V2.9 取消归一化，追加StateUI，改进代码

取消坐标归一化，朝向归一化算法改为transform.eulerAngles.y / 36f

Assets/Script/InGame/AgentWithGun.cs

@@ -73,6 +73,15 @@ public class AgentWithGun : Agent
     private TargetController targetCon;
     private HUDController hudController;
 
+    // observation
+    float[] myObserve = new float[4];
+    float[] rayTagResult;
+    float[] rayTagResultOnehot;
+    float[] rayDisResult;
+    float[] targetStates;
+    float remainTime;
+    float inAreaState;
+
     [System.NonSerialized] public int finishedState;
 
     private void Start()
@@ -438,19 +447,26 @@ 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/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;
+        /**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 = targetCon.targetState; // (6) targettype, target x,y,z, firebasesAreaDiameter
+        remainTime = targetCon.leftTime;
+        inAreaState = targetCon.getInAreaState();
         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
         sensor.AddObservation(targetStates);// (6) targettype, target x,y,z, firebasesAreaDiameter
-        sensor.AddObservation(targetCon.getInAreaState()); // (1)
+        sensor.AddObservation(inAreaState); // (1)
         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)
@@ -463,6 +479,7 @@ public class AgentWithGun : Agent
             sensor.AddObservation(rayTagResult);
         }
         sensor.AddObservation(rayDisResult); // 探测用RayDis结果 float[](raySensorNum,1)
+        EnvUICon.updateStateText(targetStates, inAreaState, remainTime, gunReadyToggle, myObserve, rayTagResultOnehot, rayDisResult);
         /*foreach(float aaa in rayDisResult)
         {
             Debug.Log(aaa);

Assets/Script/InGame/EnvironmentUIControl.cs

@@ -1,6 +1,7 @@
 using System;
 using System.Collections;
 using System.Collections.Generic;
+using System.Text;
 using TMPro;
 using UnityEngine;
 using UnityEngine.UI;
@@ -16,9 +17,11 @@ public class EnvironmentUIControl : MonoBehaviour
     public TextMeshProUGUI remainTimeText;
     public TextMeshProUGUI targetTypeText;
     public TextMeshProUGUI winLoseText;
+    public TextMeshProUGUI stateText;
     public float resultTimeout = 1f;
     public GameObject gaugeImgObj;
 
+    private StringBuilder stateBuilder = new StringBuilder();
     private LineChart realTimeRewardChart = null;
     private TargetController targetController;
     private ParameterContainer paramContainer;
@@ -153,4 +156,39 @@ public class EnvironmentUIControl : MonoBehaviour
                 break;
         }
     }
+
+    // update state text
+    // public TextMeshProUGUI stateText;
+    // targetState[0] = targetTypeInt;
+    // 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;
+    // float[] myObserve = { transform.localPosition.x/raySensors.viewDistance, transform.localPosition.y / raySensors.viewDistance, transform.localPosition.z / raySensors.viewDistance, transform.eulerAngles.y/360f }
+    // ??????????string??"targetType: 1.0 \r\n targetX: 2.0 \r\n"
+    public void updateStateText(float[] targetStates,float inAreaState,float remainTime, bool gunReadyToggle, float[] myObserve, float[] rayTagResultOnehot, float[] rayDisResult)
+    {
+        stateBuilder.Clear();
+
+        stateBuilder.Append($"States:\r\nTType:{targetStates[0]}");
+        stateBuilder.Append("\r\nTPosition:");
+        stateBuilder.Append(targetStates[1]).Append(targetStates[2]).Append(targetStates[3]);
+        stateBuilder.Append("\r\nTDiameter:");
+        stateBuilder.Append(targetStates[4]);
+        stateBuilder.Append("\r\nTRatio:");
+        stateBuilder.Append(targetStates[5]);
+        stateBuilder.Append("\r\nInArea:");
+        stateBuilder.Append(inAreaState);
+        stateBuilder.Append("\r\nRemainTime:");
+        stateBuilder.Append(remainTime);
+        stateBuilder.Append("\r\nGunReady:");
+        stateBuilder.Append(gunReadyToggle);
+        stateBuilder.Append("\r\nMyPosition:");
+        stateBuilder.Append(myObserve[0]).Append(myObserve[1]).Append(myObserve[2]);
+        stateBuilder.Append("\r\nMyRotation:");
+        stateBuilder.Append(myObserve[3]);
+
+        stateText.text = stateBuilder.ToString();
+    }
 }

Assets/Script/InGame/TargetController.cs

@@ -209,9 +209,12 @@ public class TargetController : MonoBehaviour
         else
         {
             targetState[0] = targetTypeInt;
-            targetState[1] = targetPosition.x / raySensors.viewDistance; // normalization
+            /* targetState[1] = targetPosition.x / raySensors.viewDistance; // normalization
             targetState[2] = targetPosition.y / raySensors.viewDistance;
-            targetState[3] = targetPosition.z / raySensors.viewDistance;
+            targetState[3] = targetPosition.z / raySensors.viewDistance;*/
+            targetState[1] = targetPosition.x; // normalization
+            targetState[2] = targetPosition.y;
+            targetState[3] = targetPosition.z;
             targetState[4] = blockCont.thisBlock.firebasesAreaDiameter / raySensors.viewDistance;
             targetState[5] = blockCont.thisBlock.belongRatio;
         }
@@ -396,6 +399,8 @@ public class TargetController : MonoBehaviour
         }
         else
         {
+            // out of area
+            // thisSceneReward = paramCon.distanceReward * Math.Clamp(lastDistance - nowDistance, 0, 100);
             thisSceneReward = paramCon.distanceReward * (lastDistance - nowDistance);
         }
         lastDistance = nowDistance;