInfo
 
     private CarCatchingSettings m_CarCatchingSettings;
 
+    public CapturePosMap CapturePosMap;
+
     // private int m_ResetTimer;
 
     protected void Awake()
     {
         // Get the ground's bounds
         areaBounds = ground.GetComponent<Collider>().bounds;
         m_CarCatchingSettings = FindObjectOfType<CarCatchingSettings>();
+        CapturePosMap = new CapturePosMap("data.json");
     }
 
     void Start()

Project/Assets/ML-Agents/Examples/CarCatching/Scripts/DataLoder.cs

@@ -0,0 +1,74 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+using System.IO;
+using Newtonsoft.Json;
+
+public class CapturePosMap
+{
+    // Read the JSON file content
+    string jsonContent;
+
+    Dictionary<string, double[,]> resultMap;
+
+    public CapturePosMap(string relativePath)
+    {
+        // Use Application.streamingAssetsPath for files in the StreamingAssets folder
+        string fullPath = Path.Combine(Application.streamingAssetsPath, relativePath);
+        Debug.Log("Json file at: " + fullPath);
+
+        if (File.Exists(fullPath))
+        {
+            jsonContent = File.ReadAllText(fullPath);
+        }
+        else
+        {
+            Debug.Log("File not found: " + fullPath);
+        }
+
+        Debug.Log(jsonContent);
+
+        // Deserialize the JSON content into a Dictionary<string, int[][]>
+        resultMap = JsonConvert.DeserializeObject<Dictionary<string, double[,]>>(jsonContent);
+    }
+
+    // Here 'width' and 'height' mentioned below means the longer edge and the shorter edge of the scene, respectively.
+    // In json file, a capturing point or an enemy point [a, b] means the height axis coordination 'a' and the width axis coordination 'b'.
+    // However, in C# Astar class, a point [a, b] represents the width axis coordination 'a' and the height axis coordination 'b'.
+    // Since the order of the above two formats are different, so it is necessary to change the coordination order of each point here,
+    // including enemy point (constructing key) and capturing point (generating return value).
+    // Moreover, Unity scene's origin is lower left corner and Python image library usually treat upper left corner as origin,
+    // so suppose enemy point in costmap is [a, b], another transform to [a, 100-b] should be applied on it.
+    // In conclusion, this function's input point [x, y] should be transformed to [100-y, x] first before querying
+    // the json file to retrieve the corresponding capturing point. After querying, the capturing point [x, y] should also be
+    // transformed to [y, 100-x]. 100 is the height of costmap.
+
+    public double[,] getCapturePosFromEnemyPos(int enemyPosX, int enemyPosY)
+    {
+        (enemyPosX, enemyPosY) = (100 - enemyPosY, enemyPosX);
+        string key = "(" + enemyPosX + ", " + enemyPosY + ")";
+        // Debug.Log("getValueFromKey: " + key);
+        double[,] posList;
+        if (resultMap.ContainsKey(key))
+        {
+            // A new copy of the value in the dictionary should be created because the swap operation mentioned below
+            // are not supposed to edit the value in the Dictionary container.
+            posList = new double[3, 2];
+            // .Length property is the total length of 2-dim array.
+            Array.Copy(resultMap[key], posList, resultMap[key].Length);
+
+            for (int i = 0; i < resultMap[key].GetLength(0); ++i)
+            {
+                (posList[i, 0], posList[i, 1]) = (posList[i, 1], 100 - posList[i, 0]);
+            }
+        }
+        else
+        {
+            posList = new double[0, 0];
+            Console.WriteLine($"Key '{key}' not found in the dictionary.");
+        }
+
+        // Debug.Log("getValueFromKey End");
+        return posList;
+    }
+}