Onehot功能完善，修正
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
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@@ -100,7 +100,7 @@ public class MLAgentsCustomController : Agent
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myObserve[2] = transform.localPosition.z;
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myObserve[3] = transform.eulerAngles.y / 36f;
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rayTagResult = raySensors.rayTagResult;// 探测用RayTag类型结果 float[](raySensorNum,1)
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rayTagResultOnehot = raySensors.rayTagResultOneHot.ToArray(); // 探测用RayTagonehot结果 List<int>[](raySensorNum*Tags,1)
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rayTagResultOnehot = raySensors.rayTagResultOneHot; // 探测用RayTagonehot结果 List<int>[](raySensorNum*Tags,1)
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rayDisResult = raySensors.rayDisResult; // 探测用RayDis距离结果 float[](raySensorNum,1)
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targetStates = targetController.targetState; // (6) targettype, target x,y,z, firebasesAreaDiameter
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remainTime = targetController.leftTime;
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@@ -30,7 +30,7 @@ public class RaySensors : MonoBehaviour
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[Header("RayCastResult")]
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public float[] rayTagResult;
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public List<float> rayTagResultOneHot;
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public float[] rayTagResultOneHot;
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public float[] rayDisResult;
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[System.NonSerialized] public int totalRayNum;
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@@ -49,6 +49,7 @@ public class RaySensors : MonoBehaviour
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totalRayNum = halfOuterRayNum * 2 + focusRayNum;
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rayTagResult = new float[totalRayNum];
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rayDisResult = new float[totalRayNum];
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rayTagResultOneHot = new float[totalRayNum*ObjectTags.Tags.Count];
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linesOBJ = new GameObject[totalRayNum];
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lineRenderers = new LineRenderer[totalRayNum];
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rayInfoOBJ = new GameObject[totalRayNum];
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@@ -70,85 +71,60 @@ public class RaySensors : MonoBehaviour
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}
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}
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public int TagToInt(string tag)
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{
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switch (tag)
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{
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case "Wall":
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return 1;
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default:
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if (tag != myTag)
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{
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return 2;
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}
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return 0;
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}
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}
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private void SingleRaycastUpdate(Ray ray, LineRenderer lineRenderer, RayInfoUI rayInfoUI, out float rayTagResult, out float rayDisResult)
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private void SingleRaycastUpdate(Ray ray,int rayIndex)
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{
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// get Raycast hit infomation and return Tag and distance
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RaycastHit nowHit;
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Color rayColor = Color.cyan;
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Color rayColor = Color.gray;
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float lineLength = viewDistance;
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string rayInfoText = "";
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Vector3 rayInfoPosition;
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if (Physics.Raycast(ray, out nowHit, viewDistance)) // 若在viewDistance范围内有碰撞
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{
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rayInfoText = nowHit.collider.tag;
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rayTagResult = TagToInt(rayInfoText);
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rayTagResultOneHot.AddRange(oneHotTags.Encoder(rayInfoText));
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rayDisResult = nowHit.distance;
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lineLength = rayDisResult;
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rayInfoText += "\n" + Convert.ToString(rayDisResult);
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// rayDisResult = rayDisResult / viewDistance; // Normalization!
