401 lines
15 KiB
C#
401 lines
15 KiB
C#
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using UnityEngine;
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public class AgentController : MonoBehaviour
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{
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public GameObject parameterContainerObj;
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public GameObject environmentObj;
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public GameObject enemyContainerObj;
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public GameObject sceneBlockContainerObj;
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public GameObject environmentUIControlObj;
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public GameObject targetControllerObj;
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public GameObject HUDObj;
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public Camera thisCam;
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[Header("GetAxis() Simulate")]
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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;
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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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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
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private List<float> spinRecord = new List<float>();
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private bool lockMouse;
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private float damage;
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private float fireRate;
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private bool lockCameraX;
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private bool lockCameraY;
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// environment
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private float lastShootTime = 0.0f;
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private int enemyKillCount = 0;
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private Vector3 killEnemyPosition;
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public bool defaultTPCamera = true;
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[System.NonSerialized] public bool gunReadyToggle = true;
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private string myTag = "";
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private float lastEnemyFacingDistance = 0f; // record last enemy facing minimum distance
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private float lastTargetFacingDistance = 0f; // record last target facing minimum distance
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// scripts
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private RaySensors raySensors;
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private CharacterController playerController;
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private ParameterContainer paramContainer;
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private SceneBlockContainer blockContainer;
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private TargetController targetCon;
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private void Start()
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{
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// initialize scripts
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paramContainer = parameterContainerObj.GetComponent<ParameterContainer>();
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blockContainer = sceneBlockContainerObj.GetComponent<SceneBlockContainer>();
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targetCon = targetControllerObj.GetComponent<TargetController>();
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raySensors = GetComponent<RaySensors>();
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playerController = this.transform.GetComponent<CharacterController>();
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// initialize Environment parameters
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lockMouse = paramContainer.lockMouse;
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damage = paramContainer.damage;
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fireRate = paramContainer.fireRate;
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lockCameraX = paramContainer.lockCameraX;
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lockCameraY = paramContainer.lockCameraY;
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// initialize remainTime
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// this agent's tag
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myTag = gameObject.tag;
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}
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// ------------动作处理--------------
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// moveAgent 用于模拟Input.GetAxis移动
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public void MoveAgent(int vertical, int horizontal)
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{
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// Vector3 thisMovement;
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if (horizontal != 0)//当按下按键（水平方向）
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{
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if (vX < moveSpeed && vX > -moveSpeed)//当前速度小于最大速度
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{
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vX += (float)horizontal * acceleration;//增加加速度
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}
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else
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{
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//防止在一瞬间切换输入时速度仍保持不变
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if ((vX * horizontal) > 0)//输入与当前速度方向同向
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{
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vX = (float)horizontal * moveSpeed; //限制最大速度
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}
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else
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{
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vX += (float)horizontal * acceleration;//增加加速度
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}
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}
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}
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else
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{
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if (Math.Abs(vX) > 0.001)
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{
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vX -= (vX / Math.Abs(vX)) * acceleration;//减少加速度
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}
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else
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{
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vX = 0;
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}
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}
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if (vertical != 0)//当按下按键（垂直方向）
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{
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if (vZ < moveSpeed && vZ > -moveSpeed)//当前速度小于最大速度
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{
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vZ += (float)vertical * acceleration;//增加加速度
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}
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else
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{
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if ((vZ * vertical) > 0)//输入与当前速度方向同向
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{
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vZ = (float)vertical * moveSpeed; //限制最大速度
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}
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else
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{
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vZ += (float)vertical * acceleration;//增加加速度
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}
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}
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}
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else
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{
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if (Math.Abs(vZ) > 0.001)
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{
