V2.8 移动算法更新
过去X与Y可同时达到maxspeed致使速度会超过maxspeed，本次修正了该错误。 追加移动Penalty。
This commit is contained in:
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--- !u!1 &881594482
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GameObject:
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@@ -26501,15 +26505,15 @@ MonoBehaviour:
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nonReward: -1
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loseReward: -999
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shootReward: -0.5
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hitReward: 5
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killReward: 5
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hitReward: -5
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killReward: -5
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shootWithoutReadyReward: -1.15
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killBonusReward: 0
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facingReward: 2
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shootTargetAreaReward: 5
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spinPenalty: 0.08
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mousePenalty: 0.06
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hitTargetReward: 60
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killTargetEnemyReward: 80
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inAreaReward: 5
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@@ -26588,15 +26592,15 @@ MonoBehaviour:
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nonReward: -1
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loseReward: -999
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shootReward: -0.5
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hitReward: 5
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killReward: 5
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hitReward: -5
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killReward: -5
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shootWithoutReadyReward: -1.15
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killBonusReward: 0
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facingReward: 2
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shootTargetAreaReward: 5
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speedPenalty: 0
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spinPenalty: 0.04
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movePenalty: 0.1
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spinPenalty: 0.08
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mousePenalty: 0.06
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hitTargetReward: 60
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killTargetEnemyReward: 80
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inAreaReward: 5
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@@ -28345,10 +28349,11 @@ MonoBehaviour:
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TargetControllerObj: {fileID: 1669889452}
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HUDObj: {fileID: 2082200184}
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thisCam: {fileID: 1841302676}
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MoveSpeed: 9
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vX: 0
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vZ: 0
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acceleration: 0.3
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thisMovement: {x: 0, y: 0, z: 0}
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acceleration: 0.9
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mouseXSensitivity: 100
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mouseYSensitivity: 200
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yRotation: 0.1
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@@ -32300,10 +32305,11 @@ MonoBehaviour:
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TargetControllerObj: {fileID: 237058156}
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HUDObj: {fileID: 2082200184}
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thisCam: {fileID: 210966817}
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MoveSpeed: 3
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MoveSpeed: 9
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vX: 0
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vZ: 0
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acceleration: 0.3
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thisMovement: {x: 0, y: 0, z: 0}
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acceleration: 0.9
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mouseXSensitivity: 100
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mouseYSensitivity: 200
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yRotation: 0.1
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@@ -40029,15 +40035,15 @@ MonoBehaviour:
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nonReward: -1
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loseReward: -999
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shootReward: -0.5
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hitReward: 5
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killReward: 5
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hitReward: -5
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killReward: -5
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shootWithoutReadyReward: -1.15
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killBonusReward: 0
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facingReward: 2
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shootTargetAreaReward: 5
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speedPenalty: 0
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spinPenalty: 0.04
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mousePenalty: 0.01
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movePenalty: 0.1
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spinPenalty: 0.08
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mousePenalty: 0.06
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hitTargetReward: 60
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killTargetEnemyReward: 80
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inAreaReward: 5
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@@ -40843,15 +40849,15 @@ MonoBehaviour:
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nonReward: -1
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loseReward: -999
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shootReward: -0.5
