Aimbot-ParallelEnv/Assets/Script/InGame/AgentController.cs

401 lines
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C#
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using System;
using System.Collections.Generic;
using System.Linq;
using UnityEngine;
public class AgentController : MonoBehaviour
{
public GameObject parameterContainerObj;
public GameObject environmentObj;
public GameObject enemyContainerObj;
public GameObject sceneBlockContainerObj;
public GameObject environmentUIControlObj;
public GameObject targetControllerObj;
public GameObject HUDObj;
public Camera thisCam;
[Header("GetAxis() Simulate")]
public float moveSpeed = 9.0f;
public float vX = 0f;
public float vZ = 0f;
public Vector3 thisMovement;
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 List<float> spinRecord = new List<float>();
private bool lockMouse;
private float damage;
private float fireRate;
private bool lockCameraX;
private bool lockCameraY;
// environment
private float lastShootTime = 0.0f;
private int enemyKillCount = 0;
private Vector3 killEnemyPosition;
public bool defaultTPCamera = true;
[System.NonSerialized] public bool gunReadyToggle = true;
private string myTag = "";
private float lastEnemyFacingDistance = 0f; // record last enemy facing minimum distance
private float lastTargetFacingDistance = 0f; // record last target facing minimum distance
// scripts
private RaySensors raySensors;
private CharacterController playerController;
private ParameterContainer paramContainer;
private SceneBlockContainer blockContainer;
private TargetController targetCon;
private void Start()
{
// initialize scripts
paramContainer = parameterContainerObj.GetComponent<ParameterContainer>();
blockContainer = sceneBlockContainerObj.GetComponent<SceneBlockContainer>();
targetCon = targetControllerObj.GetComponent<TargetController>();
raySensors = GetComponent<RaySensors>();
playerController = this.transform.GetComponent<CharacterController>();
// initialize Environment parameters
lockMouse = paramContainer.lockMouse;
damage = paramContainer.damage;
fireRate = paramContainer.fireRate;
lockCameraX = paramContainer.lockCameraX;
lockCameraY = paramContainer.lockCameraY;
// initialize remainTime
// this agent's tag
myTag = gameObject.tag;
}
// ------------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);
//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
}
// ------------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
transform.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 KillRecord(Vector3 thiskillEnemyPosition)
{
enemyKillCount += 1;
killEnemyPosition = thiskillEnemyPosition;
}
// ballistic 射击弹道处理并返回获得reward
private float Ballistic(int shootState)
{
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);
//按下鼠标左键
if (shootState != 0 && gunReadyToggle == true)
{
lastShootTime = Time.time;
if (Physics.Raycast(ray, out hit, 100))
{
if (hit.collider.tag != myTag && hit.collider.tag != "Wall")
{
// kill enemy
GameObject gotHitObj = hit.transform.gameObject;//获取受到Ray撞击的对象
gotHitObj.GetComponent<States>().ReactToHit(damage, gameObject);
shootState = 0;
return targetCon.HitEnemyReward(gotHitObj.transform.position);
}
}
if (targetCon.targetTypeInt == (int)SceneBlockContainer.Targets.Attack)
{
// while if attack mode
float targetDis = Vector3.Distance(blockContainer.thisBlock.transform.position, transform.position);
if (targetDis <= raySensors.viewDistance)
{
// Debug.DrawRay(new Vector3(0,0,0), viewPoint, Color.red);
if (Vector3.Distance(ray.origin + (ray.direction * targetDis), blockContainer.thisBlock.transform.position) <= blockContainer.thisBlock.firebasesAreaDiameter / 2)
{
// im shooting at target but didn't hit enemy
// Debug.DrawRay(ray.origin, viewPoint-ray.origin, Color.blue);
return paramContainer.shootTargetAreaReward;
}
}
}
shootState = 0;
return paramContainer.shootReward;
}
else if (shootState != 0 && gunReadyToggle == false)
{
// shoot without ready
shootState = 0;
return paramContainer.shootWithoutReadyReward;
}
else
{
// do not shoot
shootState = 0;
return paramContainer.nonReward;
}
}
private float FacingReward()
{
float thisReward = 0;
bool isFacingtoEnemy = false;
float enemyFacingDistance = 0f;
Ray ray = thisCam.ScreenPointToRay(new Vector3(thisCam.pixelWidth / 2, thisCam.pixelHeight / 2, 0));
if (targetCon.targetTypeInt == (int)SceneBlockContainer.Targets.Free)
{
//free mode
RaycastHit hit;
if (Physics.Raycast(ray, out hit, 100))
{
// facing to an enemy
if (hit.collider.tag != myTag && hit.collider.tag != "Wall")
{
thisReward = paramContainer.facingReward;
isFacingtoEnemy = true;
}
}
if (raySensors.inViewEnemies.Count > 0 && !isFacingtoEnemy)
{
// have enemy in view
List<float> projectionDis = new List<float>();
foreach (GameObject thisEnemy in raySensors.inViewEnemies)
{
// for each enemy in view
Vector3 projection = Vector3.Project(thisEnemy.transform.position - transform.position, (ray.direction * 10));
Vector3 verticalToRay = transform.position + projection - thisEnemy.transform.position;
projectionDis.Add(verticalToRay.magnitude);
// Debug.Log("enemy!" + verticalToRay.magnitude);
// Debug.DrawRay(transform.position, (ray.direction * 100), Color.cyan);
// Debug.DrawRay(transform.position, thisEnemy.transform.position - transform.position, Color.yellow);
// Debug.DrawRay(transform.position, projection, Color.blue);
// Debug.DrawRay(thisEnemy.transform.position, verticalToRay, Color.magenta);
}
enemyFacingDistance = projectionDis.Min();
if (enemyFacingDistance <= lastEnemyFacingDistance)
{
// closing to enemy
thisReward = 1 / MathF.Sqrt(paramContainer.facingInviewEnemyDisCOEF * enemyFacingDistance + 0.00001f);
}
else
{
thisReward = 0;
}
// enemy in view Reward
lastEnemyFacingDistance = enemyFacingDistance;
if (thisReward >= paramContainer.facingReward) thisReward = paramContainer.facingReward; // limit
if (thisReward <= -paramContainer.facingReward) thisReward = -paramContainer.facingReward; // limit
// Debug.Log("ninimum = " + thisReward);
}
}
else if (targetCon.targetTypeInt == (int)SceneBlockContainer.Targets.Attack)
{
// attack mode
// Target to Agent distance
float targetDis = Vector3.Distance(blockContainer.thisBlock.transform.position, transform.position);
// center of screen between target's distance
float camCenterToTarget = Vector3.Distance(ray.origin + (ray.direction * targetDis), blockContainer.thisBlock.transform.position);
if (targetDis <= raySensors.viewDistance)
{
// Debug.DrawRay(new Vector3(0,0,0), viewPoint, Color.red);
// while center of screen between target's distance is lower than firebasesAreaDiameter
// while facing to target
if (camCenterToTarget <= blockContainer.thisBlock.firebasesAreaDiameter / 2)
{
// Debug.DrawRay(ray.origin, viewPoint-ray.origin, Color.blue);
thisReward = paramContainer.facingReward;
}
else
{
// while not facing to target
thisReward = (lastTargetFacingDistance - camCenterToTarget) * paramContainer.facingTargetReward;
}
}
// update lastTargetFacingDistance
lastTargetFacingDistance = camCenterToTarget;
}
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;
}
}
}