587 lines
23 KiB
C#
587 lines
23 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 RewardFunction : MonoBehaviour
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{
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public enum EndType
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{ Win, Lose, Running, Num };
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[SerializeField] private GameObject parameterContainerObj;
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[SerializeField] private GameObject sceneBlockContainerObj;
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[SerializeField] private GameObject targetControllerObj;
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[SerializeField] private GameObject environmentUIObj;
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[SerializeField] private GameObject commonParameterContainerObj;
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[SerializeField] private GameObject enemyContainerObj;
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private GameObject agentObj;
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private Camera fpsCam;
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private CommonParameterContainer commonParamCon;
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private SceneBlockContainer sceneBlockCon;
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private ParameterContainer paramCon;
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private TargetController targetCon;
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private EnvironmentUIControl envUICon;
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private AgentController agentCon;
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private RaySensors raySensors;
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private bool firstRewardFlag = false;
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private float lastDistance;
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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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private List<float> spinRecord = new List<float>();
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private void Start()
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{
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agentObj = gameObject;
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agentCon = agentObj.GetComponent<AgentController>();
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fpsCam = agentCon.fpsCam;
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commonParamCon = commonParameterContainerObj.GetComponent<CommonParameterContainer>();
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paramCon = parameterContainerObj.GetComponent<ParameterContainer>();
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sceneBlockCon = sceneBlockContainerObj.GetComponent<SceneBlockContainer>();
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targetCon = targetControllerObj.GetComponent<TargetController>();
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envUICon = environmentUIObj.GetComponent<EnvironmentUIControl>();
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raySensors = GetComponent<RaySensors>();
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}
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/// <summary>
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/// Calculates the reward value.
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/// </summary>
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/// <param name="sceneReward">Reward value from the scene.</param>
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/// <param name="mouseX">Movement amount of the mouse along the X-axis.</param>
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/// <param name="movement">Movement of discrete.</param>
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/// <param name="shootState">State of the shooting action.</param>
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/// <returns>Returns the calculated total reward value.</returns>
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/// <remarks>
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/// This method calculates the total reward based on the provided parameters,
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/// taking into account rewards for enemy kills, shooting actions, facing reward,
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/// and penalties such as spin and movement.
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/// </remarks>
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public float RewardCalculate(float sceneReward, float mouseX, float movement, int shootState)
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{
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float epreward = 0f;
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// Got kill point reward
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if (agentCon.enemyKillCount > 0)
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{
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for (int i = 0; i < agentCon.enemyKillCount; i++)
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{
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// get
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epreward += KillReward(agentCon.killEnemyPosition);
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}
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agentCon.enemyKillCount = 0;
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}
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else
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{
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agentCon.enemyKillCount = 0;
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}
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// Shoot action reward
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epreward += Ballistic(shootState) + sceneReward;
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// facing reward
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epreward += FacingReward();
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// Penalty
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// spin penalty
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spinRecord.Add(mouseX);
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if (spinRecord.Count >= commonParamCon.spinRecordMax)
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{
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spinRecord.RemoveAt(0);
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}
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float spinPenaltyReward = Math.Abs(spinRecord.ToArray().Sum() * commonParamCon.spinPenalty);
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if (spinPenaltyReward >= commonParamCon.spinPenaltyThreshold)
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{
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epreward -= spinPenaltyReward;
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}
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else
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{
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epreward -= Math.Abs(mouseX) * commonParamCon.mousePenalty;
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}
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// move penalty
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if (movement != 0)
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{
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epreward -= commonParamCon.movePenalty;
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}
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return epreward;
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}
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/// <summary>
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/// Calculates the reward value for shooting actions.
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/// </summary>
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/// <param name="shootState">State value of the shooting action.</param>
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/// <returns>Returns the reward value associated with shooting.</returns>
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/// <remarks>
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/// This method calculates the reward value based on the shooting state and other related conditions,
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/// such as whether the enemy was hit, whether the shot was towards the target area, and whether the gun was ready to shoot.
