V3.1.3 优化代码
分离AgentController和MLAgentsController
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using UnityEngine;
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public class AgentController : MonoBehaviour
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{
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public GameObject parameterContainerObj;
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public GameObject environmentObj;
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public GameObject enemyContainerObj;
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public GameObject sceneBlockContainerObj;
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public GameObject environmentUIControlObj;
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public GameObject targetControllerObj;
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public GameObject HUDObj;
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public Camera thisCam;
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[Header("GetAxis() Simulate")]
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public float moveSpeed = 9.0f;
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public float vX = 0f;
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public float vZ = 0f;
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public Vector3 thisMovement;
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public float acceleration = 0.1f; // 加速度
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public float mouseXSensitivity = 100;
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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 List<float> spinRecord = new List<float>();
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private bool lockMouse;
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private float damage;
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private float fireRate;
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private bool lockCameraX;
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private bool lockCameraY;
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// environment
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private float lastShootTime = 0.0f;
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private int enemyKillCount = 0;
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private Vector3 killEnemyPosition;
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public bool defaultTPCamera = true;
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[System.NonSerialized] public bool gunReadyToggle = true;
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private string myTag = "";
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private float lastEnemyFacingDistance = 0f; // record last enemy facing minimum distance
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private float lastTargetFacingDistance = 0f; // record last target facing minimum distance
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// scripts
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private RaySensors raySensors;
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private CharacterController playerController;
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private ParameterContainer paramContainer;
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private SceneBlockContainer blockContainer;
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private TargetController targetCon;
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private void Start()
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{
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// initialize scripts
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paramContainer = parameterContainerObj.GetComponent<ParameterContainer>();
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blockContainer = sceneBlockContainerObj.GetComponent<SceneBlockContainer>();
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targetCon = targetControllerObj.GetComponent<TargetController>();
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raySensors = GetComponent<RaySensors>();
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playerController = this.transform.GetComponent<CharacterController>();
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// initialize Environment parameters
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lockMouse = paramContainer.lockMouse;
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damage = paramContainer.damage;
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fireRate = paramContainer.fireRate;
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lockCameraX = paramContainer.lockCameraX;
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lockCameraY = paramContainer.lockCameraY;
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// initialize remainTime
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// this agent's tag
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myTag = gameObject.tag;
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}
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// ------------动作处理--------------
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// moveAgent 用于模拟Input.GetAxis移动
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public void MoveAgent(int vertical, int horizontal)
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{
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// Vector3 thisMovement;
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if (horizontal != 0)//当按下按键（水平方向）
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{
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if (vX < moveSpeed && vX > -moveSpeed)//当前速度小于最大速度
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{
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vX += (float)horizontal * acceleration;//增加加速度
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}
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else
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{
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//防止在一瞬间切换输入时速度仍保持不变
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if ((vX * horizontal) > 0)//输入与当前速度方向同向
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{
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vX = (float)horizontal * moveSpeed; //限制最大速度
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}
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else
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{
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vX += (float)horizontal * acceleration;//增加加速度
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}
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}
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}
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else
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{
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if (Math.Abs(vX) > 0.001)
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{
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vX -= (vX / Math.Abs(vX)) * acceleration;//减少加速度
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}
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else
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{
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vX = 0;
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}
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}
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if (vertical != 0)//当按下按键（垂直方向）
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{
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if (vZ < moveSpeed && vZ > -moveSpeed)//当前速度小于最大速度
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{
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vZ += (float)vertical * acceleration;//增加加速度
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}
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else
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{
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if ((vZ * vertical) > 0)//输入与当前速度方向同向
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{
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vZ = (float)vertical * moveSpeed; //限制最大速度
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}
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else
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{
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vZ += (float)vertical * acceleration;//增加加速度
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}
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}
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}
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else