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hitReward: 5
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killReward: 5
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hitReward: -5
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killReward: -5
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shootWithoutReadyReward: -1.15
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killBonusReward: 0
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facingReward: 2
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shootTargetAreaReward: 5
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speedPenalty: 0
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spinPenalty: 0.04
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mousePenalty: 0.01
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movePenalty: 0.1
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spinPenalty: 0.08
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mousePenalty: 0.06
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hitTargetReward: 60
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killTargetEnemyReward: 80
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inAreaReward: 5
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@@ -43669,10 +43675,11 @@ MonoBehaviour:
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TargetControllerObj: {fileID: 1639946336}
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HUDObj: {fileID: 2082200184}
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thisCam: {fileID: 489192433}
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MoveSpeed: 9
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vX: 0
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vZ: 0
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acceleration: 0.3
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thisMovement: {x: 0, y: 0, z: 0}
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acceleration: 0.9
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mouseXSensitivity: 100
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mouseYSensitivity: 200
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yRotation: 0.1
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@@ -45097,8 +45104,8 @@ MonoBehaviour:
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group1Tag: Player
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group2Tag: Enemy
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minEnemyAreaX: 0
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attackProb: 0.333
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gotoProb: 0.333
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attackProb: 1
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gotoProb: 0
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defenceProb: 0
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targetState:
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- 0
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@@ -45824,8 +45831,8 @@ MonoBehaviour:
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group1Tag: Player
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group2Tag: Enemy
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minEnemyAreaX: 0
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attackProb: 0.333
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gotoProb: 0.333
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attackProb: 1
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gotoProb: 0
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defenceProb: 0
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targetState:
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- 0
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@@ -46941,8 +46948,8 @@ MonoBehaviour:
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group1Tag: Player
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group2Tag: Enemy
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minEnemyAreaX: 0
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attackProb: 0.333
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gotoProb: 0.333
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attackProb: 1
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gotoProb: 0
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defenceProb: 0
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targetState:
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- 0
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@@ -47975,7 +47982,7 @@ Mesh:
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_Name: pb_Mesh23770
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@@ -50155,10 +50162,11 @@ MonoBehaviour:
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TargetControllerObj: {fileID: 502694778}
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HUDObj: {fileID: 2082200184}
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thisCam: {fileID: 337932549}
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MoveSpeed: 3
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MoveSpeed: 9
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vX: 0
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vZ: 0
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acceleration: 0.3
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thisMovement: {x: 0, y: 0, z: 0}
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acceleration: 0.9
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mouseXSensitivity: 100
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mouseYSensitivity: 200
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yRotation: 0.1
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@@ -50278,7 +50286,7 @@ MeshCollider:
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serializedVersion: 4
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m_Convex: 0
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m_CookingOptions: 30
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m_Mesh: {fileID: 878509639}
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m_Mesh: {fileID: 98340202}
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--- !u!33 &1790388461
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MeshFilter:
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m_ObjectHideFlags: 10
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@@ -50286,7 +50294,7 @@ MeshFilter:
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_GameObject: {fileID: 1790388458}
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m_Mesh: {fileID: 878509639}
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m_Mesh: {fileID: 98340202}
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--- !u!23 &1790388462
