分离所有RewardFunction相关到单独的一个Script里。

Assets/Script/GameScript/Character/AgentController.cs

@@ -5,22 +5,8 @@ using UnityEngine;
 
 public class AgentController : MonoBehaviour
 {
-    [SerializeField]
-    private GameObject commonParameterContainerObj;
-    [SerializeField]
-    private GameObject environmentObj;
-    [SerializeField]
-    private GameObject enemyContainerObj;
-    [SerializeField]
-    private GameObject sceneBlockContainerObj;
-    [SerializeField]
-    private GameObject environmentUIControlObj;
-    [SerializeField]
-    private GameObject targetControllerObj;
-    [SerializeField]
-    private GameObject HUDObj;
-    [SerializeField]
-    private Camera fpsCam;
+    [SerializeField] public GameObject commonParameterContainerObj;
+    [SerializeField] public Camera fpsCam;
 
     [Header("GetAxis() Simulate")]
     public float moveSpeed = 9.0f;
@@ -33,45 +19,33 @@ public class AgentController : MonoBehaviour
     public float mouseYSensitivity = 200;
     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
 
-    private List<float> spinRecord = new List<float>();
     private bool lockMouse;
-    private float damage;
     private float fireRate;
     private bool lockCameraX;
     private bool lockCameraY;
 
     // environment
-    private float lastShootTime = 0.0f;
+    public float lastShootTime = 0.0f;
 
-    private int enemyKillCount = 0;
-    private Vector3 killEnemyPosition;
+    public int enemyKillCount = 0;
+    public Vector3 killEnemyPosition;
     public bool defaultTPCamera = true;
 
     [System.NonSerialized] public bool gunReadyToggle = true;
-    private string myTag = "";
-    private float lastEnemyFacingDistance = 0f; // record last enemy facing minimum distance
-    private float lastTargetFacingDistance = 0f; // record last target facing minimum distance
+    public string myTag = "";
 
-    // scripts
-    private RaySensors raySensors;
 
     private CharacterController playerController;
     private CommonParameterContainer commonPramCon;
-    private SceneBlockContainer blockContainer;
-    private TargetController targetCon;
 
     private void Start()
     {
         // initialize scripts
         commonPramCon = commonParameterContainerObj.GetComponent<CommonParameterContainer>();
-        blockContainer = sceneBlockContainerObj.GetComponent<SceneBlockContainer>();
-        targetCon = targetControllerObj.GetComponent<TargetController>();
-        raySensors = GetComponent<RaySensors>();
-        playerController = this.transform.GetComponent<CharacterController>();
+        playerController = transform.GetComponent<CharacterController>();
 
         // initialize Environment parameters
         lockMouse = commonPramCon.lockMouse;
-        damage = commonPramCon.damage;
         fireRate = commonPramCon.fireRate;
         lockCameraX = commonPramCon.lockCameraX;
         lockCameraY = commonPramCon.lockCameraY;
@@ -199,234 +173,7 @@ public class AgentController : MonoBehaviour
 
