Update PPO class,add python human control

Python: Update PPO class add python human control Unity: add FP/TP choose button
2022-10-11 06:40:15 +09:00
parent de066f3a65
commit ae8a1ba8e2
26 changed files with 3639 additions and 990 deletions
@@ -21,6 +21,8 @@ public class AgentWithGun : Agent
    public Camera thisCam;
    public CharacterController PlayerController;
    public GameObject enemyPrefab;
+    public GameObject cameraChangerOBJ;
+

    [Header("Rewards")]
    [Tooltip("Nothing happened reward")]
@@ -41,7 +43,7 @@ public class AgentWithGun : Agent
    [Header("Env")]
    public bool lockMouse = false;
    public float Damage = 50; // damage to enemy
-    public float fireRate = 0.5f; 
+    public float fireRate = 0.5f;
    public int enemyNum = 3;
    public int timeLimit = 30;
    public bool lockCameraX = false;
@@ -76,12 +78,15 @@ public class AgentWithGun : Agent
    private string LoadDirTime;
    private float LoadDirDateF;
    private float loadDirTimeF;
+    public bool defaultTPCamera = true;
    private StartSeneData DataTransfer;
    private UIController UICon;
    private HistoryRecorder HistoryRec;
    private RaySensors rayScript;
+    private CameraChange camChanger;

-    [System.NonSerialized]public float nonReward;
+
+    [System.NonSerialized] public float nonReward;
    [System.NonSerialized] public float shootReward;
    [System.NonSerialized] public float shootWithoutReadyReward;
    [System.NonSerialized] public float hitReward;
@@ -118,6 +123,8 @@ public class AgentWithGun : Agent
            killRewardDefault = DataTransfer.killReward;
            winRewardDefault = DataTransfer.winReward;
            loseRewardDefault = DataTransfer.loseReward;
+            lockMouse = DataTransfer.lockMouse;
+            defaultTPCamera = DataTransfer.defaultTPCamera;

            // change Decision Period & Take Actions Between Decisions
            transform.GetComponent<DecisionRequester>().DecisionPeriod = DataTransfer.DecisionPeriod;
@@ -156,6 +163,7 @@ public class AgentWithGun : Agent
            UICon = transform.GetComponent<UIController>();
            HistoryRec = transform.GetComponent<HistoryRecorder>();
            rayScript = GetComponent<RaySensors>();
+            camChanger = cameraChangerOBJ.GetComponent<CameraChange>();

            // give default Reward to Reward value will be used.
            nonReward = nonRewardDefault;
@@ -167,6 +175,15 @@ public class AgentWithGun : Agent
            killReward = killRewardDefault;
            //initialize remainTime
            remainTime = (int)(timeLimit - Time.time + startTime);
+            // change default camera view
+            if (defaultTPCamera)
+            {
+                camChanger.ShowTPSView();
+            }
+            else
+            {
+                camChanger.ShowFPSView();
+            }
        }
    }

@@ -176,7 +193,7 @@ public class AgentWithGun : Agent
        //Debug.Log(RaySensors.rayTagResult[0]);
    }*/
    /* ----------此Update用于debug，Build前删除或注释掉！----------*/
-    
+
    // --------------初始化---------------
    // randomInitEnemys随机生成enemy
    public void randomInitEnemys(int EnemyNum)
@@ -203,27 +220,9 @@ public class AgentWithGun : Agent

    // ------------动作处理--------------
    // moveAgent 用于模拟Input.GetAxis移动
-    public void moveAgent(int kW, int kS,int kA,int kD)
+    public void moveAgent(int vertical, int horizontal)
    {
        Vector3 thisMovement;
-        int horizontal = 0;
-        int vertical = 0;
-        if (kW==1 && kS != 1)
-        {
-            vertical = 1;
-        }
-        else if (kS==1 && kW!=1)
-        {
-            vertical = -1;
-        }
-        if (kD==1 && kA!=1)
-        {
-            horizontal = 1;
-        }
-        else if (kA ==1 && kD!=1)
-        {
-            horizontal = -1;
-        }

        if (horizontal != 0)//当按下按键（水平方向）
        {
@@ -295,7 +294,7 @@ public class AgentWithGun : Agent