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MeshRenderer:
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m_ObjectHideFlags: 0
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@@ -50540,8 +50548,8 @@ MonoBehaviour:
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m_AreaError: 15
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m_PreserveMeshAssetOnDestroy: 0
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assetGuid:
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m_Mesh: {fileID: 878509639}
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m_Mesh: {fileID: 98340202}
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m_VersionIndex: 3
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m_IsSelectable: 1
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m_SelectedFaces:
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m_SelectedEdges: []
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@@ -57429,8 +57437,8 @@ MonoBehaviour:
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group1Tag: Player
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group2Tag: Enemy
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minEnemyAreaX: 0
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attackProb: 0.333
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gotoProb: 0.333
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attackProb: 1
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gotoProb: 0
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defenceProb: 0
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targetState:
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- 0
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@@ -33,9 +33,10 @@ public class AgentWithGun : Agent
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public Camera thisCam;
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|
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[Header("GetAxis() Simulate")]
|
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public float MoveSpeed = 2.0f;
|
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public float MoveSpeed = 9.0f;
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public float vX = 0f;
|
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public float vZ = 0f;
|
||||
public Vector3 thisMovement;
|
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public float acceleration = 0.1f; // 加速度
|
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public float mouseXSensitivity = 100;
|
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public float mouseYSensitivity = 200;
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@@ -107,7 +108,7 @@ public class AgentWithGun : Agent
|
||||
// moveAgent 用于模拟Input.GetAxis移动
|
||||
public void moveAgent(int vertical, int horizontal)
|
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{
|
||||
Vector3 thisMovement;
|
||||
// Vector3 thisMovement;
|
||||
|
||||
if (horizontal != 0)//当按下按键（水平方向）
|
||||
{
|
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@@ -170,9 +171,13 @@ public class AgentWithGun : Agent
|
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vZ = 0;
|
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}
|
||||
}
|
||||
thisMovement = (transform.forward * vZ + transform.right * vX) * MoveSpeed;
|
||||
thisMovement = (transform.forward * vZ + transform.right * vX);
|
||||
//PlayerController下的.Move为实现物体运动的函数
|
||||
//Move()括号内放入一个Vector3类型的量，本例中为Player_Move
|
||||
if (thisMovement.magnitude > MoveSpeed)
|
||||
{
|
||||
thisMovement = thisMovement.normalized * MoveSpeed;
|
||||
}
|
||||
PlayerController.Move(thisMovement * Time.deltaTime);
|
||||
// update Key Viewer
|
||||
}
|
||||
@@ -362,7 +367,7 @@ public class AgentWithGun : Agent
|
||||
|
||||
// ------------Reward--------------
|
||||
// rewardCalculate 计算本动作的Reward
|
||||
public float rewardCalculate(float sceneReward,float mouseX)
|
||||
public float rewardCalculate(float sceneReward,float mouseX,float movement)
|
||||
{
|
||||
float epreward = 0f;
|
||||
// 击杀reward判断
|
||||
@@ -383,6 +388,7 @@ public class AgentWithGun : Agent
|
||||
epreward += ballistic() + sceneReward;
|
||||
// facing reward
|
||||
epreward += facingReward();
|
||||
// Penalty
|
||||
// spin penalty
|
||||
spinRecord.Add(mouseX);
|
||||
if (spinRecord.Count >= paramContainer.spinRecordMax)
|
||||
@@ -398,6 +404,11 @@ public class AgentWithGun : Agent
|
||||
{
|
||||
epreward -= Math.Abs(mouseX) * paramContainer.mousePenalty;
|
||||
}
|
||||
// move penalty
|
||||
if (movement != 0)
|
||||
{
|
||||
epreward -= paramContainer.movePenalty;
|
||||
}
|
||||
return epreward;
|
||||
}
|
||||
|
||||
@@ -484,7 +495,7 @@ public class AgentWithGun : Agent
|
||||
float sceneReward = 0f;
|
||||
float endReward = 0f;
|
||||
(finishedState, sceneReward, endReward) = targetCon.checkOverAndRewards();
|
||||
float thisRoundReward = rewardCalculate(sceneReward+ endReward,Mouse_X);
|
||||
float thisRoundReward = rewardCalculate(sceneReward+ endReward,Mouse_X,Math.Abs(vertical)+Math.Abs(horizontal));
|
||||
if (hudController.chartOn)
|
||||
{
|
||||
EnvUICon.updateChart(thisRoundReward);
|
||||
|
||||
@@ -76,8 +76,8 @@ public class ParameterContainer : MonoBehaviour
|
||||
public float shootTargetAreaReward = 5.0f;
|
||||
|
||||
[Header("Penalty Rewards")]
|
||||
[Tooltip("Speed Penalty Reward")]
|
||||
public float speedPenalty = 0f;
|
||||
[Tooltip("move Penalty Reward")]
|
||||
public float movePenalty = 0f;
|
||||
[Tooltip("spiiiiiiin Panalty Reward")]
|
||||
public float spinPenalty = 0f;
|
||||
[Tooltip("while move mouse a little bit's penalty")]
|
||||
|
||||
@@ -264,8 +264,8 @@ public class TargetController : MonoBehaviour
|
||||
(nowDistance, inArea) = blockCont.getAgentTargetDistanceAndInside(AgentObj.transform.position);
|
||||
envUICon.updateTargetGauge(blockCont.thisBlock.firebasesBelong, blockCont.thisBlock.belongMaxPoint);
|
||||
float areaTargetReward = getDistanceReward(nowDistance, inArea);
|
||||
// if (blockCont.thisBlock.firebasesBelong >= blockCont.thisBlock.belongMaxPoint)
|
||||
if(inArea != 0)
|
||||
//if(inArea != 0)
|
||||
if (blockCont.thisBlock.firebasesBelong >= blockCont.thisBlock.belongMaxPoint)
|
||||
{
|
||||
// win
|
||||
// let the area belongs to me
|
||||
@@ -284,7 +284,6 @@ public class TargetController : MonoBehaviour
|
||||
else
|
||||
{
|
||||
// keep on keeping on!
|
||||
|
||||
thisReward = areaTargetReward;
|
||||
endReward = 0;
|
||||
endTypeInt = (int)EndType.Running;
|
||||
@@ -392,6 +391,7 @@ public class TargetController : MonoBehaviour
|
||||
float thisSceneReward = 0f;
|
||||
if (inarea != 0)
|
||||
{
|
||||
// in area
|
||||
thisSceneReward = paramCon.inAreaReward;
|
||||
}
|
||||
else
|
||||
|
||||
Reference in New Issue
Block a user