Delete near Enemy Detect future. Use different density sensor.
Unity: No more detect Closest enemy info. Add different density sensor let agent get more state information on the center of view. Adjust Start Scene UI manager. Add in game visible rayCast & information that rayCast detect. Python: Start use mypy black and flake8 to format Python.
This commit is contained in:
@@ -65,7 +65,6 @@ public class AgentWithGun : Agent
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public float mouseYSensitivity = 200;
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public float yRotation = 0.1f;//定义一个浮点类型的量，记录‘围绕’X轴旋转的角度
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private float startTime = 0;
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private int shoot = 0;
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private float lastShootTime = 0.0f;
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@@ -95,47 +94,80 @@ public class AgentWithGun : Agent
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void Start()
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{
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DataTransfer = GameObject.Find("StartSeneDataTransfer").GetComponent<StartSeneData>();
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UICon = transform.GetComponent<UIController>();
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HistoryRec = transform.GetComponent<HistoryRecorder>();
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rayScript = GetComponent<RaySensors>();
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try
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{
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// get DataTranfer
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DataTransfer = GameObject.Find("StartSeneDataTransfer").GetComponent<StartSeneData>();
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// Enemy Num
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enemyNum = DataTransfer.EnemyNum;
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// Enemy Num
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enemyNum = DataTransfer.EnemyNum;
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// Time Limit
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timeLimit = DataTransfer.Timelim;
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// Time Limit
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timeLimit = DataTransfer.Timelim;
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// get load directory.
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LoadDirDate = DataTransfer.LoadDirDate;
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LoadDirTime = DataTransfer.LoadDirTime;
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LoadDirDateF = float.Parse(LoadDirDate);
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loadDirTimeF = float.Parse(LoadDirTime);
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// get load directory.
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LoadDirDate = DataTransfer.LoadDirDate;
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LoadDirTime = DataTransfer.LoadDirTime;
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LoadDirDateF = float.Parse(LoadDirDate);
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loadDirTimeF = float.Parse(LoadDirTime);
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// get Default reward.
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nonRewardDefault = DataTransfer.nonReward;
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shootRewardDefault = DataTransfer.shootReward;
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shootWithoutReadyRewardDefault = DataTransfer.shootWithoutReadyReward;
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hitRewardDefault = DataTransfer.hitReward;
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killRewardDefault = DataTransfer.killReward;
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winRewardDefault = DataTransfer.winReward;
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loseRewardDefault = DataTransfer.loseReward;
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// get Default reward.
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nonRewardDefault = DataTransfer.nonReward;
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shootRewardDefault = DataTransfer.shootReward;
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shootWithoutReadyRewardDefault = DataTransfer.shootWithoutReadyReward;
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hitRewardDefault = DataTransfer.hitReward;
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killRewardDefault = DataTransfer.killReward;
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winRewardDefault = DataTransfer.winReward;
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loseRewardDefault = DataTransfer.loseReward;
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// give default Reward to Reward value will be used.
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nonReward = nonRewardDefault;
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shootReward = shootRewardDefault;
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shootWithoutReadyReward = shootWithoutReadyRewardDefault;
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hitReward = hitRewardDefault;
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winReward = winRewardDefault;
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loseReward = loseRewardDefault;
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killReward = killRewardDefault;
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// change Decision Period & Take Actions Between Decisions
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transform.GetComponent<DecisionRequester>().DecisionPeriod = DataTransfer.DecisionPeriod;
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transform.GetComponent<DecisionRequester>().TakeActionsBetweenDecisions = DataTransfer.ActionsBetweenDecisions;
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// change Decision Period & Take Actions Between Decisions
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transform.GetComponent<DecisionRequester>().DecisionPeriod = DataTransfer.DecisionPeriod;
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transform.GetComponent<DecisionRequester>().TakeActionsBetweenDecisions = DataTransfer.ActionsBetweenDecisions;
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}
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catch (NullReferenceException)
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{
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// Enemy Num
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enemyNum = 3;
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//initialize remainTime
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remainTime = (int)(timeLimit - Time.time + startTime);
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// Time Limit
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timeLimit = 30;
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// get load directory.
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LoadDirDate = "0";
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LoadDirTime = "0";
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LoadDirDateF = float.Parse(LoadDirDate);
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loadDirTimeF = float.Parse(LoadDirTime);
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// get Default reward.
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nonRewardDefault = -0.05f;
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shootRewardDefault = -0.06f;
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shootWithoutReadyRewardDefault = -0.06f;
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hitRewardDefault = 5.0f;
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killRewardDefault = 10.0f;
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winRewardDefault = 20.0f;
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loseRewardDefault = -10.0f;
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// change Decision Period & Take Actions Between Decisions
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transform.GetComponent<DecisionRequester>().DecisionPeriod = 1;
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transform.GetComponent<DecisionRequester>().TakeActionsBetweenDecisions = true;
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}
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finally
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{
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UICon = transform.GetComponent<UIController>();
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HistoryRec = transform.GetComponent<HistoryRecorder>();
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rayScript = GetComponent<RaySensors>();
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// give default Reward to Reward value will be used.