     #endregion Camera Control
 
-    #region Reward Functions
-
-    // ballistic 射击弹道处理，并返回获得reward
-    private float Ballistic(int shootState)
-    {
-        Vector3 point = new Vector3(fpsCam.pixelWidth / 2, fpsCam.pixelHeight / 2, 0);//发射位置
-        Ray ray = fpsCam.ScreenPointToRay(point);
-        RaycastHit hit;
-        // Debug.DrawRay(centerRay.origin, centerRay.direction * 100, Color.blue);
-        //按下鼠标左键
-        if (shootState != 0 && gunReadyToggle == true)
-        {
-            lastShootTime = Time.time;
-            if (Physics.Raycast(ray, out hit, 100))
-            {
-                if (hit.collider.tag != myTag && hit.collider.tag != "Wall" && hit.collider.tag != "Untagged")
-                {
-                    // kill enemy
-                    GameObject gotHitObj = hit.transform.gameObject;//获取受到Ray撞击的对象
-                    gotHitObj.GetComponent<States>().ReactToHit(damage, gameObject);
-                    shootState = 0;
-                    return targetCon.HitEnemyReward(gotHitObj.transform.position);
-                }
-            }
-            if (targetCon.targetTypeInt == (int)Targets.Attack)
-            {
-                // while if attack mode
-                float targetDis = Vector3.Distance(blockContainer.nowBlock.transform.position, transform.position);
-                if (targetDis <= raySensors.viewDistance)
-                {
-                    // Debug.DrawRay(new Vector3(0,0,0), viewPoint, Color.red);
-                    if (Vector3.Distance(ray.origin + (ray.direction * targetDis), blockContainer.nowBlock.transform.position) <= blockContainer.nowBlock.firebasesAreaDiameter / 2)
-                    {
-                        // im shooting at target but didn't hit enemy
-                        // Debug.DrawRay(centerRay.origin, viewPoint-centerRay.origin, Color.blue);
-                        return commonPramCon.shootTargetAreaReward;
-                    }
-                }
-            }
-            shootState = 0;
-            return commonPramCon.shootReward;
-        }
-        else if (shootState != 0 && gunReadyToggle == false)
-        {
-            // shoot without ready
-            shootState = 0;
-            return commonPramCon.shootWithoutReadyReward;
-        }
-        else
-        {
-            // do not shoot
-            shootState = 0;
-            return commonPramCon.nonReward;
-        }
-    }
-
-    private float FacingReward()
-    {
-        float nowReward = 0;
-        bool isFacingtoEnemy = false;
-        float enemyFacingDistance = 0f;
-
-        Vector3 screenCenter = new Vector3(fpsCam.pixelWidth / 2, fpsCam.pixelHeight / 2, 0);
-        Vector3 screenLeft = new Vector3(0, fpsCam.pixelHeight / 2, 0);
-
-        Ray centerRay = fpsCam.ScreenPointToRay(screenCenter);
-        Ray leftRay = fpsCam.ScreenPointToRay(screenLeft);
-
-        // target fireBaseArea Position, turen y to camera's y
-        Vector3 fireBaseArea = blockContainer.nowBlock.fireBasesAreaObj.transform.position;
-        fireBaseArea.y = fpsCam.transform.position.y;
-
-        // my position, turn y to camera's y
-        // Debug.DrawRay(fpsCam.transform.position, centerRay.direction * 100, Color.blue);
-        Vector3 myposition = transform.position;
-        myposition.y = fpsCam.transform.position.y;
-
-        // Target to Agent distance
-        //Debug.DrawLine(fireBaseArea, myposition, Color.red);
-        float targetDis = Vector3.Distance(fireBaseArea, myposition);
-
-        // point in centerRay and leftRay which distance is targetDis from camera center
-        Vector3 pointInCenterRay = fpsCam.transform.position + (centerRay.direction * targetDis);
-        Vector3 pointInLeftRay = fpsCam.transform.position + (leftRay.direction * targetDis);
-
-        // center of screen to target's distance
-        // Debug.DrawLine(pointInCenterRay, fireBaseArea,Color.green);
-        float camCenterToTarget = Vector3.Distance(pointInCenterRay, fireBaseArea);
-
-        // left of screen to target's distance
-        // Debug.DrawLine(pointInLeftRay, pointInCenterRay, Color.yellow);
-        float camCenterToViewEdge = Vector3.Distance(pointInLeftRay, pointInCenterRay);
-
-        switch (targetCon.targetTypeInt)
-        {
-            case (int)Targets.Free:
-                //free mode
-                RaycastHit hit;
-                if (Physics.Raycast(centerRay, out hit, 100))
-                {
-                    // facing to an enemy
-                    if (hit.collider.tag != myTag && hit.collider.tag != "Wall")
-                    {
-                        nowReward = commonPramCon.facingReward;
-                        isFacingtoEnemy = true;
-                    }
-                }
-                if (raySensors.inViewEnemies.Count > 0 && !isFacingtoEnemy)
-                {
-                    // have enemy in view
-                    List<float> projectionDis = new List<float>();
-                    foreach (GameObject theEnemy in raySensors.inViewEnemies)