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{
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if (Math.Abs(vZ) > 0.001)
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{
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vZ -= (vZ / Math.Abs(vZ)) * acceleration;//减少加速度
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}
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else
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{
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vZ = 0;
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}
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}
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thisMovement = (transform.forward * vZ + transform.right * vX);
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//PlayerController下的.Move为实现物体运动的函数
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//Move()括号内放入一个Vector3类型的量，本例中为Player_Move
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if (thisMovement.magnitude > moveSpeed)
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{
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thisMovement = thisMovement.normalized * moveSpeed;
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}
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playerController.Move(thisMovement * Time.deltaTime);
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// update Key Viewer
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}
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// ------------动作处理--------------
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// cameraControl 用于控制Agent视角转动
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public void CameraControl(float Mouse_X, float Mouse_Y)
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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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if (lockCameraX)
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{
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Mouse_X = 0;
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}
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if (lockCameraY)
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{
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Mouse_Y = 0;
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}
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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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transform.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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thisCam.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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// GotKill 获得击杀时用于被呼出
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public void KillRecord(Vector3 thiskillEnemyPosition)
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{
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enemyKillCount += 1;
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killEnemyPosition = thiskillEnemyPosition;
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}
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// ballistic 射击弹道处理，并返回获得reward
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private float Ballistic(int shootState)
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{
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Vector3 point = new Vector3(thisCam.pixelWidth / 2, thisCam.pixelHeight / 2, 0);//发射位置
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Ray ray = thisCam.ScreenPointToRay(point);
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RaycastHit hit;
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// Debug.DrawRay(ray.origin, ray.direction * 100, Color.blue);
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//按下鼠标左键
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if (shootState != 0 && gunReadyToggle == true)
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{
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lastShootTime = Time.time;
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if (Physics.Raycast(ray, out hit, 100))
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{
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if (hit.collider.tag != myTag && hit.collider.tag != "Wall")
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{
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// kill enemy
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GameObject gotHitObj = hit.transform.gameObject;//获取受到Ray撞击的对象
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gotHitObj.GetComponent<States>().ReactToHit(damage, gameObject);
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shootState = 0;
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return targetCon.HitEnemyReward(gotHitObj.transform.position);
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}
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}
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if (targetCon.targetTypeInt == (int)SceneBlockContainer.Targets.Attack)
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{
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// while if attack mode
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float targetDis = Vector3.Distance(blockContainer.thisBlock.transform.position, transform.position);
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if (targetDis <= raySensors.viewDistance)
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{
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// Debug.DrawRay(new Vector3(0,0,0), viewPoint, Color.red);
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if (Vector3.Distance(ray.origin + (ray.direction * targetDis), blockContainer.thisBlock.transform.position) <= blockContainer.thisBlock.firebasesAreaDiameter / 2)
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{
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// im shooting at target but didn't hit enemy
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// Debug.DrawRay(ray.origin, viewPoint-ray.origin, Color.blue);
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return paramContainer.shootTargetAreaReward;
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}
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}
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}
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shootState = 0;
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return paramContainer.shootReward;
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}
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else if (shootState != 0 && gunReadyToggle == false)
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{
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// shoot without ready
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shootState = 0;
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return paramContainer.shootWithoutReadyReward;
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}
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else
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{
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// do not shoot
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shootState = 0;
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return paramContainer.nonReward;
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}
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}
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private float FacingReward()
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{
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float thisReward = 0;
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bool isFacingtoEnemy = false;
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float enemyFacingDistance = 0f;
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Ray ray = thisCam.ScreenPointToRay(new Vector3(thisCam.pixelWidth / 2, thisCam.pixelHeight / 2, 0));
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if (targetCon.targetTypeInt == (int)SceneBlockContainer.Targets.Free)
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{
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//free mode
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RaycastHit hit;
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if (Physics.Raycast(ray, out hit, 100))
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{
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// facing to an enemy
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if (hit.collider.tag != myTag && hit.collider.tag != "Wall")
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{
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thisReward = paramContainer.facingReward;
