Soccer refactor (release)

Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs

@@ -15,14 +15,9 @@ public enum Team
         Purple,
         Blue
     }
-    public enum AgentRole
-    {
-        Striker,
-        Goalie
-    }
 
+    [HideInInspector]
     public Team team;
-    public AgentRole agentRole;
     float m_KickPower;
     int m_PlayerIndex;
     public SoccerFieldArea area;
@@ -31,39 +26,20 @@ public enum AgentRole
     public Rigidbody agentRb;
     SoccerSettings m_SoccerSettings;
     Renderer m_AgentRenderer;
+    BehaviorParameters m_BP;
 
-    public void ChooseRandomTeam()
+    public override void InitializeAgent()
     {
-        team = (Team)Random.Range(0, 2);
-        if (team == Team.Purple)
+        base.InitializeAgent();
+        m_BP = gameObject.GetComponent<BehaviorParameters>();
+        if (m_BP.m_TeamID == 0)
         {
-            JoinPurpleTeam(agentRole);
+            team = Team.Blue;
         }
         else
         {
-            JoinBlueTeam(agentRole);
+            team = Team.Purple;
         }
-    }
-
-    public void JoinPurpleTeam(AgentRole role)
-    {
-        agentRole = role;
-        team = Team.Purple;
-        m_AgentRenderer.material = m_SoccerSettings.purpleMaterial;
-        tag = "purpleAgent";
-    }
-
-    public void JoinBlueTeam(AgentRole role)
-    {
-        agentRole = role;
-        team = Team.Blue;
-        m_AgentRenderer.material = m_SoccerSettings.blueMaterial;
-        tag = "blueAgent";
-    }
-
-    public override void InitializeAgent()
-    {
-        base.InitializeAgent();
         m_AgentRenderer = GetComponentInChildren<Renderer>();
         m_SoccerSettings = FindObjectOfType<SoccerSettings>();
         agentRb = GetComponent<Rigidbody>();
@@ -87,53 +63,43 @@ public void MoveAgent(float[] act)
 
         var action = Mathf.FloorToInt(act[0]);
 
-        // Goalies and Strikers have slightly different action spaces.
-        if (agentRole == AgentRole.Goalie)
+        m_KickPower = 0f;
+
+        var forwardAxis = (int)act[0];
+        var rightAxis = (int)act[1];
+        var rotateAxis = (int)act[2];
+
+        switch (forwardAxis)
         {
-            m_KickPower = 0f;
-            switch (action)
-            {
-                case 1:
-                    dirToGo = transform.forward * 1f;
-                    m_KickPower = 1f;
-                    break;
-                case 2:
-                    dirToGo = transform.forward * -1f;
-                    break;
-                case 4:
-                    dirToGo = transform.right * -1f;
-                    break;
-                case 3:
-                    dirToGo = transform.right * 1f;
-                    break;
-            }
+            case 1:
+                dirToGo = transform.forward * 1f;
+                m_KickPower = 1f;
+                break;
+            case 2:
+                dirToGo = transform.forward * -1f;
+                break;
         }
-        else
+
+        switch (rightAxis)
         {
-            m_KickPower = 0f;
-            switch (action)
-            {
-                case 1:
-                    dirToGo = transform.forward * 1f;
-                    m_KickPower = 1f;
-                    break;
-                case 2:
-                    dirToGo = transform.forward * -1f;
-                    break;
-                case 3:
-                    rotateDir = transform.up * 1f;
-                    break;
-                case 4:
-                    rotateDir = transform.up * -1f;
-                    break;
-                case 5:
-                    dirToGo = transform.right * -0.75f;
-                    break;
-                case 6:
-                    dirToGo = transform.right * 0.75f;
-                    break;
-            }
+            case 1:
+                dirToGo = transform.right * 0.75f;
+                break;
+            case 2:
+                dirToGo = transform.right * -0.75f;
+                break;
         }
+
+        switch (rotateAxis)
+        {
+            case 1:
+                rotateDir = transform.up * -1f;
+                break;
+            case 2:
+                rotateDir = transform.up * 1f;
+                break;
+        }
+
         transform.Rotate(rotateDir, Time.deltaTime * 100f);
         agentRb.AddForce(dirToGo * m_SoccerSettings.agentRunSpeed,
             ForceMode.VelocityChange);
@@ -142,24 +108,48 @@ public void MoveAgent(float[] act)
     public override void AgentAction(float[] vectorAction)
     {
         // Existential penalty for strikers.
-        if (agentRole == AgentRole.Striker)
+        AddReward(-1f / 3000f);
+        MoveAgent(vectorAction);
+    }
+
+    public override float[] Heuristic()
+    {
+        var action = new float[3];
+        //forward
+        if (Input.GetKey(KeyCode.W))
         {
-            AddReward(-1f / 3000f);
+            action[0] = 1f;
         }
-        // Existential bonus for goalies.
-        if (agentRole == AgentRole.Goalie)
+        if (Input.GetKey(KeyCode.S))
         {
-            AddReward(1f / 3000f);
+            action[0] = 2f;
         }
-        MoveAgent(vectorAction);
+        //rotate
+        if (Input.GetKey(KeyCode.A))
+        {
+            action[2] = 1f;
+        }
+        if (Input.GetKey(KeyCode.D))
+        {
+            action[2] = 2f;
+        }
+        //right
+        if (Input.GetKey(KeyCode.E))
+        {
+            action[1] = 1f;
+        }
+        if (Input.GetKey(KeyCode.Q))
+        {
+            action[1] = 2f;
+        }
+        return action;
     }
-
     /// <summary>
     /// Used to provide a "kick" to the ball.
     /// </summary>
     void OnCollisionEnter(Collision c)
     {
-        var force = 2000f * m_KickPower;
+        var force = 1500f * m_KickPower;
         if (c.gameObject.CompareTag("ball"))
         {
             var dir = c.contacts[0].point - transform.position;
@@ -170,22 +160,15 @@ void OnCollisionEnter(Collision c)
 