-                    {
-                        // for each enemy in view
-                        Vector3 projection = Vector3.Project(theEnemy.transform.position - transform.position, (centerRay.direction * 10));
-                        Vector3 verticalToRay = transform.position + projection - theEnemy.transform.position;
-                        projectionDis.Add(verticalToRay.magnitude);
-                        // Debug.Log("enemy!" + verticalToRay.magnitude);
-                        // Debug.DrawRay(transform.position, (centerRay.direction * 100), Color.cyan);
-                        // Debug.DrawRay(transform.position, theEnemy.transform.position - transform.position, Color.yellow);
-                        // Debug.DrawRay(transform.position, projection, Color.blue);
-                        // Debug.DrawRay(theEnemy.transform.position, verticalToRay, Color.magenta);
-                    }
-                    enemyFacingDistance = projectionDis.Min();
-                    if (enemyFacingDistance <= lastEnemyFacingDistance)
-                    {
-                        // closing to enemy
-                        nowReward = 1 / MathF.Sqrt(commonPramCon.facingInviewEnemyDisCOEF * enemyFacingDistance + 0.00001f);
-                    }
-                    else
-                    {
-                        nowReward = 0;
-                    }
-                    // enemy in view Reward
-                    lastEnemyFacingDistance = enemyFacingDistance;
-                    if (nowReward >= commonPramCon.facingReward) nowReward = commonPramCon.facingReward; // limit
-                    if (nowReward <= -commonPramCon.facingReward) nowReward = -commonPramCon.facingReward; // limit
-                    // Debug.Log("ninimum = " + nowReward);
-                }
-                break;
-            case (int)Targets.Attack:
-                // attack mode
-                if (targetDis <= raySensors.viewDistance)
-                {
-                    // Debug.DrawRay(new Vector3(0,0,0), viewPoint, Color.red);
-                    // while center of screen between target's distance is lower than firebasesAreaDiameter
-                    // while facing to target
-                    if (camCenterToTarget <= blockContainer.nowBlock.firebasesAreaDiameter / 2)
-                    {
-                        // Debug.DrawRay(centerRay.origin, viewPoint-centerRay.origin, Color.blue);
-                        nowReward = commonPramCon.facingReward;
-                    }
-                    else
-                    {
-                        // while not facing to target
-                        nowReward = (lastTargetFacingDistance - camCenterToTarget) * commonPramCon.facingTargetReward;
-                    }
-                }
-                // update lastTargetFacingDistance
-                lastTargetFacingDistance = camCenterToTarget;
-                break;
-            case (int)Targets.Go:
-                // goto mode
-                if (camCenterToTarget <= camCenterToViewEdge)
-                {
-                    // fireArea is in view
-                    nowReward = commonPramCon.facingReward;
-                }
-                else
-                {
-                    nowReward = 0;
-                }
-                break;
-            default:
-                Debug.LogError("Wrong target type");
-                break;
-        }
-        return nowReward;
-    }
-
-    public float RewardCalculate(float sceneReward, float mouseX, float movement, int shootState)
-    {
-        float epreward = 0f;
-        // 击杀reward判断
-        if (enemyKillCount > 0)
-        {
-            for (int i = 0; i < enemyKillCount; i++)
-            {
-                // get
-                epreward += targetCon.KillReward(killEnemyPosition);
-            }
-            enemyKillCount = 0;
-        }
-        else
-        {
-            enemyKillCount = 0;
-        }
-        // 射击动作reward判断
-        epreward += Ballistic(shootState) + sceneReward;
-        // facing reward
-        epreward += FacingReward();
-        // Penalty
-        // spin penalty
-        spinRecord.Add(mouseX);
-        if (spinRecord.Count >= commonPramCon.spinRecordMax)
-        {
-            spinRecord.RemoveAt(0);
-        }
-        float spinPenaltyReward = Math.Abs(spinRecord.ToArray().Sum() * commonPramCon.spinPenalty);
-        if (spinPenaltyReward >= commonPramCon.spinPenaltyThreshold)
-        {
-            epreward -= spinPenaltyReward;
-        }
-        else
-        {
-            epreward -= Math.Abs(mouseX) * commonPramCon.mousePenalty;
-        }
-        // move penalty
-        if (movement != 0)
-        {
-            epreward -= commonPramCon.movePenalty;
-        }
-        return epreward;
-    }
-
-    #endregion Reward Functions
-
-    // GotKill 获得击杀时用于被呼出
+    // Got Kill point
     public void KillRecord(Vector3 killEnemyPosition)
     {
         enemyKillCount += 1;