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isFacingtoEnemy = true;
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}
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}
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if (raySensors.inViewEnemies.Count > 0 && !isFacingtoEnemy)
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{
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// have enemy in view
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List<float> projectionDis = new List<float>();
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foreach (GameObject thisEnemy in raySensors.inViewEnemies)
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{
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// for each enemy in view
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Vector3 projection = Vector3.Project(thisEnemy.transform.position - transform.position, (ray.direction * 10));
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Vector3 verticalToRay = transform.position + projection - thisEnemy.transform.position;
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projectionDis.Add(verticalToRay.magnitude);
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// Debug.Log("enemy!" + verticalToRay.magnitude);
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// Debug.DrawRay(transform.position, (ray.direction * 100), Color.cyan);
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// Debug.DrawRay(transform.position, thisEnemy.transform.position - transform.position, Color.yellow);
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// Debug.DrawRay(transform.position, projection, Color.blue);
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// Debug.DrawRay(thisEnemy.transform.position, verticalToRay, Color.magenta);
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}
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enemyFacingDistance = projectionDis.Min();
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if (enemyFacingDistance <= lastEnemyFacingDistance)
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{
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// closing to enemy
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thisReward = 1 / MathF.Sqrt(paramContainer.facingInviewEnemyDisCOEF * enemyFacingDistance + 0.00001f);
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}
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else
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{
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thisReward = 0;
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}
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// enemy in view Reward
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lastEnemyFacingDistance = enemyFacingDistance;
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if (thisReward >= paramContainer.facingReward) thisReward = paramContainer.facingReward; // limit
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if (thisReward <= -paramContainer.facingReward) thisReward = -paramContainer.facingReward; // limit
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// Debug.Log("ninimum = " + thisReward);
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}
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}
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else if (targetCon.targetTypeInt == (int)SceneBlockContainer.Targets.Attack)
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{
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// attack mode
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// Target to Agent distance
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float targetDis = Vector3.Distance(blockContainer.thisBlock.transform.position, transform.position);
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// center of screen between target's distance
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float camCenterToTarget = Vector3.Distance(ray.origin + (ray.direction * targetDis), blockContainer.thisBlock.transform.position);
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if (targetDis <= raySensors.viewDistance)
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{
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// Debug.DrawRay(new Vector3(0,0,0), viewPoint, Color.red);
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// while center of screen between target's distance is lower than firebasesAreaDiameter
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// while facing to target
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if (camCenterToTarget <= blockContainer.thisBlock.firebasesAreaDiameter / 2)
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{
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// Debug.DrawRay(ray.origin, viewPoint-ray.origin, Color.blue);
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thisReward = paramContainer.facingReward;
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}
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else
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{
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// while not facing to target
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thisReward = (lastTargetFacingDistance - camCenterToTarget) * paramContainer.facingTargetReward;
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}
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}
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// update lastTargetFacingDistance
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lastTargetFacingDistance = camCenterToTarget;
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}
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return thisReward;
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}
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// ------------Reward--------------
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// rewardCalculate 计算本动作的Reward
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public float RewardCalculate(float sceneReward, float mouseX, float movement, int shootState)
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{
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float epreward = 0f;
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// 击杀reward判断
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if (enemyKillCount > 0)
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{
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for (int i = 0; i < enemyKillCount; i++)
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{
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// get
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epreward += targetCon.KillReward(killEnemyPosition);
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}
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enemyKillCount = 0;
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}
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else
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{
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enemyKillCount = 0;
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}
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// 射击动作reward判断
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epreward += Ballistic(shootState) + sceneReward;
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// facing reward
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epreward += FacingReward();
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// Penalty
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// spin penalty
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spinRecord.Add(mouseX);
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if (spinRecord.Count >= paramContainer.spinRecordMax)
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{
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spinRecord.RemoveAt(0);
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}
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float spinPenaltyReward = Math.Abs(spinRecord.ToArray().Sum() * paramContainer.spinPenalty);
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if (spinPenaltyReward >= paramContainer.spinPenaltyThreshold)
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{
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epreward -= spinPenaltyReward;
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}
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else
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{
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epreward -= Math.Abs(mouseX) * paramContainer.mousePenalty;
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}
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// move penalty