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/// </remarks>
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private float Ballistic(int shootState)
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{
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Vector3 point = new Vector3(fpsCam.pixelWidth / 2, fpsCam.pixelHeight / 2, 0);// start position
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Ray ray = fpsCam.ScreenPointToRay(point);
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RaycastHit hit;
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// Debug.DrawRay(centerRay.origin, centerRay.direction * 100, Color.blue);
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// Mouse Pressed
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if (shootState != 0 && agentCon.gunReadyToggle == true)
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{
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agentCon.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 != agentCon.myTag && hit.collider.tag != "Wall" && hit.collider.tag != "Untagged")
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{
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// kill enemy
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GameObject gotHitObj = hit.transform.gameObject;
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gotHitObj.GetComponent<States>().ReactToHit(commonParamCon.damage, gameObject);
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shootState = 0;
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return HitEnemyReward(gotHitObj.transform.position);
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}
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}
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if (targetCon.targetTypeInt == (int)Targets.Attack)
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{
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// while if attack mode
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float targetDis = Vector3.Distance(sceneBlockCon.nowBlock.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), sceneBlockCon.nowBlock.transform.position) <= sceneBlockCon.nowBlock.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(centerRay.origin, viewPoint-centerRay.origin, Color.blue);
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return commonParamCon.shootTargetAreaReward;
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}
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}
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}
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shootState = 0;
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return commonParamCon.shootReward;
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}
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else if (shootState != 0 && agentCon.gunReadyToggle == false)
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{
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// shoot without ready
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shootState = 0;
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return commonParamCon.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 commonParamCon.nonReward;
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}
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}
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/// <summary>
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/// Retrieves the reward value based on the character's facing direction.
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/// </summary>
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/// <returns>Returns the reward value for the facing direction.</returns>
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/// <remarks>
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/// This method calculates a reward value based on the relationship between the character's facing direction and the target.
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/// in free mode, if the character is facing an enemy, the reward is a fixed value
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/// in attack mode, the reward depends on the distance between the character and the target, among other factors.
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/// </remarks>
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private float FacingReward()
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{
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float nowReward = 0;
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bool isFacingtoEnemy = false;
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float enemyFacingDistance = 0f;
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Vector3 screenCenter = new Vector3(fpsCam.pixelWidth / 2, fpsCam.pixelHeight / 2, 0);
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Vector3 screenLeft = new Vector3(0, fpsCam.pixelHeight / 2, 0);
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Ray centerRay = fpsCam.ScreenPointToRay(screenCenter);
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Ray leftRay = fpsCam.ScreenPointToRay(screenLeft);
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// target fireBaseArea Position, turen y to camera's y
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Vector3 fireBaseArea = sceneBlockCon.nowBlock.fireBasesAreaObj.transform.position;
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fireBaseArea.y = fpsCam.transform.position.y;
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// my position, turn y to camera's y
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// Debug.DrawRay(fpsCam.transform.position, centerRay.direction * 100, Color.blue);
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Vector3 myposition = transform.position;
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myposition.y = fpsCam.transform.position.y;
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// Target to Agent distance
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//Debug.DrawLine(fireBaseArea, myposition, Color.red);
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float targetDis = Vector3.Distance(fireBaseArea, myposition);
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// point in centerRay and leftRay which distance is targetDis from camera center
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Vector3 pointInCenterRay = fpsCam.transform.position + (centerRay.direction * targetDis);
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Vector3 pointInLeftRay = fpsCam.transform.position + (leftRay.direction * targetDis);
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// center of screen to target's distance
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// Debug.DrawLine(pointInCenterRay, fireBaseArea,Color.green);
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float camCenterToTarget = Vector3.Distance(pointInCenterRay, fireBaseArea);
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// left of screen to target's distance
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// Debug.DrawLine(pointInLeftRay, pointInCenterRay, Color.yellow);
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float camCenterToViewEdge = Vector3.Distance(pointInLeftRay, pointInCenterRay);
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switch (targetCon.targetTypeInt)
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{
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case (int)Targets.Free:
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//free mode
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RaycastHit hit;
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if (Physics.Raycast(centerRay, out hit, 100))
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{
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// facing to an enemy
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if (hit.collider.tag != agentCon.myTag && hit.collider.tag != "Wall")
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{
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nowReward = commonParamCon.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 theEnemy in raySensors.inViewEnemies)
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{
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// for each enemy in view
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Vector3 projection = Vector3.Project(theEnemy.transform.position - transform.position, (centerRay.direction * 10));