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vZ -= (vZ / Math.Abs(vZ)) * acceleration;//减少加速度
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}
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else
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{
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vZ = 0;
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}
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}
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thisMovement = (transform.forward * vZ + transform.right * vX);
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//PlayerController下的.Move为实现物体运动的函数
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//Move()括号内放入一个Vector3类型的量，本例中为Player_Move
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if (thisMovement.magnitude > moveSpeed)
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{
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thisMovement = thisMovement.normalized * moveSpeed;
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}
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playerController.Move(thisMovement * Time.deltaTime);
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// update Key Viewer
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}
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// ------------动作处理--------------
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// cameraControl 用于控制Agent视角转动
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public void CameraControl(float Mouse_X, float Mouse_Y)
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{
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//Mouse_X = Input.GetAxis("Mouse X") * MouseSensitivity * Time.deltaTime;
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//Debug.Log(Input.GetAxis("Mouse X"));
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//Mouse_Y = Input.GetAxis("Mouse Y") * MouseSensitivity * Time.deltaTime;
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if (lockCameraX)
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{
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Mouse_X = 0;
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}
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if (lockCameraY)
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{
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Mouse_Y = 0;
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}
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yRotation = yRotation - Mouse_Y;
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//xRotation值为正时，屏幕下移，当xRotation值为负时，屏幕上移
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//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
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//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
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//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
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//limit UP DOWN between -90 -> 90
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yRotation = Mathf.Clamp(yRotation, -90f, 90f);
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//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
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transform.Rotate(Vector3.up * Mouse_X);
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//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
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//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
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//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
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//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
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thisCam.transform.localRotation = Quaternion.Euler(yRotation, 0, 0);
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//this.transform指这个CameraRotation的位置,localRotation指的是旋转轴
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//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
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//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
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//且绕轴旋转的坐标轴是父节点本地坐标系的坐标轴
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}
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// GotKill 获得击杀时用于被呼出
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public void KillRecord(Vector3 thiskillEnemyPosition)
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{
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enemyKillCount += 1;
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killEnemyPosition = thiskillEnemyPosition;
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}
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// ballistic 射击弹道处理，并返回获得reward
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private float Ballistic(int shootState)
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{
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Vector3 point = new Vector3(thisCam.pixelWidth / 2, thisCam.pixelHeight / 2, 0);//发射位置
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Ray ray = thisCam.ScreenPointToRay(point);
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RaycastHit hit;
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// Debug.DrawRay(ray.origin, ray.direction * 100, Color.blue);
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//按下鼠标左键
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if (shootState != 0 && gunReadyToggle == true)
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{
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lastShootTime = Time.time;
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if (Physics.Raycast(ray, out hit, 100))
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{
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if (hit.collider.tag != myTag && hit.collider.tag != "Wall")
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{
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// kill enemy
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GameObject gotHitObj = hit.transform.gameObject;//获取受到Ray撞击的对象
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gotHitObj.GetComponent<States>().ReactToHit(damage, gameObject);
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shootState = 0;
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return targetCon.HitEnemyReward(gotHitObj.transform.position);
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}
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}
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if (targetCon.targetTypeInt == (int)SceneBlockContainer.Targets.Attack)
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{
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// while if attack mode
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float targetDis = Vector3.Distance(blockContainer.thisBlock.transform.position, transform.position);
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if (targetDis <= raySensors.viewDistance)
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{
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// Debug.DrawRay(new Vector3(0,0,0), viewPoint, Color.red);
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if (Vector3.Distance(ray.origin + (ray.direction * targetDis), blockContainer.thisBlock.transform.position) <= blockContainer.thisBlock.firebasesAreaDiameter / 2)
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{
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// im shooting at target but didn't hit enemy
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// Debug.DrawRay(ray.origin, viewPoint-ray.origin, Color.blue);
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return paramContainer.shootTargetAreaReward;
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}
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}
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}
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shootState = 0;
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return paramContainer.shootReward;
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}
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else if (shootState != 0 && gunReadyToggle == false)
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{
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// shoot without ready
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shootState = 0;
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return paramContainer.shootWithoutReadyReward;
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}
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else
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{