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nonReward = nonRewardDefault;
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shootReward = shootRewardDefault;
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shootWithoutReadyReward = shootWithoutReadyRewardDefault;
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hitReward = hitRewardDefault;
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winReward = winRewardDefault;
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loseReward = loseRewardDefault;
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killReward = killRewardDefault;
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//initialize remainTime
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remainTime = (int)(timeLimit - Time.time + startTime);
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}
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}
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/* ----------此Update用于debug，Build前删除或注释掉！----------*/
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@@ -300,7 +332,7 @@ public class AgentWithGun : Agent
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//且绕轴旋转的坐标轴是父节点本地坐标系的坐标轴
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}
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// GotKill 获得击杀时用于呼出
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// GotKill 获得击杀时用于被呼出
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public void GotKill()
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{
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enemyKillCount += 1;
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@@ -493,19 +525,17 @@ public class AgentWithGun : Agent
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//List<float> enemyLDisList = RaySensors.enemyLDisList;// All Enemy Lside Distances
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//List<float> enemyRDisList = RaySensors.enemyRDisList;// All Enemy Rside Distances
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int allEnemyNum = RaySensors.allEnemyNum;
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rayScript.updateRayInfo();
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float[] myObserve = { thisAgent.position.x, thisAgent.position.y, thisAgent.position.z, thisAgent.rotation.w };
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float[] rayTagResult = RaySensors.rayTagResult;// 探测用RayTag结果 float[](raySensorNum,1)
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float[] rayDisResult = RaySensors.rayDisResult; // 探测用RayDis结果 float[](raySensorNum,1)
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float[] focusEnemyObserve = RaySensors.focusEnemyInfo;// 最近的Enemy情报 float[](3,1) MinEnemyIndex,x,z
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int raySensorNum = rayScript.rayNum;// raySensor数量 int
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float[] rayTagResult = rayScript.rayTagResult;// 探测用RayTag结果 float[](raySensorNum,1)
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float[] rayDisResult = rayScript.rayDisResult; // 探测用RayDis结果 float[](raySensorNum,1)
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//float[] focusEnemyObserve = RaySensors.focusEnemyInfo;// 最近的Enemy情报 float[](3,1) MinEnemyIndex,x,z
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//sensor.AddObservation(allEnemyNum); // 敌人数量 int
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sensor.AddObservation(myObserve); // 自机位置xyz+朝向 float[](4,1)
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sensor.AddObservation(rayTagResult); // 探测用RayTag结果 float[](raySensorNum,1)
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sensor.AddObservation(rayDisResult); // 探测用RayDis结果 float[](raySensorNum,1)
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sensor.AddObservation(focusEnemyObserve); // 最近的Enemy情报 float[](3,1) MinEnemyIndex,x,z
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//sensor.AddObservation(focusEnemyObserve); // 最近的Enemy情报 float[](3,1) MinEnemyIndex,x,z
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//sensor.AddObservation(raySensorNum); // raySensor数量 int
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sensor.AddObservation(LoadDirDateF); // 用于loadModel的第一级dir
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sensor.AddObservation(loadDirTimeF); // 用于loadModel的第二级dir
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@@ -6,6 +6,7 @@ public class CameraChange : MonoBehaviour
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{
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public Camera FPSCamera;
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public Camera TPSCamera;
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public GameObject AgentOBJ;
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public void switchCamera()
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{
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@@ -26,10 +27,12 @@ public class CameraChange : MonoBehaviour
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{
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TPSCamera.enabled = true;
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FPSCamera.enabled = false;
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AgentOBJ.GetComponent<RaySensors>().showInGameRay = true;
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}
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public void ShowFPSView()
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{
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FPSCamera.enabled = true;
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TPSCamera.enabled = false;
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AgentOBJ.GetComponent<RaySensors>().showInGameRay = false;
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}
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}
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@@ -1,52 +0,0 @@
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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public class Camera_Control : MonoBehaviour
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{
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public Transform Agent;
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public Camera Cam;
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public float MouseSensitivity = 100;