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if (movement != 0)
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{
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epreward -= paramContainer.movePenalty;
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}
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return epreward;
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}
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public void UpdateLockMouse()
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{
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// lock mouse based on paramContainer lockMouse
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if (lockMouse)
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{
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Cursor.lockState = CursorLockMode.Locked;
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}
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}
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public void UpdateGunState()
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{
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// update gun state
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if ((Time.time - lastShootTime) >= fireRate)
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{
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gunReadyToggle = true;
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}
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else
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{
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gunReadyToggle = false;
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}
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}
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}
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@@ -0,0 +1,11 @@
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fileFormatVersion: 2
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guid: a899ce3efe4b8384a8cc2e43cc761b71
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MonoImporter:
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externalObjects: {}
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serializedVersion: 2
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defaultReferences: []
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executionOrder: 0
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icon: {instanceID: 0}
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userData:
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assetBundleName:
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assetBundleVariant:
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@@ -0,0 +1,247 @@
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using System;
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using Unity.MLAgents;
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using Unity.MLAgents.Actuators;
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using Unity.MLAgents.Sensors;
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using UnityEngine;
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public class MLAgentsCustomController : Agent
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{
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public GameObject paramContainerObj;
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public GameObject targetControllerObj;
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public GameObject environmentUIObj;
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public GameObject hudUIObj;
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[Header("Env")]
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public bool oneHotRayTag = true;
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// script
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private AgentController agentController;
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private ParameterContainer paramContainer;
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private TargetController targetController;
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private EnvironmentUIControl envUIController;
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private HUDController hudController;
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private RaySensors raySensors;
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// observation
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private float[] myObserve = new float[4];
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private float[] rayTagResult;
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private float[] rayTagResultOnehot;
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private float[] rayDisResult;
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private float[] targetStates;
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private float remainTime;
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private float inAreaState;
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private int finishedState;
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private int step = 0;
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private int EP = 0;
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private void Start()
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{
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agentController = transform.GetComponent<AgentController>();
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raySensors = transform.GetComponent<RaySensors>();
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paramContainer = paramContainerObj.GetComponent<ParameterContainer>();
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targetController = targetControllerObj.GetComponent<TargetController>();
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envUIController = environmentUIObj.GetComponent<EnvironmentUIControl>();
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hudController = hudUIObj.GetComponent<HUDController>();
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}
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||||
|
||||
// ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
|
||||
// env开始执行初始化
|
||||
public override void OnEpisodeBegin()
|
||||
{
|
||||
Debug.LogWarning("GameState|START TEST!");
|
||||
step = 0;
|
||||
agentController.UpdateLockMouse();
|
||||
paramContainer.ResetTimeBonusReward();
|
||||
//thisAgentObj.name = thisAgentObj.GetInstanceID().ToString();
|
||||
if (paramContainer.gameMode == 0)
|
||||
{
|
||||
// train mode
|
||||
targetController.RollNewScene();
|
||||
}
|
||||
else
|
||||
{
|
||||
// play mode
|
||||
targetController.PlayInitialize();
|
||||
}
|
||||
|
||||
// give default Reward to Reward value will be used.
|
||||
if (hudController.chartOn)
|
||||
{
|
||||
envUIController.InitChart();
|
||||
}
|
||||
raySensors.UpdateRayInfo(); // update raycast
|
||||
}
|
||||
|
||||
// ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
|
||||
// 观察情报
|
||||
public override void CollectObservations(VectorSensor sensor)
|
||||
{
|
||||
//List<float> enemyLDisList = RaySensors.enemyLDisList;// All Enemy Lside Distances
|
||||
//List<float> enemyRDisList = RaySensors.enemyRDisList;// All Enemy Rside Distances
|
||||
/**myObserve[0] = transform.localPosition.x / raySensors.viewDistance;
|
||||
myObserve[1] = transform.localPosition.y / raySensors.viewDistance;
|
||||
myObserve[2] = transform.localPosition.z / raySensors.viewDistance;
|
||||
myObserve[3] = transform.eulerAngles.y / 360f;**/
|
||||
myObserve[0] = transform.localPosition.x;
|
||||
myObserve[1] = transform.localPosition.y;
|
||||
myObserve[2] = transform.localPosition.z;
|
||||
myObserve[3] = transform.eulerAngles.y / 36f;
|
||||
rayTagResult = raySensors.rayTagResult;// 探测用RayTag结果 float[](raySensorNum,1)
|
||||
rayTagResultOnehot = raySensors.rayTagResultOneHot.ToArray(); // 探测用RayTagonehot结果 List<int>[](raySensorNum*Tags,1)
|
||||
rayDisResult = raySensors.rayDisResult; // 探测用RayDis结果 float[](raySensorNum,1)
|
||||
targetStates = targetController.targetState; // (6) targettype, target x,y,z, firebasesAreaDiameter
|
||||
remainTime = targetController.leftTime;
|
||||
inAreaState = targetController.GetInAreaState();
|
||||
agentController.UpdateGunState();
|
||||
//float[] focusEnemyObserve = RaySensors.focusEnemyInfo;// 最近的Enemy情报 float[](3,1) MinEnemyIndex,x,z
|
||||
|
||||
//sensor.AddObservation(allEnemyNum); // 敌人数量 int
|
||||
sensor.AddObservation(targetStates);// (6) targettype, target x,y,z, firebasesAreaDiameter
|
||||
sensor.AddObservation(inAreaState); // (1)
|
||||
sensor.AddObservation(remainTime); // (1)
|
||||
sensor.AddObservation(agentController.gunReadyToggle); // (1) save gun is ready?