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Vector3 verticalToRay = transform.position + projection - theEnemy.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, (centerRay.direction * 100), Color.cyan);
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// Debug.DrawRay(transform.position, theEnemy.transform.position - transform.position, Color.yellow);
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// Debug.DrawRay(transform.position, projection, Color.blue);
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// Debug.DrawRay(theEnemy.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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nowReward = 1 / MathF.Sqrt(commonParamCon.facingInviewEnemyDisCOEF * enemyFacingDistance + 0.00001f);
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}
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else
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{
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nowReward = 0;
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}
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// enemy in view Reward
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lastEnemyFacingDistance = enemyFacingDistance;
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if (nowReward >= commonParamCon.facingReward) nowReward = commonParamCon.facingReward; // limit
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if (nowReward <= -commonParamCon.facingReward) nowReward = -commonParamCon.facingReward; // limit
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// Debug.Log("ninimum = " + nowReward);
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}
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break;
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case (int)Targets.Attack:
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// attack mode
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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 <= sceneBlockCon.nowBlock.firebasesAreaDiameter / 2)
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{
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// Debug.DrawRay(centerRay.origin, viewPoint-centerRay.origin, Color.blue);
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nowReward = commonParamCon.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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nowReward = (lastTargetFacingDistance - camCenterToTarget) * commonParamCon.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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break;
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case (int)Targets.Go:
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// goto mode
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if (camCenterToTarget <= camCenterToViewEdge)
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{
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// fireArea is in view
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nowReward = commonParamCon.facingReward;
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}
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else
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{
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nowReward = 0;
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}
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break;
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default:
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Debug.LogError("Wrong target type");
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break;
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}
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return nowReward;
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}
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/// <summary>
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/// Checks the game's end state and retrieves rewards.
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/// </summary>
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/// <returns>A tuple containing the game's end type, current reward, and final reward.
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/// 1 = success,2 = overtime,0 = notover</returns>
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public (int, float, float) CheckOverAndRewards()
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{
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int endTypeInt = 0;
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float nowReward = 0;
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float endReward = 0;
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switch (targetCon.targetTypeInt)
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{
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case (int)Targets.Go:
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// goto
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(endTypeInt, nowReward, endReward) = CheckOverAndRewardsGo();
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break;
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case (int)Targets.Attack:
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// attack
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(endTypeInt, nowReward, endReward) = CheckOverAndRewardsAttack();
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break;
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case (int)Targets.Defence:
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//defence
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(endTypeInt, nowReward, endReward) = CheckOverAndRewardsDefence();
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break;
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case (int)Targets.Stay:
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// Stay
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// endless
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nowReward = 0;
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endReward = 0;
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endTypeInt = (int)EndType.Running;
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break;
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default:
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//free kill
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(endTypeInt, nowReward, endReward) = CheckOverAndRewardsFreeKill();
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break;
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}
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envUICon.ShowResult(endTypeInt);
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return (endTypeInt, nowReward, endReward);
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}
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private (int, float, float) CheckOverAndRewardsGo()
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{
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int endTypeInt = 0;
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float nowReward = 0;
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float endReward = 0;
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float nowDistance = 0;
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(nowDistance, targetCon.inArea) = sceneBlockCon.GetAgentTargetDistanceAndInside(agentObj.transform.position);
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envUICon.UpdateTargetGauge(sceneBlockCon.nowBlock.firebasesBelong, sceneBlockCon.nowBlock.belongMaxPoint);
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float areaTargetReward = GetDistanceReward(nowDistance, targetCon.inArea);
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//if(inArea != 0)
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if (sceneBlockCon.nowBlock.firebasesBelong >= sceneBlockCon.nowBlock.belongMaxPoint)
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{
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// win
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// let the area belongs to me
|
||
|
|
nowReward = areaTargetReward;
|
||
|
|
endReward = paramCon.goWinReward;
|
||
|
|
//nowReward = (paramCon.inAreaReward * inArea) + getDistanceReward(nowDistance);
|
||
|
|
endTypeInt = (int)EndType.Win;
|
||
|
|
}
|
||
|
|
else if (targetCon.leftTime <= 0)
|
||
|
|
{
|
||
|
|
// time out lose
|
||
|
|
nowReward = areaTargetReward;
|
||
|
|
endReward = commonParamCon.loseReward;
|
||
|
|
endTypeInt = (int)EndType.Lose;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// keep on keeping on!