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public float yRotation = 0.1f;//定义一个浮点类型的量，记录‘围绕’X轴旋转的角度
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public float viewDistance = 100;
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private float Mouse_X;
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private float Mouse_Y;
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void Start()
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{
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Cursor.lockState = CursorLockMode.Locked;// 隐藏并且锁定鼠标
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}
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void Update()
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{
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//Mouse_X = Input.GetAxis("Mouse X") * MouseSensitivity * Time.deltaTime;
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//Debug.Log(Input.GetAxis("Mouse X"));
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//Mouse_Y = Input.GetAxis("Mouse Y") * MouseSensitivity * Time.deltaTime;
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//yRotation = yRotation - Mouse_Y;
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//xRotation值为正时，屏幕下移，当xRotation值为负时，屏幕上移
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//当鼠标向上滑动，Mouse_Y值为正,xRotation-Mouse_Y的值为负,xRotation总的值为负，屏幕视角向上滑动
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//当鼠标向下滑动，Mouse_Y值为负,xRotation-Mouse_Y的值为正,xRotation总的值为正，屏幕视角向下滑动
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//简单来说就是要控制鼠标滑动的方向与屏幕移动的方向要相同
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//limit UP DOWN between -90 -> 90
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//yRotation = Mathf.Clamp(yRotation, -90f, 90f);
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//相机左右旋转时，是以Y轴为中心旋转的，上下旋转时，是以X轴为中心旋转的
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//Agent.Rotate(Vector3.up * Mouse_X);
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//Vector3.up相当于Vector3(0,1,0),CameraRotation.Rotate(Vector3.up * Mouse_X)相当于使CameraRotation对象绕y轴旋转Mouse_X个单位
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//即相机左右旋转时，是以Y轴为中心旋转的，此时Mouse_X控制着值的大小
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//相机在上下旋转移动时，相机方向不会随着移动，类似于低头和抬头，左右移动时，相机方向会随着向左向右移动，类似于向左向右看
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//所以在控制相机向左向右旋转时，要保证和父物体一起转动
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//this.transform.localRotation = Quaternion.Euler(yRotation, 0, 0);
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//this.transform指这个CameraRotation的位置,localRotation指的是旋转轴
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//transform.localRotation = Quaternion.Eular(x,y,z)控制旋转的时候，按照X-Y-Z轴的旋转顺规
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//即以围绕X轴旋转x度，围绕Y轴旋转y度，围绕Z轴旋转z度
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//且绕轴旋转的坐标轴是父节点本地坐标系的坐标轴
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}
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}
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@@ -15,6 +15,10 @@ public class EnemyHPBar : MonoBehaviour
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EnemyOBJ = transform.parent.gameObject;
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BGOBJ = transform.GetChild(0).gameObject;
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gaugeImgOBJ = BGOBJ.transform.GetChild(0).gameObject;
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Vector3 v = Camera.main.transform.position - transform.position;
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v.x = v.z = 0.0f;
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transform.LookAt(Camera.main.transform.position - v);
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transform.Rotate(0,180,0);
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}
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void Update()
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@@ -1,4 +1,5 @@
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using System.Collections;
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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@@ -7,30 +8,59 @@ using UnityEngine;
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public class RaySensors : MonoBehaviour
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{
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public Camera agentCam;
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public GameObject myself;
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public int rayNum = 6;
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public string EnemyTagName;
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public string WallTagName;
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public float viewDistance = 100; // how long the ray can detect
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public float Damage = 50; // damage to enemy
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public float attentionRange = 1f; //注意力范围，1为最大
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public float MaxDistance = 9999999999f;
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public float EnemyWidthRedundancy = 0.01f; //为了确保Ray可以击中Enemy，用于缩小EnemyWidth的长度
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//public List<string> tagNames = new List<string>();
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public static int allEnemyNum = 0;//All Enemy Num
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public static float[] focusEnemyInfo = new float[3];
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public static float[] rayTagResult; // Array to save Tag Result
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public static float[] rayDisResult; // Array to save Distance Result
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public static List<float> enemyLDisList = new List<float>();// All Enemy Lside Distances
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public static List<float> enemyRDisList = new List<float>();// All Enemy Rside Distances
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public Material lineMeterial;
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public GameObject rayInfoPrefab;
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public GameObject agentCanvas;
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[SerializeField, Range(0, 500)] public float viewDistance = 100; // how long the ray can detect