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// 输出log
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switch (rayTagResult)
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// Tag
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string thisTag = nowHit.collider.tag;
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// result update
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rayTagResult[rayIndex] = ObjectTags.TagToInt(thisTag);
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rayDisResult[rayIndex] = nowHit.distance;
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int oneHotIndex = rayIndex * ObjectTags.Tags.Count + ObjectTags.TagToInt(thisTag);
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rayTagResultOneHot[oneHotIndex] = 1f;
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if (rayTagResult[rayIndex] == ObjectTags.TagToInt("Enemy"))
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{
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case 1:// Wall
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rayColor = Color.white;
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break;
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case 2: // Enemy
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rayColor = Color.red;
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inViewEnemies.Add(nowHit.transform.gameObject);
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break;
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case -1: // Hit Nothing
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rayColor = Color.gray;
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break;
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default: // default,got wrong
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rayColor = Color.cyan;
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break;
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inViewEnemies.Add(nowHit.transform.gameObject);
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}
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// ingame info update
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lineLength = nowHit.distance;
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rayInfoText = thisTag + "\n" + Convert.ToString(nowHit.distance);
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rayColor = ObjectTags.TagToCololr(thisTag);
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}
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else // 若在viewDistance范围无碰撞
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{
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rayTagResultOneHot.AddRange(oneHotTags.Encoder());
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rayTagResult = -1f;
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rayDisResult = -1f;
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//输出log
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//Debug.Log(0);
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//Debug.Log(0);
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// Result update
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// rayTagResultOneHot keep zero
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rayTagResult[rayIndex] = -1;
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rayDisResult[rayIndex] = -1;
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// Info
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rayInfoText = "Empty";
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}
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// draw Info In Game
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rayInfoPosition = ray.origin + (ray.direction * lineLength);
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if (showInGameRay)
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{
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DrawLine(ray, lineLength, lineRenderer, rayColor);
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DrawLine(ray, lineLength, lineRenderers[rayIndex], rayColor);
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}
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else
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{
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TurnOffLine(lineRenderer, rayColor);
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TurnOffLine(lineRenderers[rayIndex], rayColor);
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}
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// drawRay in game
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if (showInGameRayInfo) rayInfoUI.UpdateInfo(rayInfoText, rayInfoPosition, rayColor, TPSCam);
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if (showInGameRayInfo) rayInfoUIs[rayIndex].UpdateInfo(rayInfoText, rayInfoPosition, rayColor, TPSCam);
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// Show log
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if (showDebugRay) Debug.DrawRay(ray.origin, ray.direction * viewDistance, rayColor); // drawRay in debug
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// Debug.Log(ray.origin + ray.direction);
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// Debug.Log(rayTagResult);
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// Debug.Log(tagToInt(nowHit.collider.tag));
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// Debug.Log(thisRayTagResult);
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// Debug.Log(tagToInt(nowHit.collider.thisTag));
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}
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private void DrawLine(Ray ray, float lineLength, LineRenderer lineRenderer, Color lineColor)
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@@ -177,24 +153,31 @@ public class RaySensors : MonoBehaviour
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float focusREdge = agentCam.pixelWidth * (1 + focusRange) / 2;
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float camPixelHeight = agentCam.pixelHeight;
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inViewEnemies.Clear();
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rayTagResultOneHot.Clear();
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ClearResult();
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for (int i = 0; i < halfOuterRayNum; i++) // create left outside rays; 0 ~ focusLeftEdge
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{
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Vector3 point = new Vector3(i * focusLEdge / (halfOuterRayNum - 1), camPixelHeight / 2, 0);
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Ray nowRay = agentCam.ScreenPointToRay(point);
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SingleRaycastUpdate(nowRay, lineRenderers[i], rayInfoUIs[i], out rayTagResult[i], out rayDisResult[i]);
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SingleRaycastUpdate(nowRay,i);
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}
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for (int i = 0; i < halfOuterRayNum; i++) // create right outside rays; focusRightEdge ~ MaxPixelHeight
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{
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Vector3 point = new Vector3(focusREdge + (i * focusLEdge / (halfOuterRayNum - 1)), camPixelHeight / 2, 0);
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Ray nowRay = agentCam.ScreenPointToRay(point);
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SingleRaycastUpdate(nowRay, lineRenderers[halfOuterRayNum + i], rayInfoUIs[halfOuterRayNum + i], out rayTagResult[halfOuterRayNum + i], out rayDisResult[halfOuterRayNum + i]);
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SingleRaycastUpdate(nowRay, halfOuterRayNum + i);
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}
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for (int i = 0; i < focusRayNum; i++) // create center focus rays; focusLeftEdge ~ focusLeftEdge
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{
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Vector3 point = new Vector3(focusLEdge + ((i + 1) * (focusREdge - focusLEdge) / (focusRayNum + 1)), camPixelHeight / 2, 0);
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Ray nowRay = agentCam.ScreenPointToRay(point);
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SingleRaycastUpdate(nowRay, lineRenderers[halfOuterRayNum * 2 + i], rayInfoUIs[halfOuterRayNum * 2 + i], out rayTagResult[halfOuterRayNum * 2 + i], out rayDisResult[halfOuterRayNum * 2 + i]);
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SingleRaycastUpdate(nowRay, halfOuterRayNum * 2 + i);
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}
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}
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private void ClearResult()
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{
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rayTagResult = new float[totalRayNum];
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rayDisResult = new float[totalRayNum];
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rayTagResultOneHot = new float[totalRayNum * ObjectTags.Tags.Count];
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}
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}
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