     public override void AgentReset()
     {
-        if (m_SoccerSettings.randomizePlayersTeamForTraining)
-        {
-            ChooseRandomTeam();
-        }
-
         if (team == Team.Purple)
         {
-            JoinPurpleTeam(agentRole);
             transform.rotation = Quaternion.Euler(0f, -90f, 0f);
         }
         else
         {
-            JoinBlueTeam(agentRole);
             transform.rotation = Quaternion.Euler(0f, 90f, 0f);
         }
-        transform.position = area.GetRandomSpawnPos(agentRole, team);
+        transform.position = area.GetRandomSpawnPos(team);
         agentRb.velocity = Vector3.zero;
         agentRb.angularVelocity = Vector3.zero;
         SetResetParameters();

Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerBallController.cs

@@ -4,14 +4,12 @@ public class SoccerBallController : MonoBehaviour
 {
     [HideInInspector]
     public SoccerFieldArea area;
-    public AgentSoccer lastTouchedBy; //who was the last to touch the ball
-    public string agentTag; //will be used to check if collided with a agent
-    public string purpleGoalTag; //will be used to check if collided with red goal
+    public string purpleGoalTag; //will be used to check if collided with purple goal
     public string blueGoalTag; //will be used to check if collided with blue goal
 
     void OnCollisionEnter(Collision col)
     {
-        if (col.gameObject.CompareTag(purpleGoalTag)) //ball touched red goal
+        if (col.gameObject.CompareTag(purpleGoalTag)) //ball touched purple goal
         {
             area.GoalTouched(AgentSoccer.Team.Blue);
         }

Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs

@@ -35,13 +35,6 @@ public class SoccerFieldArea : MonoBehaviour
 
     SoccerSettings m_SoccerSettings;
 
-    public IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
-    {
-        m_GroundRenderer.material = mat;
-        yield return new WaitForSeconds(time);
-        m_GroundRenderer.material = m_GroundMaterial;
-    }
-
     void Awake()
     {
         m_SoccerSettings = FindObjectOfType<SoccerSettings>();
@@ -62,94 +55,45 @@ IEnumerator ShowGoalUI()
         if (goalTextUI) goalTextUI.SetActive(false);
     }
 