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//[SerializeField, Range(0, 1)] public float totalRange = 1f; // Total view range Max = 1
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[SerializeField, Range(0, 1)] public float focusRange = 0.15f; // center focus range
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public int halfOuterRayNum = 3; // >=2
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public int focusRayNum = 5; // >= 1 and must be odd num!
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[Header("InGameLineSetting")]
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public bool showInGameRay = true;
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public bool showDebugRay = true;
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public bool showInGameRayInfo = true;
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public float lineWidth = 0.05f;
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public bool showEnemySensor = true;
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public bool showEyeSensor = true;
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[Header("RayCastResult")]
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public float[] rayTagResult;
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public float[] rayDisResult;
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[System.NonSerialized] public int totalRayNum;
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GameObject[] linesOBJ;
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GameObject[] rayInfoOBJ;
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LineRenderer[] lineRenderers;
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rayInfoUI[] rayInfoUIs;
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private void Start()
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{
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totalRayNum = halfOuterRayNum * 2 + focusRayNum;
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rayTagResult = new float[totalRayNum];
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rayDisResult = new float[totalRayNum];
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linesOBJ = new GameObject[totalRayNum];
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lineRenderers = new LineRenderer[totalRayNum];
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rayInfoOBJ = new GameObject[totalRayNum];
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rayInfoUIs = new rayInfoUI[totalRayNum];
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for(int i = 0; i < totalRayNum; i++)
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{
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linesOBJ[i] = new GameObject();
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linesOBJ[i].name = "rayCastLine-" + Convert.ToString(i);
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linesOBJ[i].transform.parent = agentCam.transform;
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linesOBJ[i].AddComponent<LineRenderer>();
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lineRenderers[i] = linesOBJ[i].GetComponent<LineRenderer>();
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lineRenderers[i].material = lineMeterial;
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rayInfoOBJ[i] = (GameObject)Instantiate(rayInfoPrefab);
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rayInfoOBJ[i].transform.SetParent(agentCanvas.transform,false);
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rayInfoOBJ[i].name = "rayInfo-" + Convert.ToString(i);
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rayInfoUIs[i] = rayInfoOBJ[i].GetComponent<rayInfoUI>();
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}
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}
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static int tagToInt(string tag)
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{
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@@ -45,277 +75,107 @@ public class RaySensors : MonoBehaviour
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}
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}
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// 敌人Ray探测处理
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// 返回
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(int, List<float>, List<float>, float[]) enemySensorRay(GameObject myself, Camera agentCam, float attentionRange)
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private void singleRaycastUpdate(Ray ray,LineRenderer thisLineRenderer,rayInfoUI thisRayInfoUI, out float rayTagResult, out float rayDisResult)
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{
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List<float> thisLDistanceList = new List<float>();
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List<float> thisRDistanceList = new List<float>();
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GameObject[] EnemyGameObjs;
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EnemyGameObjs = GameObject.FindGameObjectsWithTag("Enemy");
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int EnemyIndex = 0;
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float MinEnemyDis = MaxDistance+1.0f;
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int MinEnemyIndex = 0;
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float[] MinEnemyInfo = new float[3];
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//遍历所有Enemy
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foreach (GameObject EnemyObj in EnemyGameObjs)
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// get Raycast hit infomation and return Tag and distance
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RaycastHit thisHit;
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Color rayColor = Color.cyan;
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float lineLength = viewDistance;
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string rayInfoText = "";
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Vector3 rayInfoPosition;
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if (Physics.Raycast(ray, out thisHit, viewDistance)) // 若在viewDistance范围内有碰撞
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{
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Vector3 thisEnemyPosition = EnemyObj.transform.position;