|
||
|
|
nowReward = areaTargetReward;
|
||
|
|
endReward = 0;
|
||
|
|
endTypeInt = (int)EndType.Running;
|
||
|
|
}
|
||
|
|
return (endTypeInt, nowReward, endReward);
|
||
|
|
}
|
||
|
|
|
||
|
|
private (int, float, float) CheckOverAndRewardsAttack()
|
||
|
|
{
|
||
|
|
int endTypeInt = 0;
|
||
|
|
float nowReward = 0;
|
||
|
|
float endReward = 0;
|
||
|
|
float nowDistance = 0;
|
||
|
|
(nowDistance, targetCon.inArea) = sceneBlockCon.GetAgentTargetDistanceAndInside(agentObj.transform.position);
|
||
|
|
envUICon.UpdateTargetGauge(sceneBlockCon.nowBlock.firebasesBelong, sceneBlockCon.nowBlock.belongMaxPoint);
|
||
|
|
if (sceneBlockCon.nowBlock.GetInAreaNumber(commonParamCon.group2Tag) <= 0 && targetCon.targetEnemySpawnFinish)
|
||
|
|
{
|
||
|
|
// win
|
||
|
|
// let the area belongs to me and kill every enmy in this area.
|
||
|
|
nowReward = 0;
|
||
|
|
endReward = paramCon.attackWinReward;
|
||
|
|
//nowReward = (paramCon.inAreaReward * inArea) + getSceneReward(nowDistance);
|
||
|
|
endTypeInt = (int)EndType.Win;
|
||
|
|
targetCon.targetEnemySpawnFinish = false;
|
||
|
|
}
|
||
|
|
else if (targetCon.leftTime <= 0 && targetCon.targetEnemySpawnFinish)
|
||
|
|
{
|
||
|
|
// time out lose
|
||
|
|
nowReward = 0;
|
||
|
|
endReward = commonParamCon.loseReward;
|
||
|
|
//nowReward = (paramCon.inAreaReward * inArea) + getSceneReward(nowDistance);
|
||
|
|
endTypeInt = (int)EndType.Lose;
|
||
|
|
targetCon.targetEnemySpawnFinish = false;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// keep on keeping on!
|
||
|
|
// nowReward = (paramCon.inAreaReward * inArea) + getDistanceReward(nowDistance);
|
||
|
|
nowReward = 0;
|
||
|
|
endReward = 0;
|
||
|
|
targetCon.targetEnemySpawnFinish = true;
|
||
|
|
endTypeInt = (int)EndType.Running;
|
||
|
|
}
|
||
|
|
return (endTypeInt, nowReward, endReward);
|
||
|
|
}
|
||
|
|
|
||
|
|
private (int, float, float) CheckOverAndRewardsDefence()
|
||
|
|
{
|
||
|
|
// !!! NOT FINISHED YET!!!
