V2.6 change Ray Tag result as Onehot

change Ray Tag result as Onehot, Observation State: -targetStates 6 -inTargetArea 1 -remainTime 1 -gunReady 1 -my Obs 4 -tag onehot 19*2 -tag dis 19
2022-12-10 10:14:44 +09:00
parent 9b2ba7fb46
commit 64ada808de
12 changed files with 211 additions and 144 deletions
@@ -42,6 +42,7 @@ public class AgentWithGun : Agent
    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

    [Header("Env")]
+    public bool oneHotRayTag = true;
    private List<float> spinRecord = new List<float>();
    private bool lockMouse;
    private float Damage;
@@ -418,6 +419,7 @@ public class AgentWithGun : Agent
        {
            EnvUICon.initChart();
        }
+        rayScript.updateRayInfo(); // update raycast
    }
    // ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
    // 观察情报
@@ -426,11 +428,13 @@ 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 };
+        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[] targetStates = targetCon.targetState; // (6) targettype, target x,y,z, firebasesAreaDiameter
        float remainTime = targetCon.leftTime;
+        gunReadyToggle = gunReady();
        //float[] focusEnemyObserve = RaySensors.focusEnemyInfo;// 最近的Enemy情报 float[](3,1) MinEnemyIndex,x,z

        //sensor.AddObservation(allEnemyNum); // 敌人数量 int
@@ -439,11 +443,17 @@ public class AgentWithGun : Agent
        sensor.AddObservation(remainTime); // (1)
        sensor.AddObservation(gunReadyToggle); //(1) save gun is ready?
        sensor.AddObservation(myObserve); // (4)自机位置xyz+朝向 float[](4,1)
-        sensor.AddObservation(rayTagResult); // 探测用RayTag结果 float[](raySensorNum,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)
        //sensor.AddObservation(focusEnemyObserve); // 最近的Enemy情报 float[](3,1) MinEnemyIndex,x,z
        //sensor.AddObservation(raySensorNum); // raySensor数量 int
-        gunReadyToggle = gunReady();
        //sensor.AddObservation(remainTime); // RemainTime int
    }

@@ -0,0 +1,34 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Unity.MLAgents;
+using Unity.MLAgents.SideChannels;
+
+public class AimBotSideChennelController : MonoBehaviour
+{
+    public AimbotSideChannel aimbotSideChannel;
+
+    public void Awake()
+    {
+        // We create the Side Channel
+        aimbotSideChannel = new AimbotSideChannel();
+
+        // When a Debug.Log message is created, we send it to the stringChannel
+        Application.logMessageReceived += aimbotSideChannel.SendDebugStatementToPython;
+
+        // The channel must be registered with the SideChannelManager class
+        SideChannelManager.RegisterSideChannel(aimbotSideChannel);
+    }
+
+
+    // Side Channel
+    public void OnDestroy()
+    {
+        // De-register the Debug.Log callback
+        Application.logMessageReceived -= aimbotSideChannel.SendDebugStatementToPython;
+        if (Academy.IsInitialized)
+        {
+            SideChannelManager.UnregisterSideChannel(aimbotSideChannel);
+        }
+    }
+}
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ea781484763623c438c1806e3a965667
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
@@ -0,0 +1,60 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using TMPro;
+using UnityEngine;
+using UnityEngine.UI;
+
+public class HUDController : MonoBehaviour
+{
+    public bool chartOn = false;
+    public Toggle chartOnToggleObj;
+    public TMP_InputField chartOnTimeOutInputObj;
+    public TMP_InputField enemyNumInputObj;
+    public float chartOnTimeOut = 1;
+    public int enemyNum= 3;
+    public float chartOnTimeOutDefault = 120f;
+    private float chatOntimeStart = 0;
+
+    private void Update()
+    {
+        if (chartOn)
+        {
+            if (Time.time - chatOntimeStart >= chartOnTimeOut )
+            {
+                chartOn = false;
+                chartOnToggleObj.isOn = false;
+            }
+        }
+    }
+
+    public void onChartOnToggleChange()
+    {
+        chatOntimeStart = Time.time;
+        chartOn = chartOnToggleObj.isOn;
+    }
+
+    public void onEnemyNumTextChange()
+    {
+        try
+        {
+            enemyNum = Math.Abs(int.Parse(enemyNumInputObj.GetComponent<TMP_InputField>().text));
+        }
+        catch (NullReferenceException)
+        {
+            enemyNum = 3;
+        }
+    }
+
+    public void onChartTimeOutTextChange()
+    {
+        try
+        {
+            chartOnTimeOut = Math.Abs(int.Parse(chartOnTimeOutInputObj.GetComponent<TMP_InputField>().text));
+        }
+        catch (NullReferenceException)
+        {
+            chartOnTimeOut = chartOnTimeOutDefault;
+        }
+    }
+}
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 10f34b6fb217eff4e9be2bfe7044f132
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
@@ -0,0 +1,50 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Text;
+using UnityEngine;
+
+public class Onehot
+{
+    private List<string> tags = new List<string>();
+    public List<List<float>> onehot = new List<List<float>>();
+    private float totalNum;
+    public void initialize(List<string> inputTags)
+    {
+        tags = inputTags;
+        totalNum = tags.Count;
+        for (int i = 0; i < totalNum; i++)
+        {
+            List<float> thisOnehot = new List<float>();
+            for (int j = 0; j < totalNum; j++) thisOnehot.Add(0f);
+            thisOnehot[i] = 1f;
+            onehot.Add(thisOnehot);
+        }
+    }
+    public List<float> encoder(string name = null)
+    {
+        if (name == null)
+        {
+            List<float> allZeroOnehot = new List<float>();
+            for (int j = 0; j < totalNum; j++) allZeroOnehot.Add(0);
+            return allZeroOnehot;
+        }
+        else
+        {
+            try
+            {
+                return onehot[tags.IndexOf(name)];
+            }catch(ArgumentOutOfRangeException)
+            {
+                List<float> allZeroOnehot = new List<float>();
+                for (int j = 0; j < totalNum; j++) allZeroOnehot.Add(0);
+                return allZeroOnehot;
+            }
+        }
+    }
+
+    public string decoder(List<float> thisOnehot)
+    {
+        return tags[onehot.IndexOf(thisOnehot)];
+    }
+}
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: cdb75d03525930d4caaefab4eaaf6e8a
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
@@ -1,6 +1,7 @@
 using System;
 using System.Collections;
 using System.Collections.Generic;
+using System.Linq;
 using UnityEngine;