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Vector3 thisEnemyScale = EnemyObj.transform.localScale;
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Vector3 MyselfPosition = myself.transform.position;
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float thisEnemyWidth = (float)(thisEnemyScale.x / 2) - EnemyWidthRedundancy;
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float thisEnemyDistance = Vector3.Distance(MyselfPosition, thisEnemyPosition);
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//探测到Agent为自己时的处理
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if (thisEnemyPosition == MyselfPosition)
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rayInfoText = thisHit.collider.tag;
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rayTagResult = tagToInt(thisHit.collider.tag);
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rayDisResult = thisHit.distance;
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lineLength = rayDisResult;
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rayInfoText += "\n" + Convert.ToString(rayDisResult);
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//输出log
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switch (rayTagResult)
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{
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//Debug.Log("OH It's me");
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thisLDistanceList.Add(MaxDistance);
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thisRDistanceList.Add(MaxDistance);
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}
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//非己Agent处理
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else
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{
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EnemyIndex += 1;
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Vector3 Vertical = new Vector3(0, 100, 0);//垂直向上的向量
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Vector3 EnemytoMe = MyselfPosition - thisEnemyPosition;//Enemy和自机连线，指向自机的向量
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Vector3 LHorizontal = Vector3.Cross(Vertical, EnemytoMe);// 垂直于EnemytoMe与Vertical向量所组成的面的，且指向<-左侧的小向量<- Enemy
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Vector3 RHorizontal = Vector3.Cross(EnemytoMe, Vertical);// 垂直于EnemytoMe与Vertical向量所组成的面的，且指向->右侧的小向量Enemy ->
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//此时RHorizontal，LHorizontal的长度巨几把长，需要下面操作标准化为1/2Enemy宽度
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float standaedization = (float)thisEnemyWidth / Vector3.Distance(thisEnemyPosition, RHorizontal);//计算需要缩小的比例
|
||||
RHorizontal *= standaedization;//应用缩小比例，标准化完成
|
||||
LHorizontal *= standaedization;//应用缩小比例，标准化完成
|
||||
Vector3 LMetoEnemy = LHorizontal - EnemytoMe;//自机与左侧边界连线Me<- Enemy
|
||||
Vector3 RMetoEnemy = RHorizontal - EnemytoMe;//自机与右侧边界连线Enemy ->Me
|
||||
Vector3 L0toEnemy = LHorizontal + thisEnemyPosition;// Enemy左侧绝对坐标
|
||||
Vector3 R0toEnemy = RHorizontal + thisEnemyPosition;// Enemy右侧绝对坐标
|
||||
float LMetoEnemyDist = Vector3.Distance(MyselfPosition, L0toEnemy);
|
||||
float RMetoEnemyDist = Vector3.Distance(MyselfPosition, R0toEnemy);
|
||||
Vector3 LEnemyInView = agentCam.WorldToViewportPoint(L0toEnemy);//Enemy左侧于视角中位置
|
||||
Vector3 REnemyInView = agentCam.WorldToViewportPoint(R0toEnemy);//Enemy右侧于视角中位置
|
||||
//Debug连线，颜色遵循飞机航行灯基本使用规则，左红右绿尾翼白。
|
||||
//Debug.DrawRay(thisEnemyPosition, EnemytoMe, Color.white);//Enemy和自机连线，指向自机的向量
|
||||
//Debug.DrawRay(thisEnemyPosition, Vertical, Color.white);//垂直向上的向量
|
||||
//Debug.DrawRay(thisEnemyPosition, LHorizontal, Color.red);// 垂直于Vc与Vertical向量所组成的面的，且指向<-左侧的小向量<- Enemy
|
||||
//Debug.DrawRay(thisEnemyPosition, RHorizontal, Color.green);// 垂直于Vc与Vertical向量所组成的面的，且指向->右侧的小向量Enemy ->
|
||||
//Debug.DrawRay(MyselfPosition, LMetoEnemy, Color.red);//自机与左侧边界连线<- Enemy
|
||||
//Debug.DrawRay(MyselfPosition, RMetoEnemy, Color.green);//自机与右侧边界连线Enemy ->
|
||||
//Debug.Log("EnemyObj" + EnemyIndex + "Position:" + thisEnemyPosition);
|
||||
|
||||
|
||||
//左侧于可见范围内--<--<--<--<--<--<--<--<--<--<--<--<--<--<
|
||||
if (LEnemyInView.x >= (thisEnemyWidth - attentionRange / 2) && LEnemyInView.x <= (thisEnemyWidth + attentionRange / 2) && LEnemyInView.z > 0)
|
||||
{
|
||||
//射出Raycast
|
||||
Ray LRay = new Ray(MyselfPosition, LMetoEnemy);
|
||||
RaycastHit LHit;
|
||||
if (showEnemySensor)
|
||||
{
|
||||
Debug.DrawRay(LRay.origin, LRay.direction * LMetoEnemyDist, Color.white);//自机与左侧边界连线<- Enemy
|
||||
}
|
||||
//Ray Hit Something
|
||||
if (Physics.Raycast(MyselfPosition, LMetoEnemy, out LHit, LMetoEnemyDist))
|
||||
{
|
||||
//Ray Hit Enemy
|
||||
//并且当射线射到的Enemy的距离与当前判断Enemy的距离差小于该Enemy半径时
|
||||
//既该射线所射到的Enemy为当前Enemy而不是别的时
|
||||
if (LHit.collider.tag == EnemyTagName && System.Math.Abs(LHit.distance - thisEnemyDistance) <= thisEnemyWidth)
|
||||
{
|
||||
if (showEnemySensor)
|
||||
{
|
||||
Debug.DrawRay(LRay.origin, LRay.direction * LHit.distance, Color.red);//自机与所击中物体的连线
|
||||
}
|
||||
thisLDistanceList.Add(LHit.distance);
|
||||
//Debug.Log("Hit Tag = " + LHit.collider.tag);
|
||||
//Debug.Log(LDistance[EnemyIndex-1]);
|
||||
//Debug.Log("ADD_LIST_ENEMYL");
|
||||
}
|
||||
//当射线所hit的不是enemy或hit的enemy不是当前所判断的enemy
|
||||
else
|
||||
{
|
||||
if (showEnemySensor)
|
||||
{
|
||||
Debug.DrawRay(LRay.origin, LRay.direction * LHit.distance, Color.cyan);//自机与所击中物体的连线
|
||||
}
|
||||
thisLDistanceList.Add(MaxDistance);
|
||||
//Debug.LogWarning("Hit Tag = " + LHit.collider.tag);
|
||||
//Debug.LogWarning(LDistance[EnemyIndex-1]);
|
||||
//Debug.Log("ADD_LIST_ENEMYL");
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
thisLDistanceList.Add(MaxDistance);
|
||||
Debug.LogError("LRAY HIT NOTHING, Check Code!");
|
||||
}
|
||||
}
|
||||
//左侧不在可见范围内时--<--<--<--<--<--<--<--<--<--<--<--<--<--<
|
||||
else
|
||||
{
|
||||
thisLDistanceList.Add(MaxDistance);
|
||||
//Debug.LogError("NoVisual");
|
||||
//Debug.LogError(LDistance[EnemyIndex-1]);
|
||||
//Debug.Log("ADD_LIST_ENEMYL_ELSE");
|
||||
}
|
||||
|
||||
//右侧于可见范围内-->-->-->-->-->-->-->-->-->-->-->-->-->-->
|
||||
if (REnemyInView.x >= (thisEnemyWidth - attentionRange / 2) && REnemyInView.x <= (thisEnemyWidth + attentionRange / 2) && REnemyInView.z > 0)
|
||||
{
|
||||
//射出Raycast
|
||||
Ray RRay = new Ray(MyselfPosition, RMetoEnemy);
|
||||
RaycastHit RHit;
|
||||
if (showEnemySensor)
|
||||
{
|
||||
Debug.DrawRay(RRay.origin, RRay.direction * RMetoEnemyDist, Color.white);//自机与左侧边界连线<- Enemy