    // ------------动作处理--------------
    // cameraControl 用于控制Agent视角转动
-    public void cameraControl(float Mouse_X,float Mouse_Y)
+    public void cameraControl(float Mouse_X, float Mouse_Y)
    {
        //Mouse_X = Input.GetAxis("Mouse X") * MouseSensitivity * Time.deltaTime;
        //Debug.Log(Input.GetAxis("Mouse X"));
@@ -359,11 +358,11 @@ public class AgentWithGun : Agent
        RaycastHit hit;
        Debug.DrawRay(ray.origin, ray.direction * 100, Color.blue);
        bool isGunReady = gunReady();
-        UICon.updateShootKeyViewer(shoot,isGunReady);
+        UICon.updateShootKeyViewer(shoot, isGunReady);
        //按下鼠标左键
        if (shoot != 0 && isGunReady == true)
        {
-            
+
            lastShootTime = Time.time;
            if (Physics.Raycast(ray, out hit, 100))
            {
@@ -420,12 +419,12 @@ public class AgentWithGun : Agent
    {
        GameObject[] EnemyGameObjs;
        EnemyGameObjs = GameObject.FindGameObjectsWithTag("Enemy");
-        if(EnemyGameObjs.Length <= 1)
+        if (EnemyGameObjs.Length <= 1)
        {
            //成功击杀所有Enemy
            return 1;
        }
-        else if(Time.time - startTime >= timeLimit)
+        else if (Time.time - startTime >= timeLimit)
        {
            //超时失败
            return 2;
@@ -477,9 +476,9 @@ public class AgentWithGun : Agent
    {
        float epreward = 0f;
        // 击杀reward判断
-        if(enemyKillCount > 0)
+        if (enemyKillCount > 0)
        {
-            for(int i = 0;i < enemyKillCount; i++)
+            for (int i = 0; i < enemyKillCount; i++)
            {
                epreward += killReward;
            }
@@ -506,7 +505,7 @@ public class AgentWithGun : Agent
        }
        if (lockMouse)
        {
-            Cursor.lockState = CursorLockMode.Locked; // 隐藏并且锁定鼠标
+            Cursor.lockState = CursorLockMode.Locked; // hide and lock the mouse
        }
        //iniCharts();
        thisAgentObj.name = thisAgentObj.GetInstanceID().ToString();
@@ -549,35 +548,26 @@ public class AgentWithGun : Agent
    public override void OnActionReceived(ActionBuffers actionBuffers)
    {
        //获取输入
-        int kW = actionBuffers.DiscreteActions[0];
-        int kS = actionBuffers.DiscreteActions[1];
-        int kA = actionBuffers.DiscreteActions[2];
-        int kD = actionBuffers.DiscreteActions[3];
-        int mouseShoot = actionBuffers.DiscreteActions[4];
+        int vertical = actionBuffers.DiscreteActions[0];
+        int horizontal = actionBuffers.DiscreteActions[1];
+        int mouseShoot = actionBuffers.DiscreteActions[2];
        float Mouse_X = actionBuffers.ContinuousActions[0];
-        //float Mouse_Y = actionBuffers.ContinuousActions[1];
-        //int timeLimitControl = (int)actionBuffers.ContinuousActions[2];
-        //float nonRewardIn = actionBuffers.ContinuousActions[1];
-        //float shootRewardIn = actionBuffers.ContinuousActions[2];
-        //float shootWithoutReadyRewardIn = actionBuffers.ContinuousActions[3];
-        //float hitRewardIn = actionBuffers.ContinuousActions[4];
-        //float winRewardIn = actionBuffers.ContinuousActions[5];
-        // loseRewardIn = actionBuffers.ContinuousActions[6];
-        //float killRewardIn = actionBuffers.ContinuousActions[7];
-        //Rewards Update
+        if (vertical == 2) vertical = -1;
+        if (horizontal == 2) horizontal = -1;
        remainTime = (int)(timeLimit - Time.time + startTime);

        //应用输入
        shoot = mouseShoot;
-        HistoryRec.realTimeKeyCounter(kW, kS, kA, kD, shoot);
+        HistoryRec.realTimeKeyCounter(vertical, horizontal, shoot);
        (int kWCount, int kSCount, int kACount, int kDCount, int shootCount) = HistoryRec.getKeyCount();
        UICon.updateRemainTime(remainTime);
-        UICon.updateWASDKeyViewer(kW, kS, kA, kD);
+        UICon.updateRemainEnemy(enemyNum);
+        UICon.updateWASDKeyViewer(vertical, horizontal);
        UICon.updateKeyCounterChart(kWCount, kSCount, kACount, kDCount, shootCount);
        UICon.updateMouseMovementViewer(Mouse_X);
        UICon.updateRewardViewer(nonReward, shootReward, shootWithoutReadyReward, hitReward, winReward, loseReward, killReward);
        cameraControl(Mouse_X, 0);
-        moveAgent(kW, kS, kA, kD);
+        moveAgent(vertical, horizontal);
        float thisRoundReward = rewardCalculate();