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// do not shoot
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shootState = 0;
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return paramContainer.nonReward;
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}
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}
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private float FacingReward()
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{
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float thisReward = 0;
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bool isFacingtoEnemy = false;
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float enemyFacingDistance = 0f;
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Ray ray = thisCam.ScreenPointToRay(new Vector3(thisCam.pixelWidth / 2, thisCam.pixelHeight / 2, 0));
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if (targetCon.targetTypeInt == (int)SceneBlockContainer.Targets.Free)
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{
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//free mode
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RaycastHit hit;
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if (Physics.Raycast(ray, out hit, 100))
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{
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// facing to an enemy
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if (hit.collider.tag != myTag && hit.collider.tag != "Wall")
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{
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thisReward = paramContainer.facingReward;
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isFacingtoEnemy = true;
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}
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}
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if (raySensors.inViewEnemies.Count > 0 && !isFacingtoEnemy)
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{
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// have enemy in view
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List<float> projectionDis = new List<float>();
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foreach (GameObject thisEnemy in raySensors.inViewEnemies)
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{
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// for each enemy in view
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Vector3 projection = Vector3.Project(thisEnemy.transform.position - transform.position, (ray.direction * 10));
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Vector3 verticalToRay = transform.position + projection - thisEnemy.transform.position;
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projectionDis.Add(verticalToRay.magnitude);
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// Debug.Log("enemy!" + verticalToRay.magnitude);
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// Debug.DrawRay(transform.position, (ray.direction * 100), Color.cyan);
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// Debug.DrawRay(transform.position, thisEnemy.transform.position - transform.position, Color.yellow);
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// Debug.DrawRay(transform.position, projection, Color.blue);
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// Debug.DrawRay(thisEnemy.transform.position, verticalToRay, Color.magenta);
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}
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enemyFacingDistance = projectionDis.Min();
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if (enemyFacingDistance <= lastEnemyFacingDistance)
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{
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// closing to enemy
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thisReward = 1 / MathF.Sqrt(paramContainer.facingInviewEnemyDisCOEF * enemyFacingDistance + 0.00001f);
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}
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else
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{
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thisReward = 0;
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}
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// enemy in view Reward
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lastEnemyFacingDistance = enemyFacingDistance;
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if (thisReward >= paramContainer.facingReward) thisReward = paramContainer.facingReward; // limit
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if (thisReward <= -paramContainer.facingReward) thisReward = -paramContainer.facingReward; // limit
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// Debug.Log("ninimum = " + thisReward);
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}
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}
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else if (targetCon.targetTypeInt == (int)SceneBlockContainer.Targets.Attack)
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{
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// attack mode
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// Target to Agent distance
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float targetDis = Vector3.Distance(blockContainer.thisBlock.transform.position, transform.position);
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// center of screen between target's distance
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float camCenterToTarget = Vector3.Distance(ray.origin + (ray.direction * targetDis), blockContainer.thisBlock.transform.position);
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if (targetDis <= raySensors.viewDistance)
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{
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// Debug.DrawRay(new Vector3(0,0,0), viewPoint, Color.red);
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// while center of screen between target's distance is lower than firebasesAreaDiameter
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// while facing to target
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if (camCenterToTarget <= blockContainer.thisBlock.firebasesAreaDiameter / 2)
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{
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// Debug.DrawRay(ray.origin, viewPoint-ray.origin, Color.blue);
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thisReward = paramContainer.facingReward;
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}
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else
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{
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// while not facing to target
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thisReward = (lastTargetFacingDistance - camCenterToTarget) * paramContainer.facingTargetReward;
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}
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}
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// update lastTargetFacingDistance
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lastTargetFacingDistance = camCenterToTarget;
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}
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return thisReward;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// ------------Reward--------------
|
|||
|
|
// rewardCalculate 计算本动作的Reward
|
|||
|
|
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 >= paramContainer.spinRecordMax)
|
|||
|
|
{
|
|||
|
|
spinRecord.RemoveAt(0);
|
|||
|
|
}
|
|||
|
|
float spinPenaltyReward = Math.Abs(spinRecord.ToArray().Sum() * paramContainer.spinPenalty);
|
|||
|
|
if (spinPenaltyReward >= paramContainer.spinPenaltyThreshold)
|
|||
|
|
{
|
|||
|
|
epreward -= spinPenaltyReward;
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
epreward -= Math.Abs(mouseX) * paramContainer.mousePenalty;
|
|||
|
|
}
|
|||
|
|
// move penalty
|
|||
|
|
if (movement != 0)
|
|||
|
|
{
|
|||
|
|
epreward -= paramContainer.movePenalty;
|
|||
|
|
}
|
|||
|
|
return epreward;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public void UpdateLockMouse()
|
|||
|
|
{
|
|||
|
|
// lock mouse based on paramContainer lockMouse
|
|||
|
|
if (lockMouse)
|
|||
|
|
{
|
|||
|
|
Cursor.lockState = CursorLockMode.Locked;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public void UpdateGunState()
|
|||
|
|
{
|
|||
|
|
// update gun state
|
|||
|
|
if ((Time.time - lastShootTime) >= fireRate)
|
|||
|
|
{
|
|||
|
|
gunReadyToggle = true;
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
gunReadyToggle = false;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|