|
||||
}
|
||||
//Ray Hit Something
|
||||
if (Physics.Raycast(MyselfPosition, RMetoEnemy, out RHit, RMetoEnemyDist))
|
||||
{
|
||||
//Ray Hit Enemy
|
||||
//并且当射线射到的Enemy的距离与当前判断Enemy的距离差小于该Enemy半径时
|
||||
//既该射线所射到的Enemy为当前Enemy而不是别的时
|
||||
if (RHit.collider.tag == EnemyTagName && System.Math.Abs(RHit.distance - thisEnemyDistance) <= thisEnemyWidth)
|
||||
{
|
||||
if (showEnemySensor)
|
||||
{
|
||||
Debug.DrawRay(RRay.origin, RRay.direction * RHit.distance, Color.red);//自机与所击中物体的连线
|
||||
}
|
||||
thisRDistanceList.Add(RHit.distance);
|
||||
//Debug.Log("Hit Tag = " + LHit.collider.tag);
|
||||
//Debug.Log(LDistance[EnemyIndex-1]);
|
||||
//Debug.Log("ADD_LIST_ENEMYR");
|
||||
}
|
||||
//当射线所hit的不是enemy或hit的enemy不是当前所判断的enemy
|
||||
else
|
||||
{
|
||||
if (showEnemySensor)
|
||||
{
|
||||
Debug.DrawRay(RRay.origin, RRay.direction * RHit.distance, Color.cyan);//自机与所击中物体的连线
|
||||
}
|
||||
thisRDistanceList.Add(MaxDistance);
|
||||
//Debug.LogWarning("Hit Tag = " + LHit.collider.tag);
|
||||
//Debug.LogWarning(LDistance[EnemyIndex-1]);
|
||||
//Debug.Log("ADD_LIST_ENEMYR");
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
thisLDistanceList.Add(MaxDistance);
|
||||
Debug.LogError("RRAY HIT NOTHING, Check Code!");
|
||||
}
|
||||
}
|
||||
//右侧不在可见范围内时-->-->-->-->-->-->-->-->-->-->-->-->-->-->
|
||||
else
|
||||
{
|
||||
thisRDistanceList.Add(MaxDistance);
|
||||
//Debug.LogError("NoVisual");
|
||||
//Debug.LogError(LDistance[EnemyIndex-1]);
|
||||
//Debug.Log("ADD_LIST_ENEMYR_ELSE");
|
||||
}
|
||||
}
|
||||
//Debug.LogWarning("EnemyIndex" + EnemyIndex);
|
||||
//Debug.LogWarning(thisLDistanceList.Count);
|
||||
//Debug.LogWarning(MinEnemyIndex);
|
||||
//Debug.Log("thisLDistanceList" + thisLDistanceList.Count);
|
||||
//Debug.Log("thisRDistanceList" + thisRDistanceList.Count);
|
||||
|
||||
//检查最近Enemy
|
||||
if (System.Math.Min(thisLDistanceList[EnemyIndex], thisRDistanceList[EnemyIndex]) < MinEnemyDis)
|
||||
{
|
||||
//Debug.Log("EnemyIndex" + EnemyIndex);
|
||||
MinEnemyDis = System.Math.Min(thisLDistanceList[EnemyIndex], thisRDistanceList[EnemyIndex]);
|
||||
MinEnemyIndex = EnemyIndex;
|
||||
case 1:// Wall
|
||||
rayColor = Color.white;
|
||||
break;
|
||||
case 2: // Enemy
|
||||
rayColor = Color.red;
|
||||
break;
|
||||
case -1: // Hit Nothing
|
||||
rayColor = Color.gray;
|
||||
break;
|
||||
default: // default,got wrong
|
||||
rayColor = Color.cyan;
|
||||
break;
|
||||
}
|
||||
}
|
||||
// 获取最近敌人的准确位置信息
|
||||
MinEnemyInfo[0] = (float)MinEnemyIndex;
|
||||
if(MinEnemyInfo[0] <= 0)
|
||||
else // 若在viewDistance范围无碰撞
|
||||
{
|
||||
MinEnemyInfo[1] = MaxDistance;
|
||||
MinEnemyInfo[2] = MaxDistance;
|
||||
rayTagResult = -1f;
|
||||
rayDisResult = -1f;
|
||||
//输出log
|
||||
//Debug.Log(0);
|
||||
//Debug.Log(0);
|
||||
}
|
||||
rayInfoPosition = ray.origin + (ray.direction * lineLength);
|
||||
if (showInGameRay)
|
||||
{
|
||||
drawLine(ray, lineLength, thisLineRenderer, rayColor);
|
||||
}
|
||||
else
|
||||
{
|
||||
MinEnemyInfo[1] = EnemyGameObjs[MinEnemyIndex].transform.position.x;
|
||||
MinEnemyInfo[2] = EnemyGameObjs[MinEnemyIndex].transform.position.z;
|
||||
turnOffLine(thisLineRenderer, rayColor);
|
||||
}
|
||||
return (EnemyIndex, thisLDistanceList, thisRDistanceList,MinEnemyInfo);
|
||||
// drawRay in game
|
||||
if (showInGameRayInfo) thisRayInfoUI.updateInfo(rayInfoText, rayInfoPosition, rayColor);
|
||||
// Show log
|
||||
if (showDebugRay) Debug.DrawRay(ray.origin, ray.direction * viewDistance, rayColor); // drawRay in debug
|
||||
// Debug.Log(ray.origin + ray.direction);
|
||||
// Debug.Log(rayTagResult);
|
||||
// Debug.Log(tagToInt(thisHit.collider.tag));
|
||||
}
|
||||
|
||||
|
||||
// 全局Ray探测处理
|
||||
(float[], float[]) eyeSensorRay(int rayNum, Camera agentCam, float viewDistance)
|
||||
private void drawLine(Ray ray,float lineLength, LineRenderer thisLineRenderer, Color lineColor)
|
||||
{
|
||||
//初始化result Array
|
||||
float[] thisRayTagResult = new float[rayNum];
|
||||
float[] thisRayDisResult = new float[rayNum];
|
||||
|
||||
//于视角范围内一帧射出rayNum条射线
|
||||
for (int a = 0; a <= rayNum - 1; a = a + 1)
|
||||
{
|
||||
//射线射出
|
||||
Vector3 point = new Vector3(a * agentCam.pixelWidth / (rayNum - 1), agentCam.pixelHeight / 2, 0);//发射位置
|
||||
Ray ray = agentCam.ScreenPointToRay(point);
|
||||
RaycastHit hit;
|
||||
if (showEyeSensor)
|
||||
{
|
||||
Debug.DrawRay(ray.origin, ray.direction * viewDistance, Color.black);
|
||||
}
|
||||
//若在viewDistance范围内有碰撞
|
||||
if (Physics.Raycast(ray, out hit, viewDistance))
|
||||
{
|
||||
thisRayTagResult[a] = tagToInt(hit.collider.tag);
|
||||
thisRayDisResult[a] = hit.distance;
|
||||
if (showEyeSensor)
|
||||
{
|
||||
Debug.DrawRay(ray.origin, ray.direction * hit.distance, Color.yellow);
|
||||
}
|
||||
//输出log
|
||||
//Debug.Log(rayTagResult[a]);
|
||||
//Debug.Log(tagToInt(hit.collider.tag));
|
||||
|
||||
}
|
||||
//若在viewDistance范围无碰撞
|
||||
else
|
||||
{
|
||||
thisRayTagResult[a] = -1f;
|
||||
thisRayDisResult[a] = -1f;
|
||||
//输出log
|
||||
//Debug.Log(0);
|
||||
//Debug.Log(0);
|
||||
}
|
||||
}
|
||||
return (thisRayTagResult, thisRayDisResult);
|
||||
thisLineRenderer.startColor = lineColor;
|
||||
thisLineRenderer.endColor = lineColor;
|
||||
thisLineRenderer.startWidth = lineWidth;
|
||||
thisLineRenderer.endWidth = lineWidth;
|
||||
thisLineRenderer.SetPosition(0, ray.origin);
|
||||
thisLineRenderer.SetPosition(1, ray.origin + (ray.direction * lineLength));
|
||||
}
|
||||
|
||||
void Start()
|
||||
private void turnOffLine(LineRenderer thisLineRenderer, Color lineColor)
|
||||
{
|
||||
rayTagResult = new float[rayNum];
|
||||
rayDisResult = new float[rayNum];
|
||||
thisLineRenderer.startColor = lineColor;
|
||||
thisLineRenderer.endColor = lineColor;
|
||||
thisLineRenderer.startWidth = 0f;
|
||||
thisLineRenderer.endWidth = 0f;
|
||||
thisLineRenderer.SetPosition(0, new Vector3(0, 0, 0));
|
||||
thisLineRenderer.SetPosition(1, new Vector3(0, 0, 0));
|
||||
}
|
||||
|
||||
|
||||
|
||||
void Update()
|
||||
public void updateRayInfo()
|
||||
{
|
||||
(rayTagResult, rayDisResult) = eyeSensorRay(rayNum, agentCam, viewDistance);
|
||||
(allEnemyNum, enemyLDisList, enemyRDisList, focusEnemyInfo) = enemySensorRay(myself, agentCam, attentionRange);
|
||||
transform.gameObject.GetComponent<UIController>().updateRemainEnemy(allEnemyNum);
|
||||
/*
|
||||
Debug.LogWarning("rayNum :" + rayNum);
|
||||
for (int i =0;i < rayNum; i++)
|
||||
