V2.7 Normalized state

Normalized distance and rotation state.

Assets/Script/InGame/AgentWithGun.cs

@@ -63,7 +63,7 @@ public class AgentWithGun : Agent
     private string myTag = "";
     private float lastEnemyFacingDistance = 0f; // record last enemy facing minimum distance
     // scripts
-    private RaySensors rayScript;
+    private RaySensors raySensors;
     private CharacterController PlayerController;
     private EnvironmentUIControl EnvUICon;
     private ParameterContainer paramContainer;
@@ -82,7 +82,7 @@ public class AgentWithGun : Agent
         EnvUICon = EnvironmentUIControlObj.GetComponent<EnvironmentUIControl>();
         targetCon = TargetControllerObj.GetComponent<TargetController>();
         hudController = HUDObj.GetComponent<HUDController>();
-        rayScript = GetComponent<RaySensors>();
+        raySensors = GetComponent<RaySensors>();
         PlayerController = this.transform.GetComponent<CharacterController>();
         // Environment parameters
         lockMouse = paramContainer.lockMouse;
@@ -263,7 +263,7 @@ public class AgentWithGun : Agent
             {
                 // while if attack mode
                 float targetDis = Vector3.Distance(blockContainer.thisBlock.transform.position, transform.position);
-                if (targetDis <= rayScript.viewDistance)
+                if (targetDis <= raySensors.viewDistance)
                 {
                     // Debug.DrawRay(new Vector3(0,0,0), viewPoint, Color.red);
                     if (Vector3.Distance(ray.origin + (ray.direction * targetDis), blockContainer.thisBlock.transform.position) <= blockContainer.thisBlock.firebasesAreaDiameter / 2)
@@ -310,10 +310,10 @@ public class AgentWithGun : Agent
                     isFacingtoEnemy = true;
                 }
             }
-            if (rayScript.inViewEnemies.Count > 0 && !isFacingtoEnemy) {
+            if (raySensors.inViewEnemies.Count > 0 && !isFacingtoEnemy) {
                 // have enemy in view
                 List<float> projectionDis = new List<float>();
-                foreach (GameObject thisEnemy in rayScript.inViewEnemies)
+                foreach (GameObject thisEnemy in raySensors.inViewEnemies)
                 {
                     // for each enemy in view
                     Vector3 projection = Vector3.Project(thisEnemy.transform.position - transform.position, (ray.direction * 10));
@@ -346,7 +346,7 @@ public class AgentWithGun : Agent
         {
             // attack mode
             float targetDis = Vector3.Distance(blockContainer.thisBlock.transform.position, transform.position);
-            if(targetDis <= rayScript.viewDistance)
+            if(targetDis <= raySensors.viewDistance)
             {
                 // Debug.DrawRay(new Vector3(0,0,0), viewPoint, Color.red);
                 if (Vector3.Distance(ray.origin + (ray.direction * targetDis), blockContainer.thisBlock.transform.position) <= blockContainer.thisBlock.firebasesAreaDiameter / 2)
@@ -419,7 +419,7 @@ public class AgentWithGun : Agent
         {
             EnvUICon.initChart();
         }
-        rayScript.updateRayInfo(); // update raycast
+        raySensors.updateRayInfo(); // update raycast
     }
     // ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
     // 观察情报
@@ -428,10 +428,10 @@ public class AgentWithGun : Agent
         //List<float> enemyLDisList = RaySensors.enemyLDisList;// All Enemy Lside Distances
         //List<float> enemyRDisList = RaySensors.enemyRDisList;// All Enemy Rside Distances
 
-        float[] myObserve = { transform.localPosition.x, transform.localPosition.y, transform.localPosition.z, transform.eulerAngles.y/360f };
-        float[] rayTagResult = rayScript.rayTagResult;// 探测用RayTag结果 float[](raySensorNum,1)
-        float[] rayTagResultOnehot = rayScript.rayTagResultOneHot.ToArray(); // 探测用RayTagonehot结果 List<int>[](raySensorNum*Tags,1)
-        float[] rayDisResult = rayScript.rayDisResult; // 探测用RayDis结果 float[](raySensorNum,1)
+        float[] myObserve = { transform.localPosition.x/raySensors.viewDistance, transform.localPosition.y / raySensors.viewDistance, transform.localPosition.z / raySensors.viewDistance, transform.eulerAngles.y/360f };
+        float[] rayTagResult = raySensors.rayTagResult;// 探测用RayTag结果 float[](raySensorNum,1)
+        float[] rayTagResultOnehot = raySensors.rayTagResultOneHot.ToArray(); // 探测用RayTagonehot结果 List<int>[](raySensorNum*Tags,1)
+        float[] rayDisResult = raySensors.rayDisResult; // 探测用RayDis结果 float[](raySensorNum,1)
         float[] targetStates = targetCon.targetState; // (6) targettype, target x,y,z, firebasesAreaDiameter
         float remainTime = targetCon.leftTime;
         gunReadyToggle = gunReady();
@@ -452,6 +452,11 @@ public class AgentWithGun : Agent
             sensor.AddObservation(rayTagResult);
         }
         sensor.AddObservation(rayDisResult); // 探测用RayDis结果 float[](raySensorNum,1)
+        /*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
@@ -473,7 +478,7 @@ public class AgentWithGun : Agent
         shoot = mouseShoot;
         cameraControl(Mouse_X, 0);
         moveAgent(vertical, horizontal);
-        rayScript.updateRayInfo(); // update raycast
+        raySensors.updateRayInfo(); // update raycast
 
         //判断结束
         float sceneReward = 0f;

Assets/Script/InGame/TargetController.cs

@@ -63,6 +63,7 @@ public class TargetController : MonoBehaviour
     private CharacterController agentCharaCon;
     private WorldUIController worldUICon;
     private HUDController hudCon;
+    private RaySensors raySensors;
 
     // Start is called before the first frame update
     void Start()
@@ -84,6 +85,7 @@ public class TargetController : MonoBehaviour
         paramCon = ParameterContainerObj.GetComponent<ParameterContainer>();
         worldUICon = WorldUIObj.GetComponent<WorldUIController>();
         hudCon = HUDObj.GetComponent<HUDController>();
+        raySensors = AgentObj.GetComponent<RaySensors>();
         freeProb = 1 - attackProb - gotoProb - defenceProb;
         targetNum = (int)Targets.Num;
         if (freeProb < 0)
@@ -183,7 +185,7 @@ public class TargetController : MonoBehaviour
         }
         else
         {
-            Debug.Log("Free");
+            //Debug.Log("Free");
             targetTypeInt = (int)Targets.Free;
             enemyCont.destroyAllEnemys();
             enemyCont.randomInitEnemys(hudCon.enemyNum);
@@ -207,10 +209,10 @@ public class TargetController : MonoBehaviour
         else
         {
             targetState[0] = targetTypeInt;
-            targetState[1] = targetPosition.x;
-            targetState[2] = targetPosition.y;
-            targetState[3] = targetPosition.z;
-            targetState[4] = blockCont.thisBlock.firebasesAreaDiameter;
+            targetState[1] = targetPosition.x / raySensors.viewDistance; // normalization
+            targetState[2] = targetPosition.y / raySensors.viewDistance;
+            targetState[3] = targetPosition.z / raySensors.viewDistance;
+            targetState[4] = blockCont.thisBlock.firebasesAreaDiameter / raySensors.viewDistance;
             targetState[5] = blockCont.thisBlock.belongRatio;
         }
     }