【MA基礎開発】簡易シミュレータの調整。一部報酬定義追加。 #1 #8 #7 #9 #10

tsyu12345 · Feb 20, 2024 · edf6560 · edf6560
1 parent ed4a0a3
commit edf6560
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Showing 12 changed files with 177 additions and 66 deletions.
diff --git a/MAEasySimulator/Assets/BoxReady.prefab b/MAEasySimulator/Assets/BoxReady.prefab
@@ -9,6 +9,7 @@ GameObject:
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+  - component: {fileID: -7524546012518654309}
   m_Layer: 0
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@@ -32,6 +33,18 @@ Transform:
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diff --git a/MAEasySimulator/Assets/DroneController.cs b/MAEasySimulator/Assets/DroneController.cs
@@ -37,11 +37,15 @@ public class DroneController : MonoBehaviour {
 
     void Start() {
         Rbody = GetComponent<Rigidbody>();
+        Rbody.useGravity = false;
         communicateArea.transform.localScale = new Vector3(communicationRange, communicationRange, communicationRange);
         StartCoroutine(BatteryDrainCoroutine());
     }
 
     void OnTriggerEnter(Collider other) {
+        if (other.transform.parent != transform) { //子要素のコライダーは無視
+            return;
+        }
         if (CrashTags.Contains(other.tag)) {
             onCrash?.Invoke(other.transform.position);
             FreeFall();
@@ -161,7 +165,7 @@ private IEnumerator BatteryDrainCoroutine() {
         while (batteryLevel > 0) {
             yield return new WaitForSeconds(1);
             batteryLevel -= batteryDrainRate;
-            Debug.Log($"Battery Level: {batteryLevel}%");
+            //Debug.Log($"Battery Level: {batteryLevel}%");
         }
         onEmptyBattery?.Invoke();
         FreeFall();

diff --git a/MAEasySimulator/Assets/DroneStation.prefab b/MAEasySimulator/Assets/DroneStation.prefab
@@ -1,54 +1,87 @@
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@@ -84,13 +117,13 @@ MeshRenderer:
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   m_AdditionalVertexStreams: {fileID: 0}
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@@ -102,43 +135,9 @@ MeshCollider:
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-  m_CookingOptions: 30
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diff --git a/MAEasySimulator/Assets/Scenes/test0.4.unity b/MAEasySimulator/Assets/Scenes/test0.4.unity
diff --git a/MAEasySimulator/Assets/Shelter.prefab b/MAEasySimulator/Assets/Shelter.prefab
@@ -54,8 +54,8 @@ BoxCollider:
   m_ProvidesContacts: 0
   m_Enabled: 1
   serializedVersion: 3
-  m_Size: {x: 15, y: 10, z: 15}
-  m_Center: {x: 0, y: 5, z: 0}
+  m_Size: {x: 15, y: 5, z: 15}
+  m_Center: {x: 0, y: 3, z: 0}
 --- !u!1001 &2317150450376699504
 PrefabInstance:
   m_ObjectHideFlags: 0

diff --git a/MAEasySimulator/Assets/SpyAgent.cs b/MAEasySimulator/Assets/SpyAgent.cs
@@ -20,13 +20,17 @@ public class SpyAgent : Agent {
     private delegate void OnFindShelter(Vector3 pos);
     private OnFindShelter _onFindShelter;
     private string LogPrefix = "[Agent Spy]";
+    private Vector3 StartPosition;
 
     void Start() {
         _controller = GetComponent<DroneController>();
         _env = GetComponentInParent<EnvManager>();
         _controller.RegisterTeam(gameObject.tag);
         _controller.AddCommunicateTarget(targetTag);
+        _controller.onCrash += OnCrash;
+        _controller.onEmptyBattery += OnEmpty;
         Sensor = transform.Find("Sensor");
+        StartPosition = transform.localPosition;
     }
 
     public override void OnEpisodeBegin() {
@@ -58,7 +62,20 @@ public override void OnActionReceived(ActionBuffers actions) {
     }
 
     private void RewardDefinition() {
-
+        //1エピソード中に避難所を検出した回数に応じて報酬を与える
+        if (_findCount > 0) {
+            SetReward(0.1f * _findCount);
+        }
+    }
+
+    private void OnCrash(Vector3 position) {
+        Debug.Log(LogPrefix + "Crash at " + position);
+        EndEpisode();
+    }
+
+    private void OnEmpty() {
+        Debug.Log(LogPrefix + "Battery is empty");
+        //EndEpisode();
     }
 
     public override void Heuristic(in ActionBuffers actionsOut) {
@@ -77,6 +94,16 @@ private void _OnFindShelter(Vector3 pos) {
     }
 
 
+    private void Reset() {
+        _findCount = 0;
+        transform.localPosition = StartPosition;
+        transform.localRotation = Quaternion.Euler(0, 0, 0);
+        _controller.batteryLevel = 100;
+        _controller.Rbody.useGravity = false;
+        _controller.Rbody.constraints = RigidbodyConstraints.FreezePosition | RigidbodyConstraints.FreezeRotation;
+    }
+
+
 
 
 

diff --git a/MAEasySimulator/Assets/SpyAgent.prefab b/MAEasySimulator/Assets/SpyAgent.prefab
@@ -76,6 +76,7 @@ GameObject:
   - component: {fileID: 174229908787394523}
   - component: {fileID: -646215098736134583}
   - component: {fileID: 8559800387565644961}
+  - component: {fileID: -3061991587590451448}
   m_Layer: 0
   m_Name: SpyAgent
   m_TagString: Spy
@@ -163,6 +164,7 @@ MonoBehaviour:
   communicateArea: {fileID: 0}
   CrashTags:
   - Surpplier
+  - Obstacle
   - Spy
   Rbody: {fileID: 0}
   CommunicateTargetTags:
@@ -255,6 +257,36 @@ Rigidbody:
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   m_Constraints: 126
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+  - Surpplier
+  - Obstacle
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+  m_SphereCastRadius: 0.5
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@@ -354,7 +386,7 @@ SphereCollider:
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+  m_IsTrigger: 1
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