【MA基礎開発】TelloSDKの仕様に合わせてドローン制御方式を変更。バッテリー概念の追加。偵察ドローンエージェントスクリプトを追加. #1

#8 #7 #9

MAEasySimulator/Assets/BoxReady.prefab

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MAEasySimulator/Assets/Drone/Art/material/blue.mat

@@ -130,7 +130,7 @@ Material:
     - _ZWrite: 1
     m_Colors:
     - _BaseColor: {r: 0, g: 0.638464, b: 1, a: 1}
-    - _Color: {r: 1, g: 1, b: 1, a: 1}
+    - _Color: {r: 0, g: 0.638464, b: 1, a: 1}
     - _EmissionColor: {r: 0.062032763, g: 0.55507654, b: 0.7735849, a: 1}
     - _SpecColor: {r: 0.19999996, g: 0.19999996, b: 0.19999996, a: 1}
   m_BuildTextureStacks: []

MAEasySimulator/Assets/DroneController.cs

@@ -5,46 +5,126 @@
 using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Sensors;
 
+/// <summary>
+/// ドローン共通コンポーネント
+/// </summary>
 public class DroneController : MonoBehaviour {
 
     [Header("Movement Parameters")]
     public float moveSpeed = 10f; // 移動速度
-    public float verticalForce = 10f; // 上昇・下降の強さ
-    public float tiltAng = 10f; // 傾きの角度
-    public float tiltVel = 5f; // 傾きの速度
     public float rotSpeed = 100f; // 回転速度
-    public float sidewaysTiltAmount;
-    public float forwardTiltAmount;
-    public float rotAmount;
+    [Header("Battery")]
+    public float batteryLevel = 100f; // バッテリー残量の初期値
+    private float batteryDrainRate = 1f; // 1秒あたりのバッテリー消費率
 
     [Header("Communication Parameters")]
     public float communicationRange = 10f; // 通信範囲(半径)
     public GameObject communicateArea; //通信電波域を表すオブジェクト円形(Droneの子要素として定義)
-
+    [Header("Crash Objects")]
+    public List<string> CrashTags; //衝突判定対象のタグ
     public Rigidbody Rbody;
 
+    /**Events*/
+    public delegate void OnReceiveMessage(string message);
+    public OnReceiveMessage onReceiveMsg;
+    public delegate void OnCrash(Vector3 crashPos);
+    public OnCrash onCrash;
+    public delegate void OnEmptyButtery();
+    public OnEmptyButtery onEmptyBattery;
+    /***/
+    public List<string> CommunicateTargetTags;
+    private string Team;
+
     void Start() {
         Rbody = GetComponent<Rigidbody>();
         communicateArea.transform.localScale = new Vector3(communicationRange, communicationRange, communicationRange);
+        StartCoroutine(BatteryDrainCoroutine());
+    }
+
+    void OnTriggerEnter(Collider other) {
+        if (CrashTags.Contains(other.tag)) {
+            onCrash?.Invoke(other.transform.position);
+            FreeFall();
+        }
+    }
+
+    public void RegisterTeam(string team) {
+        Team = team;
+    }
+    public void AddCommunicateTarget(string target) {
+        CommunicateTargetTags.Add(target);
+    }
+
+    public void InHeuristicCtrl(in ActionBuffers actionsOut) {
+        var action = actionsOut.ContinuousActions;
+        //WASD定義
+        if(Input.GetKey(KeyCode.W)) {
+            //前進
+            action[1] = 1f;
+        } else if (Input.GetKey(KeyCode.S)) {
+            //後退
+            action[1] = -1f;
+        }
+
+        if (Input.GetKey(KeyCode.A)) {
+            //左移動
+            action[0] = -1f;
+        } else if (Input.GetKey(KeyCode.D)) {
+            //右移動
+            action[0] = 1f;
+        } 
+
+        if (Input.GetKey(KeyCode.LeftArrow)) {
+            //左回転
+            action[2] = -1f;
+        } else if (Input.GetKey(KeyCode.RightArrow)) {
+            //右回転
+            action[2] = 1f;
+        }
+
+        if (Input.GetKey(KeyCode.Space)) {
+            //上昇
+            action[3] = 1f;
+        } else if (Input.GetKey(KeyCode.LeftShift)) {
+            //下降
+            action[3] = -1f;
+        }
     }
 
     public void FlyingCtrl(ActionBuffers actions) {
-        float horInput = actions.ContinuousActions[0];
-        float verInput = actions.ContinuousActions[1];
-        float rotInput = actions.ContinuousActions[2];
+        float horInput = actions.ContinuousActions[0]; //水平方向の入力(左右)
+        float verInput = actions.ContinuousActions[1]; //垂直方向の入力（前後）
+        float rotInput = actions.ContinuousActions[2]; //回転方向の入力
+        float altInput = actions.ContinuousActions[3]; //高度方向の入力(上下)
+
+        if (batteryLevel <= 0) {
+            return;
+        }
 
-        // 水平、垂直方向の移動計算
-        Vector3 moveDirection = new Vector3(horInput, 0, verInput) * moveSpeed;
-        Rbody.AddForce(transform.TransformDirection(moveDirection));
+        if(horInput > 0) {
+            Right(horInput);
+        } else {
+            Left(Mathf.Abs(horInput));
+        }
+        if(verInput > 0) {
+            Forward(verInput);
+        } else {
+            Back(Mathf.Abs(verInput));
+        }
+        //回転
+        if(rotInput > 0) {
+            Cw(rotInput);
+        } else if (rotInput < 0) {
+            Ccw(Mathf.Abs(rotInput));
+        }
+        //高度方向の移動
+        if(altInput > 0) {
+            Up(altInput);
+        } else if (altInput < 0) {
+            Down(Mathf.Abs(altInput));
+        }
 
-        // 入力に基づいて傾き・回転を計算
-        sidewaysTiltAmount = Mathf.Lerp(sidewaysTiltAmount, -horInput * tiltAng, tiltVel * Time.fixedDeltaTime);
-        forwardTiltAmount = Mathf.Lerp(forwardTiltAmount, verInput * tiltAng, tiltVel * Time.fixedDeltaTime);
-        rotAmount += rotInput * rotSpeed * Time.fixedDeltaTime;
 
-        // 傾き・回転をドローンに適用
-        Quaternion targetRot = Quaternion.Euler(forwardTiltAmount, rotAmount, sidewaysTiltAmount);
-        transform.rotation = targetRot;
     }
 
     /// <summary>
@@ -54,7 +134,7 @@ public bool Communicate(string message) {
         Collider[] hitColliders = Physics.OverlapSphere(transform.position, communicationRange); //範囲内にあるコライダーを取得
         var result = false;
         foreach (var hitCollider in hitColliders) {
-            if (hitCollider.tag == "Drone") { //TODO:ハードコードを避ける
+            if (CommunicateTargetTags.Contains(hitCollider.tag)) {
                 hitCollider.GetComponent<DroneController>().ReceiveMessage(message);
                 result = true;
             }
@@ -67,6 +147,101 @@ public bool Communicate(string message) {
     /// </summary>
     public void ReceiveMessage(string message) {
         Debug.Log("Message received: " + message);
+        onReceiveMsg?.Invoke(message);
+    }
+
+
+    private void FreeFall() {
+        Rbody.useGravity = true;
+        //FreezePosition,FreezeRotationを解除
+        Rbody.constraints = RigidbodyConstraints.None;
+    }
+
+    private IEnumerator BatteryDrainCoroutine() {
+        while (batteryLevel > 0) {
+            yield return new WaitForSeconds(1);
+            batteryLevel -= batteryDrainRate;
+            Debug.Log($"Battery Level: {batteryLevel}%");
+        }
+        onEmptyBattery?.Invoke();
+        FreeFall();
+    }
+
+    //NOTE：以下はTello SDKを参考
+    private static Vector3 RenewPosLerp(Vector3 currentPos, Vector3 targetPos, float speed) {
+        return Vector3.Lerp(currentPos, targetPos, speed * Time.deltaTime);
+    }
+    /// <summary>
+    /// 機体を上昇させる
+    /// </summary>
+    /// <param name="value">どのくらいの座標上昇させるか</param>
+    private void Up(float value) {
+        Vector3 newPos = new Vector3(transform.localPosition.x, transform.localPosition.y + value, transform.localPosition.z);
+        transform.localPosition = RenewPosLerp(transform.localPosition, newPos, moveSpeed);
+    }
+
+    /// <summary>
+    /// 機体を下降させる
+    /// </summary>
+    /// <param name="value">どのくらいの座標下降させるか</param>
+    private void Down(float value) {
+        Vector3 newPos = new Vector3(transform.localPosition.x, transform.localPosition.y - value, transform.localPosition.z);
+        transform.localPosition = RenewPosLerp(transform.localPosition, newPos, moveSpeed);
+    }
+
+    /// <summary>
+    /// Moves the aircraft forward based on its current orientation.
+    /// </summary>
+    /// <param name="value">How much to move the aircraft forward.</param>
+    private void Forward(float value) {
+        Vector3 newPos = transform.position + transform.forward * value;
+        transform.position = RenewPosLerp(transform.position, newPos, moveSpeed);
+    }
+
+    /// <summary>
+    /// Moves the aircraft backward based on its current orientation.
+    /// </summary>
+    /// <param name="value">How much to move the aircraft backward.</param>
+    private void Back(float value) {
+        Vector3 newPos = transform.position - transform.forward * value;
+        transform.position = RenewPosLerp(transform.position, newPos, moveSpeed);
+    }
+
+    /// <summary>
+    /// Moves the aircraft to the left based on its current orientation.
+    /// </summary>
+    /// <param name="value">How much to move the aircraft to the left.</param>
+    private void Left(float value) {
+        Vector3 newPos = transform.position - transform.right * value;
+        transform.position = RenewPosLerp(transform.position, newPos, moveSpeed);
+    }
+
+    /// <summary>
+    /// Moves the aircraft to the right based on its current orientation.
+    /// </summary>
+    /// <param name="value">How much to move the aircraft to the right.</param>
+    private void Right(float value) {
+        Vector3 newPos = transform.position + transform.right * value;
+        transform.position = RenewPosLerp(transform.position, newPos, moveSpeed);
+    }
+
+
+    /// <summary>
+    /// 時計回りに旋回
+    /// </summary>
+    /// <param name="value">How much to rotate the aircraft clockwise.</param>
+    private void Cw(float value) {
+        transform.Rotate(Vector3.up * rotSpeed * Time.deltaTime);
+    }
+
+    /// <summary>
+    /// 反時計回りに機体を回転させる
+    /// </summary>
+    /// <param name="value">How much to rotate the aircraft counterclockwise.</param>
+    private void Ccw(float value) {
+        transform.Rotate(Vector3.down * rotSpeed * Time.deltaTime);
     }
 
+
+
 }