 /*该scrip用于创建复数条ray于视角内，并探测被ray射到的物体*/
@@ -28,6 +29,7 @@ public class RaySensors : MonoBehaviour

    [Header("RayCastResult")]
    public float[] rayTagResult;
+    public List<float> rayTagResultOneHot;
    public float[] rayDisResult;

    [System.NonSerialized] public int totalRayNum;
@@ -37,6 +39,8 @@ public class RaySensors : MonoBehaviour
    LineRenderer[] lineRenderers;
    rayInfoUI[] rayInfoUIs;
    public List<GameObject> inViewEnemies = new List<GameObject>();
+    private List<string> tags = new List<string> {"Wall","Enemy"};
+    private Onehot oneHotTags = new Onehot();
    

    private void Start()
@@ -49,7 +53,8 @@ public class RaySensors : MonoBehaviour
        lineRenderers = new LineRenderer[totalRayNum];
        rayInfoOBJ = new GameObject[totalRayNum];
        rayInfoUIs = new rayInfoUI[totalRayNum];
-        for(int i = 0; i < totalRayNum; i++)
+        oneHotTags.initialize(tags);
+        for (int i = 0; i < totalRayNum; i++)
        {
            linesOBJ[i] = new GameObject();
            linesOBJ[i].name = "rayCastLine-" + Convert.ToString(i);
@@ -91,10 +96,12 @@ public class RaySensors : MonoBehaviour
        if (Physics.Raycast(ray, out thisHit, viewDistance)) // 若在viewDistance范围内有碰撞
        {
            rayInfoText = thisHit.collider.tag;
-            rayTagResult = tagToInt(thisHit.collider.tag);
+            rayTagResult = tagToInt(rayInfoText);
+            rayTagResultOneHot.AddRange(oneHotTags.encoder(rayInfoText));
            rayDisResult = thisHit.distance;
            lineLength = rayDisResult;
            rayInfoText += "\n" + Convert.ToString(rayDisResult);
+            rayDisResult = rayDisResult / viewDistance; // Normalization!
            //输出log
            switch (rayTagResult)
            {
@@ -115,6 +122,7 @@ public class RaySensors : MonoBehaviour
        }
        else // 若在viewDistance范围无碰撞
        {
+            rayTagResultOneHot.AddRange(oneHotTags.encoder());
            rayTagResult = -1f;
            rayDisResult = -1f;
            //输出log
@@ -165,6 +173,7 @@ public class RaySensors : MonoBehaviour
        float focusREdge = agentCam.pixelWidth * (1 + focusRange) / 2;
        float thisCamPixelHeight = agentCam.pixelHeight;
        inViewEnemies.Clear();
+        rayTagResultOneHot.Clear();
        for (int i = 0; i < halfOuterRayNum; i++) // create left outside rays; 0 ~ focusLeftEdge
        {
            Vector3 point = new Vector3(i * focusLEdge / (halfOuterRayNum - 1), thisCamPixelHeight / 2, 0);