|
||
|
|
int endTypeInt = 0;
|
||
|
|
float nowReward = 0;
|
||
|
|
float endReward = 0;
|
||
|
|
float nowDistance = 0;
|
||
|
|
(nowDistance, targetCon.inArea) = sceneBlockCon.GetAgentTargetDistanceAndInside(agentObj.transform.position);
|
||
|
|
envUICon.UpdateTargetGauge(sceneBlockCon.nowBlock.firebasesBelong, sceneBlockCon.nowBlock.belongMaxPoint);
|
||
|
|
if (targetCon.leftTime <= 0 && sceneBlockCon.nowBlock.firebasesBelong >= 0f)
|
||
|
|
{
|
||
|
|
// win
|
||
|
|
// time over and the area still mine
|
||
|
|
nowReward = paramCon.defenceWinReward;
|
||
|
|
//nowReward = (paramCon.inAreaReward * inArea) + getSceneReward(nowDistance);
|
||
|
|
endTypeInt = (int)EndType.Win;
|
||
|
|
}
|
||
|
|
else if (sceneBlockCon.nowBlock.firebasesBelong <= sceneBlockCon.nowBlock.belongMaxPoint)
|
||
|
|
{
|
||
|
|
// lost area lose
|
||
|
|
nowReward = commonParamCon.loseReward;
|
||
|
|
//nowReward = (paramCon.inAreaReward * inArea) + getSceneReward(nowDistance);
|
||
|
|
endTypeInt = (int)EndType.Lose;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// keep on keeping on!
|
||
|
|
// nowReward = (paramCon.inAreaReward * inArea) + getDistanceReward(nowDistance);
|
||
|
|
endTypeInt = (int)EndType.Running;
|
||
|
|
}
|
||
|
|
return (endTypeInt, nowReward, endReward);
|
||
|
|
}
|
||
|
|
|
||
|
|
private (int, float, float) CheckOverAndRewardsFreeKill()
|
||
|
|
{
|
||
|
|
int endTypeInt = 0;
|
||
|
|
float nowReward = 0;
|
||
|
|
float endReward = 0;
|
||
|
|
if (enemyContainerObj.transform.childCount <= 0)
|
||
|
|
{
|
||
|
|
// win
|
||
|
|
// nowReward = paramCon.winReward + (paramCon.timeBonusPerSecReward * leftTime);
|
||
|
|
nowReward = 0;
|
||
|
|
endReward = paramCon.freeWinReward;
|
||
|
|
endTypeInt = (int)EndType.Win;
|
||
|
|
}
|
||
|
|
else if (targetCon.leftTime <= 0)
|
||
|
|
{
|
||
|
|
// lose
|
||
|
|
//nowReward = paramCon.loseReward;
|
||
|
|
nowReward = 0;
|
||
|
|
endReward = commonParamCon.loseReward;
|
||
|
|
endTypeInt = (int)EndType.Lose;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// keep on keeping on!
|
||
|
|
nowReward = 0;
|
||
|
|
endReward = 0;
|
||
|
|
endTypeInt = (int)EndType.Running;
|
||
|
|
}
|
||
|
|
return (endTypeInt, nowReward, endReward);
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Calculates scene reward based on distance, granting higher rewards for being closer to the target.
|
||
|
|
/// </summary>
|
||
|
|
/// <param name="nowDistance">The current distance.</param>
|
||
|
|
/// <param name="inarea">Whether inside an area.</param>
|
||
|
|
/// <returns>The reward value calculated based on distance.</returns>
|
||
|
|
private float GetDistanceReward(float nowDistance, int inarea)
|
||
|
|
{
|
||
|
|
if (firstRewardFlag)
|
||
|
|
{
|
||
|
|
// first distance record
|
||
|
|
(lastDistance, _) = sceneBlockCon.GetAgentTargetDistanceAndInside(agentObj.transform.position);
|
||
|
|
firstRewardFlag = false;
|
||
|
|
}
|
||
|
|
float nowSeneReward = 0f;
|
||
|
|
if (inarea != 0)
|
||
|
|
{
|
||
|
|
// in area
|
||
|
|
nowSeneReward = paramCon.inAreaReward;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// out of area
|
||
|
|
// nowSeneReward = paramCon.distanceReward * