680 lines
24 KiB
C#
680 lines
24 KiB
C#
using System;
|
||
using System.Reflection;
|
||
using System.Collections;
|
||
using System.Collections.Generic;
|
||
|
||
using UnityEngine;
|
||
using UnityEngine.UI;
|
||
using UnityEditor;
|
||
using Unity.MLAgents;
|
||
using Unity.MLAgents.Sensors;
|
||
using Unity.MLAgents.Actuators;
|
||
using XCharts;
|
||
using XCharts.Runtime;
|
||
|
||
/*主要ML-Agent控制*/
|
||
|
||
public class AgentWithGun : Agent
|
||
{
|
||
public GameObject thisAgentObj;
|
||
public Transform thisAgent;
|
||
public Camera thisCam;
|
||
public CharacterController PlayerController;
|
||
public GameObject enemyPrefab;
|
||
public GameObject cameraChangerOBJ;
|
||
|
||
|
||
[Header("Rewards")]
|
||
[Tooltip("Nothing happened reward")]
|
||
public float nonRewardDefault = -0.05f;
|
||
[Tooltip("Agent Do shoot action reward")]
|
||
public float shootRewardDefault = -0.1f;
|
||
[Tooltip("Agent Do shoot action but gun is not read")]
|
||
public float shootWithoutReadyRewardDefault = -1.0f;
|
||
[Tooltip("Hit Enemy reward")]
|
||
public float hitRewardDefault = 2.0f;
|
||
[Tooltip("Episode Win reward")]
|
||
public float winRewardDefault = 10.0f;
|
||
[Tooltip("Episode Lose reward")]
|
||
public float loseRewardDefault = -10.0f;
|
||
[Tooltip("Enemy down reward")]
|
||
public float killRewardDefault = 5.0f;
|
||
|
||
[Header("Env")]
|
||
public bool lockMouse = false;
|
||
public float Damage = 50; // damage to enemy
|
||
public float fireRate = 0.5f;
|
||
public int enemyNum = 3;
|
||
public int timeLimit = 30;
|
||
public bool lockCameraX = false;
|
||
public bool lockCameraY = true;
|
||
//public Vector3 startPosition = new Vector3(9, 1, 18);
|
||
public int minEnemyAreaX = -12;
|
||
public int maxEnemyAreaX = 11;
|
||
public int minEnemyAreaY = -20;
|
||
public int maxEnemyAreaY = 20;
|
||
public int minAgentAreaX = -12;
|
||
public int maxAgentAreaX = 11;
|
||
public int minAgentAreaY = -28;
|
||
public int maxAgentAreaY = -22;
|
||
|
||
[Header("GetAxis() Simulate")]
|
||
public float MoveSpeed = 2.0f;
|
||
public float vX = 0f;
|
||
public float vZ = 0f;
|
||
public float acceleration = 0.1f; // 加速度
|
||
public float mouseXSensitivity = 100;
|
||
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 float startTime = 0;
|
||
private int shoot = 0;
|
||
private float lastShootTime = 0.0f;
|
||
private int nowEnemyNum = 0;
|
||
private int enemyKillCount = 0;
|
||
private int step = 0;
|
||
private int EP = 0;
|
||
private string LoadDirDate;
|
||
private string LoadDirTime;
|
||
private float LoadDirDateF;
|
||
private float loadDirTimeF;
|
||
public bool defaultTPCamera = true;
|
||
private bool gunReadyToggle = true;
|
||
private StartSeneData DataTransfer;
|
||
private UIController UICon;
|
||
private HistoryRecorder HistoryRec;
|
||
private RaySensors rayScript;
|
||
private CameraChange camChanger;
|
||
|
||
|
||
[System.NonSerialized] public float nonReward;
|
||
[System.NonSerialized] public float shootReward;
|
||
[System.NonSerialized] public float shootWithoutReadyReward;
|
||
[System.NonSerialized] public float hitReward;
|
||
[System.NonSerialized] public float winReward;
|
||
[System.NonSerialized] public float loseReward;
|
||
[System.NonSerialized] public float killReward;
|
||
[System.NonSerialized] public float saveNow = 0;
|
||
[System.NonSerialized] public int remainTime;
|
||
|
||
|
||
void Start()
|
||
{
|
||
try
|
||
{
|
||
// get DataTranfer
|
||
DataTransfer = GameObject.Find("StartSeneDataTransfer").GetComponent<StartSeneData>();
|
||
// Enemy Num
|
||
enemyNum = DataTransfer.EnemyNum;
|
||
|
||
// Time Limit
|
||
timeLimit = DataTransfer.Timelim;
|
||
|
||
// get load directory.
|
||
LoadDirDate = DataTransfer.LoadDirDate;
|
||
LoadDirTime = DataTransfer.LoadDirTime;
|
||
LoadDirDateF = float.Parse(LoadDirDate);
|
||
loadDirTimeF = float.Parse(LoadDirTime);
|
||
|
||
// get Default reward.
|
||
nonRewardDefault = DataTransfer.nonReward;
|
||
shootRewardDefault = DataTransfer.shootReward;
|
||
shootWithoutReadyRewardDefault = DataTransfer.shootWithoutReadyReward;
|
||
hitRewardDefault = DataTransfer.hitReward;
|
||
killRewardDefault = DataTransfer.killReward;
|
||
winRewardDefault = DataTransfer.winReward;
|
||
loseRewardDefault = DataTransfer.loseReward;
|
||
lockMouse = DataTransfer.lockMouse;
|
||
defaultTPCamera = DataTransfer.defaultTPCamera;
|
||
|
||
// change Decision Period & Take Actions Between Decisions
|
||
transform.GetComponent<DecisionRequester>().DecisionPeriod = DataTransfer.DecisionPeriod;
|
||
transform.GetComponent<DecisionRequester>().TakeActionsBetweenDecisions = DataTransfer.ActionsBetweenDecisions;
|
||
|
||
}
|
||
catch (NullReferenceException)
|
||
{
|
||
// Enemy Num
|
||
enemyNum = 3;
|
||
|
||
// Time Limit
|
||
timeLimit = 30;
|
||
|
||
// get load directory.
|
||
LoadDirDate = "0";
|
||
LoadDirTime = "0";
|
||
LoadDirDateF = float.Parse(LoadDirDate);
|
||
loadDirTimeF = float.Parse(LoadDirTime);
|
||
|
||
// get Default reward.
|
||
nonRewardDefault = -0.05f;
|
||
shootRewardDefault = -0.06f;
|
||
shootWithoutReadyRewardDefault = -0.06f;
|
||
hitRewardDefault = 5.0f;
|
||
killRewardDefault = 10.0f;
|
||
winRewardDefault = 20.0f;
|
||
loseRewardDefault = -10.0f;
|
||
|
||
// change Decision Period & Take Actions Between Decisions
|
||
transform.GetComponent<DecisionRequester>().DecisionPeriod = 1;
|
||
transform.GetComponent<DecisionRequester>().TakeActionsBetweenDecisions = true;
|
||
}
|
||
finally
|
||
{
|
||
UICon = transform.GetComponent<UIController>();
|
||
HistoryRec = transform.GetComponent<HistoryRecorder>();
|
||
rayScript = GetComponent<RaySensors>();
|
||
camChanger = cameraChangerOBJ.GetComponent<CameraChange>();
|
||
|
||
// give default Reward to Reward value will be used.
|
||
nonReward = nonRewardDefault;
|
||
shootReward = shootRewardDefault;
|
||
shootWithoutReadyReward = shootWithoutReadyRewardDefault;
|
||
hitReward = hitRewardDefault;
|
||
winReward = winRewardDefault;
|
||
loseReward = loseRewardDefault;
|
||
killReward = killRewardDefault;
|
||
//initialize remainTime
|
||
remainTime = (int)(timeLimit - Time.time + startTime);
|
||
// change default camera view
|
||
if (defaultTPCamera)
|
||
{
|
||
camChanger.ShowTPSView();
|
||
}
|
||
else
|
||
{
|
||
camChanger.ShowFPSView();
|
||
}
|
||
}
|
||
}
|
||
|
||
/* ----------此Update用于debug，Build前删除或注释掉！----------*/
|
||
/*void Update()
|
||
{
|
||
//Debug.Log(RaySensors.rayTagResult[0]);
|
||
}*/
|
||
/* ----------此Update用于debug，Build前删除或注释掉！----------*/
|
||
|
||
// --------------初始化---------------
|
||
// randomInitEnemys随机生成enemy
|
||
public void randomInitEnemys(int EnemyNum)
|
||
{
|
||
for (int i = 0; i < EnemyNum; i++)
|
||
{
|
||
int randX = UnityEngine.Random.Range(minEnemyAreaX, maxEnemyAreaX);
|
||
int randZ = UnityEngine.Random.Range(minEnemyAreaY, maxEnemyAreaY);
|
||
int Y = 1;
|
||
Instantiate(enemyPrefab, new Vector3(randX, Y, randZ), Quaternion.identity);
|
||
}
|
||
}
|
||
|
||
// --------------初始化---------------
|
||
// randomInitAgent随机位置初始化Agent
|
||
public void randomInitAgent()
|
||
{
|
||
int randX = UnityEngine.Random.Range(minAgentAreaX, maxAgentAreaX);
|
||
int randZ = UnityEngine.Random.Range(minAgentAreaY, maxAgentAreaY);
|
||
int Y = 1;
|
||
Vector3 initAgentLoc = new Vector3(randX, Y, randZ);
|
||
thisAgent.localPosition = initAgentLoc;
|
||
}
|
||
|
||
// ------------动作处理--------------
|
||
// moveAgent 用于模拟Input.GetAxis移动
|
||
public void moveAgent(int vertical, int horizontal)
|
||
{
|
||
Vector3 thisMovement;
|
||
|
||
if (horizontal != 0)//当按下按键（水平方向）
|
||
{
|
||
if (vX < MoveSpeed && vX > -MoveSpeed)//当前速度小于最大速度
|
||
{
|
||
vX += (float)horizontal * acceleration;//增加加速度
|
||
}
|
||
else
|
||
{
|
||
//防止在一瞬间切换输入时速度仍保持不变
|
||
if ((vX * horizontal) > 0)//输入与当前速度方向同向
|
||
{
|
||
vX = (float)horizontal * MoveSpeed; //限制最大速度
|
||
}
|
||
else
|
||
{
|
||
vX += (float)horizontal * acceleration;//增加加速度
|
||
}
|
||
|
||
}
|
||
}
|
||
else
|
||
{
|
||
if (Math.Abs(vX) > 0.001)
|
||
{
|
||
vX -= (vX / Math.Abs(vX)) * acceleration;//减少加速度
|
||
}
|
||
else
|
||
{
|
||
vX = 0;
|
||
}
|
||
}
|
||
|
||
if (vertical != 0)//当按下按键（垂直方向）
|
||
{
|
||
if (vZ < MoveSpeed && vZ > -MoveSpeed)//当前速度小于最大速度
|
||
{
|
||
vZ += (float)vertical * acceleration;//增加加速度
|
||
}
|
||
else
|
||
{
|
||
if ((vZ * vertical) > 0)//输入与当前速度方向同向
|
||
{
|
||
vZ = (float)vertical * MoveSpeed; //限制最大速度
|
||
}
|
||
else
|
||
{
|
||
vZ += (float)vertical * acceleration;//增加加速度
|
||
}
|
||
}
|
||
}
|
||
else
|
||
{
|
||
if (Math.Abs(vZ) > 0.001)
|
||
{
|
||
vZ -= (vZ / Math.Abs(vZ)) * acceleration;//减少加速度
|
||
}
|
||
else
|
||
{
|
||
vZ = 0;
|
||
}
|
||
}
|
||
thisMovement = (transform.forward * vZ + transform.right * vX) * MoveSpeed;
|
||
//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
|
||
PlayerController.Move(thisMovement * Time.deltaTime);
|
||
// update Key Viewer
|
||
}
|
||
|
||
// ------------动作处理--------------
|
||
// cameraControl 用于控制Agent视角转动
|
||
public void cameraControl(float Mouse_X, float Mouse_Y)
|
||
{
|
||
//Mouse_X = Input.GetAxis("Mouse X") * MouseSensitivity * Time.deltaTime;
|
||
//Debug.Log(Input.GetAxis("Mouse X"));
|
||
//Mouse_Y = Input.GetAxis("Mouse Y") * MouseSensitivity * Time.deltaTime;
|
||
if (lockCameraX)
|
||
{
|
||
Mouse_X = 0;
|
||
}
|
||
if (lockCameraY)
|
||
{
|
||
Mouse_Y = 0;
|
||
}
|
||
yRotation = yRotation - Mouse_Y;
|
||
//xRotation值为正时，屏幕下移，当xRotation值为负时，屏幕上移
|
||
//当鼠标向上滑动，Mouse_Y值为正,xRotation-Mouse_Y的值为负,xRotation总的值为负，屏幕视角向上滑动
|
||
//当鼠标向下滑动，Mouse_Y值为负,xRotation-Mouse_Y的值为正,xRotation总的值为正，屏幕视角向下滑动
|
||
//简单来说就是要控制鼠标滑动的方向与屏幕移动的方向要相同
|
||
|
||
//limit UP DOWN between -90 -> 90
|
||
yRotation = Mathf.Clamp(yRotation, -90f, 90f);
|
||
|
||
|
||
//相机左右旋转时，是以Y轴为中心旋转的，上下旋转时，是以X轴为中心旋转的
|
||
thisAgent.Rotate(Vector3.up * Mouse_X);
|
||
//Vector3.up相当于Vector3(0,1,0),CameraRotation.Rotate(Vector3.up * Mouse_X)相当于使CameraRotation对象绕y轴旋转Mouse_X个单位
|
||
//即相机左右旋转时，是以Y轴为中心旋转的，此时Mouse_X控制着值的大小
|
||
|
||
//相机在上下旋转移动时，相机方向不会随着移动，类似于低头和抬头，左右移动时，相机方向会随着向左向右移动，类似于向左向右看
|
||
//所以在控制相机向左向右旋转时，要保证和父物体一起转动
|
||
thisCam.transform.localRotation = Quaternion.Euler(yRotation, 0, 0);
|
||
//this.transform指这个CameraRotation的位置,localRotation指的是旋转轴
|
||
//transform.localRotation = Quaternion.Eular(x,y,z)控制旋转的时候，按照X-Y-Z轴的旋转顺规
|
||
//即以围绕X轴旋转x度，围绕Y轴旋转y度，围绕Z轴旋转z度
|
||
//且绕轴旋转的坐标轴是父节点本地坐标系的坐标轴
|
||
}
|
||
|
||
// GotKill 获得击杀时用于被呼出
|
||
public void GotKill()
|
||
{
|
||
enemyKillCount += 1;
|
||
}
|
||
|
||
// check gun is ready to shoot
|
||
bool gunReady()
|
||
{
|
||
if ((Time.time - lastShootTime) >= fireRate)
|
||
{
|
||
return true;
|
||
}
|
||
else
|
||
{
|
||
return false;
|
||
}
|
||
}
|
||
|
||
// ballistic 射击弹道处理，并返回获得reward
|
||
float ballistic()
|
||
{
|
||
Vector3 point = new Vector3(thisCam.pixelWidth / 2, thisCam.pixelHeight / 2, 0);//发射位置
|
||
Ray ray = thisCam.ScreenPointToRay(point);
|
||
RaycastHit hit;
|
||
Debug.DrawRay(ray.origin, ray.direction * 100, Color.blue);
|
||
UICon.updateShootKeyViewer(shoot, gunReadyToggle);
|
||
//按下鼠标左键
|
||
if (shoot != 0 && gunReadyToggle == true)
|
||
{
|
||
|
||
lastShootTime = Time.time;
|
||
if (Physics.Raycast(ray, out hit, 100))
|
||
{
|
||
if (hit.collider.tag == "Enemy")
|
||
{
|
||
GameObject gotHitObj = hit.transform.gameObject;//获取受到Ray撞击的对象
|
||
gotHitObj.GetComponent<Enemy>().ReactToHit(Damage, thisAgentObj);
|
||
shoot = 0;
|
||
return hitReward;
|
||
}
|
||
}
|
||
shoot = 0;
|
||
return shootReward;
|
||
}
|
||
else if (shoot != 0 && gunReadyToggle == false)
|
||
{
|
||
shoot = 0;
|
||
return shootWithoutReadyReward;
|
||
}
|
||
else
|
||
{
|
||
shoot = 0;
|
||
return nonReward;
|
||
}
|
||
}
|
||
|
||
// destroyEnemy消除除了自己以外的所有Enemy
|
||
public void destroyAllEnemys()
|
||
{
|
||
GameObject[] EnemyGameObjs;
|
||
EnemyGameObjs = GameObject.FindGameObjectsWithTag("Enemy");
|
||
//遍历所有Enemy
|
||
foreach (GameObject EnemyObj in EnemyGameObjs)
|
||
{
|
||
Vector3 thisEnemyPosition = EnemyObj.transform.position;
|
||
Vector3 thisEnemyScale = EnemyObj.transform.localScale;
|
||
Vector3 MyselfPosition = thisAgent.position;
|
||
|
||
//探测到Agent为自己时的处理
|
||
if (thisEnemyPosition == MyselfPosition)
|
||
{
|
||
//Debug.Log("OH It's me");
|
||
}
|
||
else
|
||
{
|
||
Destroy(EnemyObj);
|
||
}
|
||
}
|
||
}
|
||
|
||
// checkFinish 检查是否结束回合返回int值
|
||
// 1 = success,2 = overtime,0 = notover
|
||
int checkFinish()
|
||
{
|
||
GameObject[] EnemyGameObjs;
|
||
EnemyGameObjs = GameObject.FindGameObjectsWithTag("Enemy");
|
||
if (EnemyGameObjs.Length <= 1)
|
||
{
|
||
//成功击杀所有Enemy
|
||
return 1;
|
||
}
|
||
else if (Time.time - startTime >= timeLimit)
|
||
{
|
||
//超时失败
|
||
return 2;
|
||
}
|
||
else
|
||
{
|
||
return 0;
|
||
}
|
||
}
|
||
|
||
// getEnemyNum 获取现场除了自己以外的敌人数量
|
||
int getEnemyNum()
|
||
{
|
||
int enemyNum = 0;
|
||
GameObject[] EnemyGameObjs;
|
||
EnemyGameObjs = GameObject.FindGameObjectsWithTag("Enemy");
|
||
//遍历所有Enemy
|
||
foreach (GameObject EnemyObj in EnemyGameObjs)
|
||
{
|
||
Vector3 thisEnemyPosition = EnemyObj.transform.position;
|
||
Vector3 thisEnemyScale = EnemyObj.transform.localScale;
|
||
Vector3 MyselfPosition = thisAgent.position;
|
||
|
||
//探测到Agent为自己时的处理
|
||
if (thisEnemyPosition == MyselfPosition)
|
||
{
|
||
//Debug.Log("OH It's me");
|
||
}
|
||
else
|
||
{
|
||
enemyNum += 1;
|
||
}
|
||
}
|
||
return enemyNum;
|
||
}
|
||
|
||
// enemyNumDiff 获取与上一把相比敌人数量的区别
|
||
int enemyNumDiff()
|
||
{
|
||
int diff = 0;
|
||
int nowEnemyNum = getEnemyNum();
|
||
diff = enemyNum - nowEnemyNum;
|
||
return diff;
|
||
}
|
||
|
||
// ------------Reward--------------
|
||
// rewardCalculate 计算本动作的Reward
|
||
public float rewardCalculate()
|
||
{
|
||
float epreward = 0f;
|
||
// 击杀reward判断
|
||
if (enemyKillCount > 0)
|
||
{
|
||
for (int i = 0; i < enemyKillCount; i++)
|
||
{
|
||
epreward += killReward;
|
||
}
|
||
enemyKillCount = 0;
|
||
}
|
||
else
|
||
{
|
||
enemyKillCount = 0;
|
||
}
|
||
// 射击动作reward判断
|
||
epreward += ballistic();
|
||
return epreward;
|
||
}
|
||
|
||
|
||
// ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
|
||
// env开始执行初始化
|
||
public override void OnEpisodeBegin()
|
||
{
|
||
step = 0;
|
||
if (EP == 0)
|
||
{
|
||
UICon.iniChart();
|
||
}
|
||
if (lockMouse)
|
||
{
|
||
Cursor.lockState = CursorLockMode.Locked; // hide and lock the mouse
|
||
}
|
||
//iniCharts();
|
||
thisAgentObj.name = thisAgentObj.GetInstanceID().ToString();
|
||
destroyAllEnemys();
|
||
startTime = Time.time;// Reset StartTime as now time
|
||
randomInitAgent();
|
||
randomInitEnemys(enemyNum);
|
||
nowEnemyNum = getEnemyNum(); // Reset Enemy number
|
||
}
|
||
|
||
// ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
|
||
// 观察情报
|
||
public override void CollectObservations(VectorSensor sensor)
|
||
{
|
||
|
||
//List<float> enemyLDisList = RaySensors.enemyLDisList;// All Enemy Lside Distances
|
||
//List<float> enemyRDisList = RaySensors.enemyRDisList;// All Enemy Rside Distances
|
||
|
||
rayScript.updateRayInfo();
|
||
float[] myObserve = { thisAgent.position.x, thisAgent.position.y, thisAgent.position.z, thisAgent.rotation.w };
|
||
float[] rayTagResult = rayScript.rayTagResult;// 探测用RayTag结果 float[](raySensorNum,1)
|
||
float[] rayDisResult = rayScript.rayDisResult; // 探测用RayDis结果 float[](raySensorNum,1)
|
||
//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(myObserve); // 自机位置xyz+朝向 float[](4,1)
|
||
sensor.AddObservation(rayTagResult); // 探测用RayTag结果 float[](raySensorNum,1)
|
||
sensor.AddObservation(rayDisResult); // 探测用RayDis结果 float[](raySensorNum,1)
|
||
//sensor.AddObservation(focusEnemyObserve); // 最近的Enemy情报 float[](3,1) MinEnemyIndex,x,z
|
||
//sensor.AddObservation(raySensorNum); // raySensor数量 int
|
||
gunReadyToggle = gunReady();
|
||
sensor.AddObservation(gunReadyToggle); // save gun is ready?
|
||
sensor.AddObservation(LoadDirDateF); // 用于loadModel的第一级dir
|
||
sensor.AddObservation(loadDirTimeF); // 用于loadModel的第二级dir
|
||
sensor.AddObservation(saveNow); // sent saveNow Toggle to python let agent save weights
|
||
saveNow = 0; // reset saveNow Toggle
|
||
//sensor.AddObservation(remainTime); // RemainTime int
|
||
}
|
||
|
||
// ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
|
||
// agent 输入处理
|
||
public override void OnActionReceived(ActionBuffers actionBuffers)
|
||
{
|
||
//获取输入
|
||
int vertical = actionBuffers.DiscreteActions[0];
|
||
int horizontal = actionBuffers.DiscreteActions[1];
|
||
int mouseShoot = actionBuffers.DiscreteActions[2];
|
||
float Mouse_X = actionBuffers.ContinuousActions[0];
|
||
if (vertical == 2) vertical = -1;
|
||
if (horizontal == 2) horizontal = -1;
|
||
remainTime = (int)(timeLimit - Time.time + startTime);
|
||
|
||
//应用输入
|
||
shoot = mouseShoot;
|
||
HistoryRec.realTimeKeyCounter(vertical, horizontal, shoot);
|
||
(int kWCount, int kSCount, int kACount, int kDCount, int shootCount) = HistoryRec.getKeyCount();
|
||
UICon.updateRemainTime(remainTime);
|
||
UICon.updateRemainEnemy(enemyNum);
|
||
UICon.updateWASDKeyViewer(vertical, horizontal);
|
||
UICon.updateKeyCounterChart(kWCount, kSCount, kACount, kDCount, shootCount);
|
||
UICon.updateMouseMovementViewer(Mouse_X);
|
||
UICon.updateRewardViewer(nonReward, shootReward, shootWithoutReadyReward, hitReward, winReward, loseReward, killReward);
|
||
cameraControl(Mouse_X, 0);
|
||
moveAgent(vertical, horizontal);
|
||
float thisRoundReward = rewardCalculate();
|
||
|
||
//判断结束
|
||
int finished = checkFinish();
|
||
if (finished == 1)
|
||
{
|
||
//Win Finished