float focusLEdge = agentCam.pixelWidth * (1 - focusRange) / 2;
|
||||
float focusREdge = agentCam.pixelWidth * (1 + focusRange) / 2;
|
||||
float thisCamPixelHeight = agentCam.pixelHeight;
|
||||
|
||||
for (int i = 0; i < halfOuterRayNum; i++) // create left outside rays; 0 ~ focusLeftEdge
|
||||
{
|
||||
Debug.Log("rayTagResult" + rayTagResult[i] + "rayDisResult"+ rayDisResult[i]);
|
||||
Vector3 point = new Vector3(i * focusLEdge / (halfOuterRayNum - 1), thisCamPixelHeight / 2, 0);
|
||||
Ray thisRay = agentCam.ScreenPointToRay(point);
|
||||
singleRaycastUpdate(thisRay,lineRenderers[i], rayInfoUIs[i] , out rayTagResult[i], out rayDisResult[i]);
|
||||
}
|
||||
Debug.LogWarning("EnemyNum Include Me:" + allEnemyNum);
|
||||
for(int i = 0; i < allEnemyNum; i++)
|
||||
for (int i = 0; i < halfOuterRayNum; i++) // create right outside rays; focusRightEdge ~ MaxPixelHeight
|
||||
{
|
||||
Debug.Log("enemyLDisList" + enemyLDisList[i] + "enemyRDisList" + enemyRDisList[i]);
|
||||
Vector3 point = new Vector3(focusREdge + (i * focusLEdge / (halfOuterRayNum - 1)), thisCamPixelHeight / 2, 0);
|
||||
Ray thisRay = agentCam.ScreenPointToRay(point);
|
||||
singleRaycastUpdate(thisRay, lineRenderers[halfOuterRayNum + i], rayInfoUIs[halfOuterRayNum + i], out rayTagResult[halfOuterRayNum + i], out rayDisResult[halfOuterRayNum + i]);
|
||||
}
|
||||
for (int i = 0; i < focusRayNum; i++) // create center focus rays; focusLeftEdge ~ focusLeftEdge
|
||||
{
|
||||
Vector3 point = new Vector3(focusLEdge + ((i + 1) * (focusREdge - focusLEdge) / (focusRayNum + 1)), thisCamPixelHeight / 2, 0);
|
||||
Ray thisRay = agentCam.ScreenPointToRay(point);
|
||||
singleRaycastUpdate(thisRay, lineRenderers[halfOuterRayNum * 2 + i], rayInfoUIs[halfOuterRayNum * 2 + i], out rayTagResult[halfOuterRayNum*2 + i], out rayDisResult[halfOuterRayNum*2 + i]);
|
||||
}
|
||||
*/
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,25 @@
|
||||
using UnityEngine;
|
||||
using UnityEngine.UI;
|
||||
using TMPro;
|
||||
|
||||
public class rayInfoUI : MonoBehaviour
|
||||
{
|
||||
TextMeshProUGUI infoText;
|
||||
|
||||
// Start is called before the first frame update
|
||||
void Start()
|
||||
{
|
||||
infoText = transform.GetChild(0).gameObject.GetComponent<TextMeshProUGUI>();
|
||||
}
|
||||
|
||||
public void updateInfo(string info,Vector3 infoPosition, Color infoColor)
|
||||
{
|
||||
infoText.text = info;
|
||||
infoText.color = infoColor;
|
||||
transform.position = infoPosition;
|
||||
Vector3 v = Camera.main.transform.position - infoPosition;
|
||||
v.x = v.z = 0.0f;
|
||||
transform.LookAt(Camera.main.transform.position - v);
|
||||
transform.Rotate(0, 180, 0);
|
||||
}
|
||||
}
|
||||
+1
-1
@@ -1,5 +1,5 @@
|
||||
fileFormatVersion: 2
|
||||
guid: cce4f6a22ca8eba4b94c1bfc6ac08072
|
||||
guid: 812dfed7ee1d09c4fa7c3ed8372f54ae
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
@@ -1,22 +0,0 @@
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using UnityEngine.UI;
|
||||
|
||||
public class DecisionPeriodChanger : MonoBehaviour
|
||||
{
|
||||
public GameObject DataTransfer;
|
||||
public Slider DecisionPeriodSlide;
|
||||
public Text DecisionPeriodDataText;
|
||||
public Toggle TakeActionsBetweenDecisionsToggle;
|
||||
|
||||
public void onSlideValueChanged()
|
||||
{
|
||||
DataTransfer.GetComponent<StartSeneData>().DecisionPeriod = (int)(DecisionPeriodSlide.GetComponent<Slider>().value);
|
||||
DecisionPeriodDataText.text = DataTransfer.GetComponent<StartSeneData>().DecisionPeriod.ToString();
|
||||
}
|
||||
public void onToggleChanged()
|
||||
{
|
||||
DataTransfer.GetComponent<StartSeneData>().ActionsBetweenDecisions = TakeActionsBetweenDecisionsToggle.isOn;
|
||||
}
|
||||
}
|
||||
@@ -1,11 +0,0 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 0d097ecbef2d7b843b772144dd301b2b
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
@@ -0,0 +1,62 @@
|
||||
using System;
|
||||
using UnityEngine;
|
||||
using UnityEngine.UI;
|
||||
|
||||
public class EnvArgsChanger : MonoBehaviour
|
||||
{
|
||||
public GameObject DataTransfer;
|
||||
|
||||
[Header("EnemyNum")]
|
||||
public Text EnemyNumText;
|
||||
public InputField EnemyNumInput;
|
||||
|
||||
[Header("TimeLimit")]
|
||||
public Text TimeLimText;
|
||||
public InputField TimelimInput;
|
||||
|
||||
[Header("Decision Period")]
|
||||
public Slider DecisionPeriodSlide;
|
||||
public Text DecisionPeriodDataText;
|
||||
public Toggle TakeActionsBetweenDecisionsToggle;
|
||||
|
||||
|
||||
public void onEnemynumValueChanged()
|
||||
{
|
||||
// enemy total num value control
|
||||
if (EnemyNumInput.GetComponent<InputField>().text == "" || EnemyNumInput.GetComponent<InputField>().text.Contains("-"))
|
||||
{
|
||||
EnemyNumText.color = Color.gray;
|
||||
}
|
||||
else
|
||||
{
|
||||
EnemyNumText.color = Color.yellow;
|
||||
DataTransfer.GetComponent<StartSeneData>().EnemyNum = Math.Abs(int.Parse(EnemyNumInput.GetComponent<InputField>().text));
|
||||
}
|
||||
}
|
||||
|
||||
public void onTimeValueChanged()
|
||||
{
|
||||
// time limit value control
|
||||
if (TimelimInput.GetComponent<InputField>().text == "" || TimelimInput.GetComponent<InputField>().text.Contains("-"))
|
||||
{
|
||||
TimeLimText.color = Color.gray;
|
||||
}
|
||||
else
|
||||
{
|
||||
TimeLimText.color = Color.yellow;
|
||||
DataTransfer.GetComponent<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();
|
||||
}
|
||||
public void onABDToggleChanged()
|
||||
{
|
||||
// Actions Between Decisions(ABD) Toggle Control
|
||||
DataTransfer.GetComponent<StartSeneData>().ActionsBetweenDecisions = TakeActionsBetweenDecisionsToggle.isOn;
|
||||
}
|
||||
}
|
||||
+1
-1
@@ -1,5 +1,5 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 7ab8f48d4eac07f44b093f714ede051c
|
||||
guid: ccfe892ab0f980343b6df0fafaec38e2
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
+14
-7
@@ -3,19 +3,15 @@ using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using UnityEngine.UI;
|
||||
|
||||
public class LoadDirToggle : MonoBehaviour
|
||||
public class LoadDirChanger : MonoBehaviour
|
||||
{
|
||||
public InputField LoadDirDateTextBox;
|
||||
public InputField LoadDirTimeTextBox;
|
||||
public Toggle Toggle;
|
||||
public GameObject DataTransfer;
|
||||
// Start is called before the first frame update
|
||||
void Start()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
public void OnToggleChanged()
|
||||
|
||||
public void OnDirToggleChanged()
|
||||
{
|
||||
// if loadDirToggle is on then turn off the input text boxs.