        //判断结束
@@ -595,7 +585,7 @@ public class AgentWithGun : Agent
            Debug.Log("reward = " + winReward);
            EndEpisode();
        }
-        else if(finished == 2)
+        else if (finished == 2)
        {
            //Lose Finished
            HistoryRec.addRealTimeReward(loseReward);
@@ -628,37 +618,45 @@ public class AgentWithGun : Agent
        ActionSegment<float> continuousActions = actionsOut.ContinuousActions;
        ActionSegment<int> discreteActions = actionsOut.DiscreteActions;

-        int kW = 0;
-        int kS = 0;
-        int kA = 0;
-        int kD = 0;
-        if (Input.GetKey(KeyCode.W))
+        int vertical = 0;
+        int horizontal = 0;
+        if (Input.GetKey(KeyCode.W) && !Input.GetKey(KeyCode.S))
        {
-            kW = 1;
+            vertical = 1;
        }
-        if (Input.GetKey(KeyCode.S))
+        else if (Input.GetKey(KeyCode.S) && !Input.GetKey(KeyCode.W))
        {
-            kS = 1;
+            vertical = -1;
        }
-        if (Input.GetKey(KeyCode.A))
+        else
        {
-            kA = 1;
+            vertical = 0;
        }
-        if (Input.GetKey(KeyCode.D))
+        if (Input.GetKey(KeyCode.D) && !Input.GetKey(KeyCode.A))
        {
-            kD = 1;
+            horizontal = 1;
+        }
+        else if (Input.GetKey(KeyCode.A) && !Input.GetKey(KeyCode.D))
+        {
+            horizontal = -1;
+        }
+        else
+        {
+            horizontal = 0;
        }
-        discreteActions[0] = kW;
-        discreteActions[1] = kS;
-        discreteActions[2] = kA;
-        discreteActions[3] = kD;

        if (Input.GetMouseButton(0))
        {
            // Debug.Log("mousebuttonhit");
            shoot = 1;
        }
-        discreteActions[4] = shoot;
+        else
+        {
+            shoot = 0;
+        }
+        discreteActions[0] = vertical;
+        discreteActions[1] = horizontal;
+        discreteActions[2] = shoot;
        //^^^^^^^^^^^^^^^^^^^^^discrete-Control^^^^^^^^^^^^^^^^^^^^^^

        //vvvvvvvvvvvvvvvvvvvvvvvvvvvvvcontinuous-Controlvvvvvvvvvvvvvvvvvvvvvv
@@ -31,24 +31,24 @@ public class HistoryRecorder : MonoBehaviour
    {
        EPTotalShootCount.Add(TotalShootCount);
    }
-    public void realTimeKeyCounter(int kW, int kS, int kA, int kD, int shoot)
+    public void realTimeKeyCounter(int vertical,  int horizontal, int shoot)
    {
-        if (kW == 1)
+        if (vertical == 1)
        {
            realTimeWKeyCount += 1;
        }
-        if (kS == 1)
+        else if (vertical == -1)
        {
            realTimeSKeyCount += 1;
        }
-        if (kA == 1)
-        {
-            realTimeAKeyCount += 1;
-        }
-        if (kD == 1)
+        if (horizontal == 1)
        {
            realTimeDKeyCount += 1;
        }
+        else if (horizontal == -1)
+        {
+            realTimeAKeyCount += 1;
+        }
        if (shoot == 1)
        {
            realTimeShootCount += 1;
@@ -69,39 +69,37 @@ public class UIController : MonoBehaviour
    }

    //------------Key Viewer----------
-    public void updateWASDKeyViewer(int kW,int kS,int kA,int kD)
+    public void updateWASDKeyViewer(int vertical,int horizontal)
    {
-        if (kW == 1)
+        if (vertical == 1)
        {
            upText.color = Color.red;
+            downText.color = Color.black;
        }
-        else
-        {
-            upText.color = Color.black;
-        }
-        if (kS == 1)
+        else if (vertical == -1)
        {
            downText.color = Color.red;
+            upText.color = Color.black;
        }
        else
        {
            downText.color = Color.black;
+            upText.color = Color.black;
        }
-        if(kA == 1)
-        {
-            leftText.color = Color.red;
-        }
-        else
-        {
-            leftText.color = Color.black;
-        }
-        if( kD == 1)
+        if (horizontal == 1)
        {
            rightText.color = Color.red;
+            leftText.color = Color.black;
+        }
+        else if (horizontal == -1)
+        {
+            leftText.color = Color.red;
+            rightText.color = Color.black;
        }
        else
        {
-            rightText.color = Color.black;
+            downText.color = Color.black;
+            upText.color = Color.black;
        }
    }
    public void updateShootKeyViewer(int shoot,bool isGunReady)
@@ -0,0 +1,27 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class gameFlowController : MonoBehaviour
+{
+    public GameObject Agent;
+    AgentWithGun agentWithGun;
+    // Start is called before the first frame update
+    void Start()
+    {
+        agentWithGun = Agent.GetComponent<AgentWithGun>();
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        if (Input.GetKey(KeyCode.Escape))
+        {
+            Application.Quit();
+        }
+        if (Input.GetKey(KeyCode.L))
+        {
+            agentWithGun.lockMouse = !agentWithGun.lockMouse;
+        }
+    }
+}
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9a8fb4d12d4b8fc4784f3e142e7fdcf8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
@@ -19,6 +19,21 @@ public class EnvArgsChanger : MonoBehaviour
    public Text DecisionPeriodDataText;
    public Toggle TakeActionsBetweenDecisionsToggle;