|
||
HistoryRec.addRealTimeReward(winReward);
|
||
HistoryRec.EPTotalRewardsUpdate();
|
||
UICon.epUpdateChart(EP, HistoryRec.getLastEPTotalReward());
|
||
UICon.resetStepChart();
|
||
UICon.resetCounterChat();
|
||
EP += 1;
|
||
SetReward(winReward);
|
||
Debug.Log("reward = " + winReward);
|
||
EndEpisode();
|
||
}
|
||
else if (finished == 2)
|
||
{
|
||
//Lose Finished
|
||
HistoryRec.addRealTimeReward(loseReward);
|
||
HistoryRec.EPTotalRewardsUpdate();
|
||
UICon.epUpdateChart(EP, HistoryRec.getLastEPTotalReward());
|
||
UICon.resetStepChart();
|
||
UICon.resetCounterChat();
|
||
EP += 1;
|
||
SetReward(loseReward);
|
||
Debug.Log("reward = " + loseReward);
|
||
EndEpisode();
|
||
}
|
||
else
|
||
{
|
||
// game not over yet
|
||
HistoryRec.addRealTimeReward(thisRoundReward);
|
||
UICon.stepUpdateChart(step, thisRoundReward);
|
||
step += 1;
|
||
SetReward(thisRoundReward);
|
||
Debug.Log("reward = " + thisRoundReward);
|
||
}
|
||
}
|
||
|
||
// ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
|
||
// 控制调试
|
||
public override void Heuristic(in ActionBuffers actionsOut)
|
||
{
|
||
//
|
||
//-------------------BUILD
|
||
ActionSegment<float> continuousActions = actionsOut.ContinuousActions;
|
||
ActionSegment<int> discreteActions = actionsOut.DiscreteActions;
|
||
|
||
int vertical = 0;
|
||
int horizontal = 0;
|
||
if (Input.GetKey(KeyCode.W) && !Input.GetKey(KeyCode.S))
|
||
{
|
||
vertical = 1;
|
||
}
|
||
else if (Input.GetKey(KeyCode.S) && !Input.GetKey(KeyCode.W))
|
||
{
|
||
vertical = -1;
|
||
}
|
||
else
|
||
{
|
||
vertical = 0;
|
||
}
|
||
if (Input.GetKey(KeyCode.D) && !Input.GetKey(KeyCode.A))
|
||
{
|
||
horizontal = 1;
|
||
}
|
||
else if (Input.GetKey(KeyCode.A) && !Input.GetKey(KeyCode.D))
|
||
{
|
||
horizontal = -1;
|
||
}
|
||
else
|
||
{
|
||
horizontal = 0;
|
||
}
|
||
|
||
if (Input.GetMouseButton(0))
|
||
{
|
||
// Debug.Log("mousebuttonhit");
|
||
shoot = 1;
|
||
}
|
||
else
|
||
{
|
||
shoot = 0;
|
||
}
|
||
discreteActions[0] = vertical;
|
||
discreteActions[1] = horizontal;
|
||
discreteActions[2] = shoot;
|
||
//^^^^^^^^^^^^^^^^^^^^^discrete-Control^^^^^^^^^^^^^^^^^^^^^^
|
||
|
||
//vvvvvvvvvvvvvvvvvvvvvvvvvvvvvcontinuous-Controlvvvvvvvvvvvvvvvvvvvvvv
|
||
float Mouse_X = Input.GetAxis("Mouse X") * mouseXSensitivity * Time.deltaTime;
|
||
float Mouse_Y = Input.GetAxis("Mouse Y") * mouseYSensitivity * Time.deltaTime;
|
||
continuousActions[0] = Mouse_X;
|
||
//continuousActions[1] = nonReward;
|
||
//continuousActions[2] = shootReward;
|
||
//continuousActions[3] = shootWithoutReadyReward;
|
||
//continuousActions[4] = hitReward;
|
||
//continuousActions[5] = winReward;
|
||
//continuousActions[6] = loseReward;
|
||
//continuousActions[7] = killReward;
|
||
//continuousActions[1] = Mouse_Y;
|
||
//continuousActions[2] = timeLimit;
|
||
//^^^^^^^^^^^^^^^^^^^^^^^^^^^^^continuous-Control^^^^^^^^^^^^^^^^^^^^^^
|
||
|
||
}
|
||
} |