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Onehot功能完善，修正

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OneHot功能完善，更改TaySensor探测到Tag的index表示。与之前不通用！
修正PlayMode中的scenePrefabSet未定位错误
修正Raysensor中TagToInt不包含rayTagResult中的-1
This commit is contained in:
Koha9
2023-12-31 07:49:58 +09:00
parent f3c5f539ec
commit bf1d1d8d3b
9 changed files with 90 additions and 70 deletions
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Assets/Script/GameScript/MLAgentsCustomController.cs
+1 -1
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@@ -100,7 +100,7 @@ public class MLAgentsCustomController : Agent
myObserve[2] = transform.localPosition.z;
myObserve[3] = transform.eulerAngles.y / 36f;
rayTagResult = raySensors.rayTagResult;// 探测用RayTag类型结果 float[](raySensorNum,1)
rayTagResultOnehot = raySensors.rayTagResultOneHot.ToArray(); // 探测用RayTagonehot结果 List<int>[](raySensorNum*Tags,1)
rayTagResultOnehot = raySensors.rayTagResultOneHot; // 探测用RayTagonehot结果 List<int>[](raySensorNum*Tags,1)
rayDisResult = raySensors.rayDisResult; // 探测用RayDis距离结果 float[](raySensorNum,1)
targetStates = targetController.targetState; // (6) targettype, target x,y,z, firebasesAreaDiameter
remainTime = targetController.leftTime;
Assets/Script/GameScript/RaySensors.cs
+42 -59
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@@ -30,7 +30,7 @@ public class RaySensors : MonoBehaviour
[Header("RayCastResult")]
public float[] rayTagResult;
public List<float> rayTagResultOneHot;
public float[] rayTagResultOneHot;
public float[] rayDisResult;
[System.NonSerialized] public int totalRayNum;
@@ -49,6 +49,7 @@ public class RaySensors : MonoBehaviour
totalRayNum = halfOuterRayNum * 2 + focusRayNum;
rayTagResult = new float[totalRayNum];
rayDisResult = new float[totalRayNum];
rayTagResultOneHot = new float[totalRayNum*ObjectTags.Tags.Count];
linesOBJ = new GameObject[totalRayNum];
lineRenderers = new LineRenderer[totalRayNum];
rayInfoOBJ = new GameObject[totalRayNum];
@@ -70,85 +71,60 @@ public class RaySensors : MonoBehaviour
}
}
public int TagToInt(string tag)
{
switch (tag)
{
case "Wall":
return 1;
default:
if (tag != myTag)
{
return 2;
}
return 0;
}
}
private void SingleRaycastUpdate(Ray ray, LineRenderer lineRenderer, RayInfoUI rayInfoUI, out float rayTagResult, out float rayDisResult)
private void SingleRaycastUpdate(Ray ray,int rayIndex)
{
// get Raycast hit infomation and return Tag and distance
RaycastHit nowHit;
Color rayColor = Color.cyan;
Color rayColor = Color.gray;
float lineLength = viewDistance;
string rayInfoText = "";
Vector3 rayInfoPosition;
if (Physics.Raycast(ray, out nowHit, viewDistance)) // 若在viewDistance范围内有碰撞
{
rayInfoText = nowHit.collider.tag;
rayTagResult = TagToInt(rayInfoText);
rayTagResultOneHot.AddRange(oneHotTags.Encoder(rayInfoText));
rayDisResult = nowHit.distance;
lineLength = rayDisResult;
rayInfoText += "\n" + Convert.ToString(rayDisResult);
// rayDisResult = rayDisResult / viewDistance; // Normalization!