-    public void AllPlayersDone(float reward)
-    {
-        foreach (var ps in playerStates)
-        {
-            if (ps.agentScript.gameObject.activeInHierarchy)
-            {
-                if (reward != 0)
-                {
-                    ps.agentScript.AddReward(reward);
-                }
-                ps.agentScript.Done();
-            }
-        }
-    }
-
     public void GoalTouched(AgentSoccer.Team scoredTeam)
     {
         foreach (var ps in playerStates)
         {
             if (ps.agentScript.team == scoredTeam)
             {
-                RewardOrPunishPlayer(ps, m_SoccerSettings.strikerReward, m_SoccerSettings.goalieReward);
+                ps.agentScript.AddReward(1);
             }
             else
             {
-                RewardOrPunishPlayer(ps, m_SoccerSettings.strikerPunish, m_SoccerSettings.goaliePunish);
-            }
-            if (m_SoccerSettings.randomizePlayersTeamForTraining)
-            {
-                ps.agentScript.ChooseRandomTeam();
+                ps.agentScript.AddReward(-1);
             }
+            ps.agentScript.Done();  //all agents need to be reset
 
-            if (scoredTeam == AgentSoccer.Team.Purple)
-            {
-                StartCoroutine(GoalScoredSwapGroundMaterial(m_SoccerSettings.purpleMaterial, 1));
-            }
-            else
-            {
-                StartCoroutine(GoalScoredSwapGroundMaterial(m_SoccerSettings.blueMaterial, 1));
-            }
             if (goalTextUI)
             {
                 StartCoroutine(ShowGoalUI());
             }
         }
     }
 
-    public void RewardOrPunishPlayer(PlayerState ps, float striker, float goalie)
-    {
-        if (ps.agentScript.agentRole == AgentSoccer.AgentRole.Striker)
-        {
-            ps.agentScript.AddReward(striker);
-        }
-        if (ps.agentScript.agentRole == AgentSoccer.AgentRole.Goalie)
-        {
-            ps.agentScript.AddReward(goalie);
-        }
-        ps.agentScript.Done();  //all agents need to be reset
-    }
-
-    public Vector3 GetRandomSpawnPos(AgentSoccer.AgentRole role, AgentSoccer.Team team)
+    public Vector3 GetRandomSpawnPos(AgentSoccer.Team team)
     {
-        var xOffset = 0f;
-        if (role == AgentSoccer.AgentRole.Goalie)
-        {
-            xOffset = 13f;
-        }
-        if (role == AgentSoccer.AgentRole.Striker)
-        {
-            xOffset = 7f;
-        }
+        var xOffset = 7f;
         if (team == AgentSoccer.Team.Blue)
         {
             xOffset = xOffset * -1f;
         }
         var randomSpawnPos = ground.transform.position +
-            new Vector3(xOffset, 0f, 0f)
-            + (Random.insideUnitSphere * 2);
-        randomSpawnPos.y = ground.transform.position.y + 2;
+            new Vector3(xOffset, 0f, 0f);
+        randomSpawnPos.y = ground.transform.position.y + .5f;
         return randomSpawnPos;
     }
 
     public Vector3 GetBallSpawnPosition()
     {
         var randomSpawnPos = ground.transform.position +
-            new Vector3(0f, 0f, 0f)
-            + (Random.insideUnitSphere * 2);
-        randomSpawnPos.y = ground.transform.position.y + 2;
+            new Vector3(0f, 0f, 0f);
+        randomSpawnPos.y = ground.transform.position.y + .5f;
         return randomSpawnPos;
     }
 

Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerSettings.cs

@@ -5,11 +5,5 @@ public class SoccerSettings : MonoBehaviour
     public Material purpleMaterial;
     public Material blueMaterial;
     public bool randomizePlayersTeamForTraining = true;
-
     public float agentRunSpeed;
-
-    public float strikerPunish; //if opponents scores, the striker gets this neg reward (-1)
-    public float strikerReward; //if team scores a goal they get a reward (+1)
-    public float goaliePunish; //if opponents score, goalie gets this neg reward (-1)
-    public float goalieReward; //if team scores, goalie gets this reward (currently 0...no reward. can play with this later)
 }