【ゲーム環境制作】各エージェントへのRLアルゴリズムの組み込み。ゲーム環境の更新。警察役、逃走役それぞれ独立で学習させるには追加で設定が必…

…要ぽい。

.gitignore

@@ -4,6 +4,12 @@ TEST
 *.exe
 ml-agents-release_20
 1on1FlagGame/My project/*
+1on1FlagGame/1on1DoroK-MLTEST1/*
+!1on1FlagGame/1on1DoroK-MLTEST1/Assets
+!1on1FlagGame/1on1DoroK-MLTEST1/ProjectSettings
+!1on1FlagGame/1on1DoroK-MLTEST1/UnityPackageManager
+!1on1FlagGame/1on1DoroK-MLTEST1/config
+!1on1FlagGame/1on1DoroK-MLTEST1/results
 !1on1FlagGame/My project/Assets
 !1on1FlagGame/My project/ProjectSettings
 !1on1FlagGame/My project/UnityPackageManager

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1on1FlagGame/1on1DoroK-MLTEST1/Assets/ML-Agents/Timers/RollerAgent_timers.json

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1on1FlagGame/1on1DoroK-MLTEST1/Assets/Police/PoliceAgent.cs

@@ -0,0 +1,77 @@
+using UnityEngine;
+using Unity.MLAgents;
+using Unity.MLAgents.Sensors;
+using Unity.MLAgents.Actuators;
+
+public class PoliceAgent : Agent
+{
+    Rigidbody rBody;
+
+    void Start()
+    {
+        rBody = GetComponent<Rigidbody>();
+    }
+
+    public Transform Target;
+    public override void OnEpisodeBegin()
+    {
+        // If the Agent fell, zero its momentum
+        if (this.transform.localPosition.y < 0)
+        {
+            this.rBody.angularVelocity = Vector3.zero;
+            this.rBody.velocity = Vector3.zero;
+            this.transform.localPosition = new Vector3(0, 0.5f, 0);
+        }
+
+        // Move the target to a new spot
+        Target.localPosition = new Vector3(Random.value * 8 - 4, 0.5f, Random.value * 8 - 4);
+    }
+
+    public override void CollectObservations(VectorSensor sensor)
+    {
+        // Target and Agent positions
+        sensor.AddObservation(Target.localPosition);
+        sensor.AddObservation(this.transform.localPosition);
+
+        // Agent velocity
+        sensor.AddObservation(rBody.velocity.x);
+        sensor.AddObservation(rBody.velocity.z);
+    }
+
+    public float forceMultiplier = 10;
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+    {
+        // Actions, size = 2
+        Vector3 controlSignal = Vector3.zero;
+        controlSignal.x = actionBuffers.ContinuousActions[0];
+        controlSignal.z = actionBuffers.ContinuousActions[1];
+        rBody.AddForce(controlSignal * forceMultiplier);
+
+        // Rewards
+        float distanceToTarget = Vector3.Distance(this.transform.localPosition, Target.localPosition);
+
+        // Reached target
+        if (distanceToTarget < 1.42f)
+        {
+            print("POLICE:caught the thief");
+            SetReward(1.0f);
+            EndEpisode();
+        } else {
+            SetReward(-1.0f);
+        }
+
+        // Fell off platform
+        if (this.transform.localPosition.y < 0)
+        {   
+            SetReward(-1.0f);
+            EndEpisode();
+        }
+    }
+
+    public override void Heuristic(in ActionBuffers actionsOut)
+    {
+        var continuousActionsOut = actionsOut.ContinuousActions;
+        continuousActionsOut[0] = Input.GetAxis("Horizontal");
+        continuousActionsOut[1] = Input.GetAxis("Vertical");
+    }
+}