|
||||
sensor.AddObservation(myObserve); // (4)自机位置xyz+朝向 float[](4,1)
|
||||
if (oneHotRayTag)
|
||||
{
|
||||
sensor.AddObservation(rayTagResultOnehot); // 探测用RayTag结果 float[](raySensorNum,1)
|
||||
}
|
||||
else
|
||||
{
|
||||
sensor.AddObservation(rayTagResult);
|
||||
}
|
||||
sensor.AddObservation(rayDisResult); // 探测用RayDis结果 float[](raySensorNum,1)
|
||||
envUIController.UpdateStateText(targetStates, inAreaState, remainTime, agentController.gunReadyToggle, myObserve, rayTagResultOnehot, rayDisResult);
|
||||
/*foreach(float aaa in rayDisResult)
|
||||
{
|
||||
Debug.Log(aaa);
|
||||
}
|
||||
Debug.LogWarning("------------");*/
|
||||
//sensor.AddObservation(focusEnemyObserve); // 最近的Enemy情报 float[](3,1) MinEnemyIndex,x,z
|
||||
//sensor.AddObservation(raySensorNum); // raySensor数量 int
|
||||
//sensor.AddObservation(remainTime); // RemainTime int
|
||||
}
|
||||
|
||||
// ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
|
||||
// agent 输入处理
|
||||
public override void OnActionReceived(ActionBuffers actionBuffers)
|
||||
{
|
||||
//获取输入
|
||||
int vertical = actionBuffers.DiscreteActions[0];
|
||||
int horizontal = actionBuffers.DiscreteActions[1];
|
||||
int mouseShoot = actionBuffers.DiscreteActions[2];
|
||||
float Mouse_X = actionBuffers.ContinuousActions[0];
|
||||
if (vertical == 2) vertical = -1;
|
||||
if (horizontal == 2) horizontal = -1;
|
||||
|
||||
//应用输入
|
||||
agentController.CameraControl(Mouse_X, 0);
|
||||
agentController.MoveAgent(vertical, horizontal);
|
||||
raySensors.UpdateRayInfo(); // update raycast
|
||||
|
||||
//判断结束
|
||||
float sceneReward = 0f;
|
||||
float endReward = 0f;
|
||||
(finishedState, sceneReward, endReward) = targetController.CheckOverAndRewards();
|
||||
float thisRoundReward = agentController.RewardCalculate(sceneReward + endReward, Mouse_X, Math.Abs(vertical) + Math.Abs(horizontal), mouseShoot);
|
||||
if (hudController.chartOn)
|
||||
{
|
||||
envUIController.UpdateChart(thisRoundReward);
|
||||
}
|
||||
else
|
||||
{
|
||||
envUIController.RemoveChart();
|
||||
}
|
||||
//Debug.Log("reward = " + thisRoundReward);
|
||||
if (finishedState != (int)TargetController.EndType.Running)
|
||||
{
|
||||
// Win or lose Finished
|
||||
Debug.Log("Finish reward = " + thisRoundReward);
|
||||
EP += 1;
|
||||
string targetString = Enum.GetName(typeof(SceneBlockContainer.Targets), targetController.targetTypeInt);
|
||||
switch (finishedState)
|
||||
{
|
||||
case (int)TargetController.EndType.Win:
|
||||
Debug.LogWarning("Result|" + targetString + "|Win");
|
||||
break;
|
||||
|
||||
case (int)TargetController.EndType.Lose:
|
||||
Debug.LogWarning("Result|" + targetString + "|Lose");
|
||||
break;
|
||||
|
||||
default:
|
||||
Debug.LogWarning("TypeError");
|
||||
break;
|
||||
}
|
||||
SetReward(thisRoundReward);
|
||||
EndEpisode();
|
||||
}
|
||||
else
|
||||
{
|
||||
// game not over yet
|
||||
step += 1;
|
||||
}
|
||||
SetReward(thisRoundReward);
|
||||
}
|
||||
|
||||
// ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
|
||||
// 控制调试
|
||||
public override void Heuristic(in ActionBuffers actionsOut)
|
||||
{
|
||||
//-------------------BUILD
|
||||
ActionSegment<float> continuousActions = actionsOut.ContinuousActions;
|
||||
ActionSegment<int> discreteActions = actionsOut.DiscreteActions;
|
||||
|
||||
if (Input.GetKey(KeyCode.W) && !Input.GetKey(KeyCode.S))
|
||||
{
|
||||
discreteActions[0] = 1;
|
||||
}
|
||||
else if (Input.GetKey(KeyCode.S) && !Input.GetKey(KeyCode.W))
|
||||
{
|
||||
discreteActions[0] = -1;
|
||||
}
|
||||
else
|
||||
{
|
||||
discreteActions[0] = 0;
|
||||
}
|
||||
if (Input.GetKey(KeyCode.D) && !Input.GetKey(KeyCode.A))
|
||||
{
|
||||
discreteActions[1] = 1;
|
||||
}
|
||||
else if (Input.GetKey(KeyCode.A) && !Input.GetKey(KeyCode.D))
|
||||
{
|
||||
discreteActions[1] = -1;
|
||||
}
|
||||
else
|
||||
{
|
||||
discreteActions[1] = 0;
|
||||
}
|
||||
|
||||
if (Input.GetMouseButton(0))
|
||||
{
|
||||
// Debug.Log("mousebuttonhit");
|
||||
discreteActions[2] = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
discreteActions[2] = 0;
|
||||
}
|
||||
//^^^^^^^^^^^^^^^^^^^^^discrete-Control^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
//vvvvvvvvvvvvvvvvvvvvvvvvvvvvvcontinuous-Controlvvvvvvvvvvvvvvvvvvvvvv
|
||||
float Mouse_X = Input.GetAxis("Mouse X") * agentController.mouseXSensitivity * Time.deltaTime;
|
||||
//float Mouse_Y = Input.GetAxis("Mouse Y") * agentController.mouseYSensitivity * Time.deltaTime;
|
||||
continuousActions[0] = Mouse_X;
|
||||
//continuousActions[1] = nonReward;
|
||||
//continuousActions[2] = shootReward;
|
||||
//continuousActions[3] = shootWithoutReadyReward;
|
||||
//continuousActions[4] = hitReward;
|
||||
//continuousActions[5] = winReward;
|
||||
//continuousActions[6] = loseReward;
|
||||
//continuousActions[7] = killReward;
|
||||
//continuousActions[1] = Mouse_Y;
|
||||
//continuousActions[2] = timeLimit;
|
||||
//^^^^^^^^^^^^^^^^^^^^^^^^^^^^^continuous-Control^^^^^^^^^^^^^^^^^^^^^^
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,11 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 427cc67643922b245b572721bea0462d
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
@@ -57,6 +57,10 @@ public class SceneBlockContainer : MonoBehaviour
|
||||
thisBlock.group2Tag = tag2;
|
||||
sceneSize = thisBlock.blockSize;
|
||||
break;
|
||||
|
||||
default:
|
||||
Debug.LogWarning("SceneBlock: CreateNewBlock: targetType not found!");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -51,7 +51,7 @@ public class TargetController : MonoBehaviour
|
||||
|
||||
private int inArea = 0;
|
||||
private float freeProb;
|
||||
private float sceneSize;
|
||||
private float sceneBlockSize;
|
||||
private float lastDistance;
|
||||
public Vector3 targetPosition;
|
||||
private Vector3 targetLocalPosition;
|
||||
@@ -142,21 +142,7 @@ public class TargetController : MonoBehaviour
|
||||
{
|
||||
// goto target spawn
|
||||
Debug.Log("GOTO THIS TARGET!");
|
||||
targetTypeInt = (int)SceneBlockContainer.Targets.Go;
|
||||
int randBlockType = Random.Range(0, blockCont.goBlockPrefabs.Length);
|
||||
// get choosed scene size
|
||||
sceneSize = blockCont.goBlockPrefabs[randBlockType].GetComponent<SceneBlock>().blockSize;
|
||||
float randX = UnityEngine.Random.Range(minEnemyAreaX + sceneSize / 2 + 1f, maxEnemyAreaX - sceneSize / 2 - 1f);
|
||||
float randZ = UnityEngine.Random.Range(minEnemyAreaZ + sceneSize / 2 + 1f, maxEnemyAreaZ - sceneSize / 2 - 1f);
|
||||
targetPosition = new Vector3(randX, 0f, randZ);
|
||||
// Init Agent position