// 输出log
switch (rayTagResult)
// Tag
string thisTag = nowHit.collider.tag;
// result update
rayTagResult[rayIndex] = ObjectTags.TagToInt(thisTag);
rayDisResult[rayIndex] = nowHit.distance;
int oneHotIndex = rayIndex * ObjectTags.Tags.Count + ObjectTags.TagToInt(thisTag);
rayTagResultOneHot[oneHotIndex] = 1f;
if (rayTagResult[rayIndex] == ObjectTags.TagToInt("Enemy"))
{
case 1:// Wall
rayColor = Color.white;
break;
case 2: // Enemy
rayColor = Color.red;
inViewEnemies.Add(nowHit.transform.gameObject);
break;
case -1: // Hit Nothing
rayColor = Color.gray;
break;
default: // default,got wrong
rayColor = Color.cyan;
break;
inViewEnemies.Add(nowHit.transform.gameObject);
}
// ingame info update
lineLength = nowHit.distance;
rayInfoText = thisTag + "\n" + Convert.ToString(nowHit.distance);
rayColor = ObjectTags.TagToCololr(thisTag);
}
else // 若在viewDistance范围无碰撞
{
rayTagResultOneHot.AddRange(oneHotTags.Encoder());
rayTagResult = -1f;
rayDisResult = -1f;
//输出log
//Debug.Log(0);
//Debug.Log(0);
// Result update
// rayTagResultOneHot keep zero
rayTagResult[rayIndex] = -1;
rayDisResult[rayIndex] = -1;
// Info
rayInfoText = "Empty";
}
// draw Info In Game
rayInfoPosition = ray.origin + (ray.direction * lineLength);
if (showInGameRay)
{
DrawLine(ray, lineLength, lineRenderer, rayColor);
DrawLine(ray, lineLength, lineRenderers[rayIndex], rayColor);
}
else
{
TurnOffLine(lineRenderer, rayColor);
TurnOffLine(lineRenderers[rayIndex], rayColor);
}
// drawRay in game
if (showInGameRayInfo) rayInfoUI.UpdateInfo(rayInfoText, rayInfoPosition, rayColor, TPSCam);
if (showInGameRayInfo) rayInfoUIs[rayIndex].UpdateInfo(rayInfoText, rayInfoPosition, rayColor, TPSCam);
// Show log
if (showDebugRay) Debug.DrawRay(ray.origin, ray.direction * viewDistance, rayColor); // drawRay in debug
// Debug.Log(ray.origin + ray.direction);
// Debug.Log(rayTagResult);
// Debug.Log(tagToInt(nowHit.collider.tag));
// Debug.Log(thisRayTagResult);
// Debug.Log(tagToInt(nowHit.collider.thisTag));
}
private void DrawLine(Ray ray, float lineLength, LineRenderer lineRenderer, Color lineColor)
@@ -177,24 +153,31 @@ public class RaySensors : MonoBehaviour
float focusREdge = agentCam.pixelWidth * (1 + focusRange) / 2;
float camPixelHeight = agentCam.pixelHeight;
inViewEnemies.Clear();
rayTagResultOneHot.Clear();
ClearResult();
for (int i = 0; i < halfOuterRayNum; i++) // create left outside rays; 0 ~ focusLeftEdge
{
Vector3 point = new Vector3(i * focusLEdge / (halfOuterRayNum - 1), camPixelHeight / 2, 0);
Ray nowRay = agentCam.ScreenPointToRay(point);
SingleRaycastUpdate(nowRay, lineRenderers[i], rayInfoUIs[i], out rayTagResult[i], out rayDisResult[i]);
SingleRaycastUpdate(nowRay,i);
}
for (int i = 0; i < halfOuterRayNum; i++) // create right outside rays; focusRightEdge ~ MaxPixelHeight
{
Vector3 point = new Vector3(focusREdge + (i * focusLEdge / (halfOuterRayNum - 1)), camPixelHeight / 2, 0);
Ray nowRay = agentCam.ScreenPointToRay(point);
SingleRaycastUpdate(nowRay, lineRenderers[halfOuterRayNum + i], rayInfoUIs[halfOuterRayNum + i], out rayTagResult[halfOuterRayNum + i], out rayDisResult[halfOuterRayNum + i]);
SingleRaycastUpdate(nowRay, halfOuterRayNum + i);
}
for (int i = 0; i < focusRayNum; i++) // create center focus rays; focusLeftEdge ~ focusLeftEdge
{
Vector3 point = new Vector3(focusLEdge + ((i + 1) * (focusREdge - focusLEdge) / (focusRayNum + 1)), camPixelHeight / 2, 0);
Ray nowRay = agentCam.ScreenPointToRay(point);
SingleRaycastUpdate(nowRay, lineRenderers[halfOuterRayNum * 2 + i], rayInfoUIs[halfOuterRayNum * 2 + i], out rayTagResult[halfOuterRayNum * 2 + i], out rayDisResult[halfOuterRayNum * 2 + i]);
SingleRaycastUpdate(nowRay, halfOuterRayNum * 2 + i);
}
}
private void ClearResult()
{
rayTagResult = new float[totalRayNum];
rayDisResult = new float[totalRayNum];
rayTagResultOneHot = new float[totalRayNum * ObjectTags.Tags.Count];
}
}
Assets/Script/ObjectTags.cs
+27
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@@ -0,0 +1,27 @@
using System.Collections.Generic;
using UnityEngine;
public static class ObjectTags
{
public static List<string> Tags = new List<string>() { "Wall", "Enemy", "Player" };
public static int TagToInt(string tag)
{
return Tags.IndexOf(tag);
}
public static Color TagToCololr(string tag)
{
switch (tag)
{
case "Wall":
return Color.white;
case "Enemy":
return Color.red;
case "Player":
return Color.green;
default:
return Color.cyan;
}
}
}
Assets/Script/ObjectTags.cs.meta
+11
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@@ -0,0 +1,11 @@
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