+    [Header("Lock Mouse")]
+    public Toggle LockMouseToggle;
+
+    [Header("Default Camera")]
+    public Toggle FPToggle;
+    public Text FPText;
+    public Toggle TPToggle;
+    public Text TPText;
+
+    private StartSeneData startSeneData;
+    private void Start()
+    {
+        startSeneData = DataTransfer.GetComponent<StartSeneData>();
+    }
+

    public void onEnemynumValueChanged()
    {
@@ -30,7 +45,7 @@ public class EnvArgsChanger : MonoBehaviour
        else
        {
            EnemyNumText.color = Color.yellow;
-            DataTransfer.GetComponent<StartSeneData>().EnemyNum = Math.Abs(int.Parse(EnemyNumInput.GetComponent<InputField>().text));
+            startSeneData.EnemyNum = Math.Abs(int.Parse(EnemyNumInput.GetComponent<InputField>().text));
        }
    }

@@ -44,19 +59,48 @@ public class EnvArgsChanger : MonoBehaviour
        else
        {
            TimeLimText.color = Color.yellow;
-            DataTransfer.GetComponent<StartSeneData>().Timelim = Math.Abs(int.Parse(TimelimInput.GetComponent<InputField>().text));
+            startSeneData.Timelim = Math.Abs(int.Parse(TimelimInput.GetComponent<InputField>().text));
        }
    }

    public void onDPSlideValueChanged()
    {
        // DecisionPeriod(DP) value Control
-        DataTransfer.GetComponent<StartSeneData>().DecisionPeriod = (int)(DecisionPeriodSlide.GetComponent<Slider>().value);
-        DecisionPeriodDataText.text = DataTransfer.GetComponent<StartSeneData>().DecisionPeriod.ToString();
+        startSeneData.DecisionPeriod = (int)(DecisionPeriodSlide.GetComponent<Slider>().value);
+        DecisionPeriodDataText.text = startSeneData.DecisionPeriod.ToString();
    }
    public void onABDToggleChanged()
    {
        // Actions Between Decisions(ABD) Toggle Control
-        DataTransfer.GetComponent<StartSeneData>().ActionsBetweenDecisions = TakeActionsBetweenDecisionsToggle.isOn;
+        startSeneData.ActionsBetweenDecisions = TakeActionsBetweenDecisionsToggle.isOn;
+    }
+    public void onLockMouseToggleChanged()
+    {
+        // lock mouse or not
+        startSeneData.lockMouse = LockMouseToggle.isOn;
+    }
+    public void onTPCamToggleChanged()
+    {
+        startSeneData.defaultTPCamera = true;
+
+        FPToggle.interactable = true;
+        FPToggle.SetIsOnWithoutNotify(false);
+        FPText.color = Color.gray;
+
+        TPToggle.SetIsOnWithoutNotify(true);
+        TPToggle.interactable = false;
+        TPText.color = Color.green;
+    }
+    public void onFPCameToggleChanged()
+    {
+        startSeneData.defaultTPCamera = false;
+
+        TPToggle.interactable = true;
+        TPToggle.SetIsOnWithoutNotify(false);
+        TPText.color = Color.gray;
+
+        FPToggle.SetIsOnWithoutNotify(true);
+        FPToggle.interactable = false;
+        FPText.color = Color.green;
    }
 }
@@ -13,6 +13,8 @@ public class StartSeneData : MonoBehaviour
    public float killRewardDefault = 10.0f;
    public float winRewardDefault = 20.0f;
    public float loseRewardDefault = -10.0f;
+    public bool lockMouse = false;
+    public bool defaultTPCamera = true;

    // LoadDir
    [System.NonSerialized]public string LoadDirDate = "0";