|
||||
MoveAgentToSpwanArea();
|
||||
// init scene block
|
||||
blockCont.DestroyBlock();
|
||||
blockCont.CreateNewBlock(SceneBlockContainer.Targets.Go, randBlockType, targetPosition, group1Tag, group2Tag);
|
||||
enemyCont.DestroyAllEnemys();
|
||||
enemyCont.RandomInitEnemysExcept(hudCon.enemyNum, targetPosition, sceneSize);
|
||||
blockCont.thisBlock.InitBlock(environmentObj);
|
||||
SpawnSceneBlock(SceneBlockContainer.Targets.Go);
|
||||
// set startDistance
|
||||
firstRewardFlag = true;
|
||||
}
|
||||
@@ -164,21 +150,7 @@ public class TargetController : MonoBehaviour
|
||||
{
|
||||
// attack target spawn
|
||||
Debug.Log("ATTACK!");
|
||||
targetTypeInt = (int)SceneBlockContainer.Targets.Attack;
|
||||
int randBlockType = Random.Range(0, blockCont.attackBlockPrefabs.Length);
|
||||
// get choosed scene size
|
||||
sceneSize = blockCont.attackBlockPrefabs[randBlockType].GetComponent<SceneBlock>().blockSize;
|
||||
float randX = UnityEngine.Random.Range(minEnemyAreaX + sceneSize / 2 + 1f, maxEnemyAreaX - sceneSize / 2 - 1f);
|
||||
float randZ = UnityEngine.Random.Range(minEnemyAreaZ + sceneSize / 2 + 1f, maxEnemyAreaZ - sceneSize / 2 - 1f);
|
||||
targetPosition = new Vector3(randX, 0f, randZ);
|
||||
// Init Agent position
|
||||
MoveAgentToSpwanArea();
|
||||
// init scene block
|
||||
blockCont.DestroyBlock();
|
||||
blockCont.CreateNewBlock(SceneBlockContainer.Targets.Attack, randBlockType, targetPosition, group1Tag, group2Tag);
|
||||
enemyCont.DestroyAllEnemys();
|
||||
enemyCont.RandomInitEnemysExcept(hudCon.enemyNum, targetPosition, sceneSize);
|
||||
blockCont.thisBlock.InitBlock(environmentObj);
|
||||
SpawnSceneBlock(SceneBlockContainer.Targets.Attack);
|
||||
// set startDistance
|
||||
firstRewardFlag = true;
|
||||
targetEnemySpawnFinish = false;
|
||||
@@ -187,21 +159,7 @@ public class TargetController : MonoBehaviour
|
||||
{
|
||||
// defence target spawn
|
||||
Debug.Log("DEFENCE!");
|
||||
targetTypeInt = (int)SceneBlockContainer.Targets.Defence;
|
||||
int randBlockType = Random.Range(0, blockCont.attackBlockPrefabs.Length);
|
||||
// get choosed scene size
|
||||
sceneSize = blockCont.defencePrefabs[randBlockType].GetComponent<SceneBlock>().blockSize;
|
||||
float randX = UnityEngine.Random.Range(minEnemyAreaX + sceneSize / 2 + 1f, maxEnemyAreaX - sceneSize / 2 - 1f);
|
||||
float randZ = UnityEngine.Random.Range(minEnemyAreaZ + sceneSize / 2 + 1f, maxEnemyAreaZ - sceneSize / 2 - 1f);
|
||||
targetPosition = new Vector3(randX, 0f, randZ);
|
||||
// Init Agent position
|
||||
MoveAgentTo(targetPosition);
|
||||
// init scene block
|
||||
blockCont.DestroyBlock();
|
||||
blockCont.CreateNewBlock(SceneBlockContainer.Targets.Defence, randBlockType, targetPosition, group1Tag, group2Tag);
|
||||
enemyCont.DestroyAllEnemys();
|
||||
enemyCont.RandomInitEnemysExcept(hudCon.enemyNum, targetPosition, sceneSize);
|
||||
blockCont.thisBlock.InitBlock(environmentObj);
|
||||
SpawnSceneBlock(SceneBlockContainer.Targets.Defence);
|
||||
// set startDistance
|
||||
firstRewardFlag = true;
|
||||
}
|
||||
@@ -219,18 +177,17 @@ public class TargetController : MonoBehaviour
|
||||
}
|
||||
|
||||
// get target observation states
|
||||
public void UpdateTargetStates()
|
||||
private void UpdateTargetStates()
|