|
||||
LoadDirDateTextBox.interactable = Toggle.isOn;
|
||||
@@ -27,4 +23,15 @@ public class LoadDirToggle : MonoBehaviour
|
||||
DataTransfer.GetComponent<StartSeneData>().LoadDirTime = "0";
|
||||
}
|
||||
}
|
||||
|
||||
public void OnDateValueChanged()
|
||||
{
|
||||
string input = LoadDirDateTextBox.GetComponent<InputField>().text;
|
||||
DataTransfer.GetComponent<StartSeneData>().LoadDirDate = input;
|
||||
}
|
||||
public void OnTimeValueChanged()
|
||||
{
|
||||
string input = LoadDirTimeTextBox.GetComponent<InputField>().text;
|
||||
DataTransfer.GetComponent<StartSeneData>().LoadDirTime = input;
|
||||
}
|
||||
}
|
||||
+1
-1
@@ -1,5 +1,5 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 8396a1a162e012447a0e4f7626e70dc7
|
||||
guid: 664e98da80fb4d842b0c3aff09fd4dc9
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
@@ -1,14 +0,0 @@
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using UnityEngine.UI;
|
||||
|
||||
public class LoadDirDateTextChange : MonoBehaviour
|
||||
{
|
||||
public GameObject DataTransfer;
|
||||
public void OnValueChanged()
|
||||
{
|
||||
string input = this.GetComponent<InputField>().text;
|
||||
DataTransfer.GetComponent<StartSeneData>().LoadDirDate = input;
|
||||
}
|
||||
}
|
||||
@@ -1,14 +0,0 @@
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using UnityEngine.UI;
|
||||
|
||||
public class LoadDirTimeTextChange : MonoBehaviour
|
||||
{
|
||||
public GameObject DataTransfer;
|
||||
public void OnValueChanged()
|
||||
{
|
||||
string input = this.GetComponent<InputField>().text;
|
||||
DataTransfer.GetComponent<StartSeneData>().LoadDirTime = input;
|
||||
}
|
||||
}
|
||||
@@ -1,11 +0,0 @@
|
||||
fileFormatVersion: 2
|
||||
guid: e18f417f93a39c74481660da3236c133
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
@@ -1,5 +1,3 @@
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using UnityEngine.UI;
|
||||
using UnityEngine.SceneManagement;
|
||||
|
||||
@@ -1,25 +0,0 @@
|
||||
using System;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using UnityEngine.UI;
|
||||
|
||||
public class StartSceneEnemyNumChanger : MonoBehaviour
|
||||
{
|
||||
public GameObject DataTransfer;
|
||||
public InputField EnemyNumInput;
|
||||
public Text EnemyNumText;
|
||||
|
||||
public void onValueChanged()
|
||||
{
|
||||
if (EnemyNumInput.GetComponent<InputField>().text == "" || EnemyNumInput.GetComponent<InputField>().text.Contains("-"))
|
||||
{
|
||||
EnemyNumText.color = Color.gray;
|
||||
}
|
||||
else
|
||||
{
|
||||
EnemyNumText.color = Color.yellow;
|
||||
DataTransfer.GetComponent<StartSeneData>().EnemyNum = Math.Abs(int.Parse(EnemyNumInput.GetComponent<InputField>().text));
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,11 +0,0 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 64d0bcf55e4db0c488996ba1051c279f
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
@@ -1,25 +0,0 @@
|
||||
using System;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using UnityEngine.UI;
|
||||
|
||||
public class StartSceneTimeLimChanger : MonoBehaviour
|
||||
{
|
||||
public GameObject DataTransfer;
|
||||
public Text TimeLimText;
|
||||
public InputField TimelimInput;
|
||||
|
||||
public void onValueTimeChanged()
|
||||
{
|
||||
if (TimelimInput.GetComponent<InputField>().text == "" || TimelimInput.GetComponent<InputField>().text.Contains("-"))
|
||||
{
|
||||
TimeLimText.color = Color.gray;
|
||||
}
|
||||
else
|
||||
{
|
||||
TimeLimText.color = Color.yellow;
|
||||
DataTransfer.GetComponent<StartSeneData>().Timelim = Math.Abs(int.Parse(TimelimInput.GetComponent<InputField>().text));
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,11 +0,0 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 7857e2b2e5caf6b4686c4a7d87fa998e
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
Reference in New Issue
Block a user