||||
{
|
||||
// targettype, x,y,z, firebasesAreaDiameter
|
||||
if (targetTypeInt == (int)SceneBlockContainer.Targets.Free)
|
||||
targetState[0] = targetTypeInt;
|
||||
if (targetTypeInt == (int)SceneBlockContainer.Targets.Free || targetTypeInt == (int)SceneBlockContainer.Targets.Stay)
|
||||
{
|
||||
targetState[0] = targetTypeInt;
|
||||
for (int i = 1; i < targetState.Length; i++)
|
||||
targetState[i] = 0f;
|
||||
}
|
||||
else
|
||||
{
|
||||
targetState[0] = targetTypeInt;
|
||||
/* targetState[1] = targetPosition.x / raySensors.viewDistance; // normalization
|
||||
targetState[2] = targetPosition.y / raySensors.viewDistance;
|
||||
targetState[3] = targetPosition.z / raySensors.viewDistance;*/
|
||||
@@ -243,7 +200,7 @@ public class TargetController : MonoBehaviour
|
||||
}
|
||||
|
||||
// move Agent into Agent Spawn Area
|
||||
public void MoveAgentToSpwanArea()
|
||||
private void MoveAgentToSpwanArea()
|
||||
{
|
||||
float randX = UnityEngine.Random.Range(minAgentAreaX, maxAgentAreaX); ;
|
||||
float randZ = 0f;
|
||||
@@ -417,8 +374,43 @@ public class TargetController : MonoBehaviour
|
||||
return (endTypeInt, thisReward, endReward);
|
||||
}
|
||||
|
||||
// initialize scene block by target type
|
||||
private void SpawnSceneBlock(SceneBlockContainer.Targets thisTargetType)
|
||||
{
|
||||
int randBlockType = 0;
|
||||
switch (thisTargetType)
|
||||
{
|
||||
case SceneBlockContainer.Targets.Go:
|
||||
randBlockType = Random.Range(0, blockCont.goBlockPrefabs.Length);
|
||||
sceneBlockSize = blockCont.goBlockPrefabs[randBlockType].GetComponent<SceneBlock>().blockSize;
|
||||
break;
|
||||
case SceneBlockContainer.Targets.Attack:
|
||||
randBlockType = Random.Range(0, blockCont.attackBlockPrefabs.Length);
|
||||
sceneBlockSize = blockCont.attackBlockPrefabs[randBlockType].GetComponent<SceneBlock>().blockSize;
|
||||
break;
|
||||
case SceneBlockContainer.Targets.Defence:
|
||||
// randBlockType = Random.Range(0, blockCont.defenceBlockPrefabs.Length);
|
||||
// sceneBlockSize = blockCont.defenceBlockPrefabs[randBlockType].GetComponent<SceneBlock>().blockSize;
|
||||
Debug.LogWarning("Defence Block Not Ready");
|
||||
break;
|
||||
default:
|
||||
Debug.LogWarning("TargetController: InitializeSceneBlock: Wrong TargetType");
|
||||
break;
|
||||
}
|
||||
float randX = UnityEngine.Random.Range(minEnemyAreaX + sceneBlockSize / 2 + 1f, maxEnemyAreaX - sceneBlockSize / 2 - 1f);
|
||||
float randZ = UnityEngine.Random.Range(minEnemyAreaZ + sceneBlockSize / 2 + 1f, maxEnemyAreaZ - sceneBlockSize / 2 - 1f);
|
||||
targetPosition = new Vector3(randX, 0, randZ);
|
||||
|
||||
// init scene block
|
||||
blockCont.DestroyBlock();
|
||||
blockCont.CreateNewBlock(thisTargetType, randBlockType, targetPosition, group1Tag, group2Tag);
|
||||
enemyCont.DestroyAllEnemys();
|
||||
enemyCont.RandomInitEnemysExcept(hudCon.enemyNum, targetPosition, sceneBlockSize);
|
||||
blockCont.thisBlock.InitBlock(environmentObj);
|
||||
}
|
||||
|
||||
// caulculate sceneReward if close to target then get great reward
|
||||
public float GetDistanceReward(float nowDistance, int inarea)
|
||||
private float GetDistanceReward(float nowDistance, int inarea)
|
||||
{
|
||||
if (firstRewardFlag)
|
||||
{
|
||||
|
||||
Reference in New Issue
Block a user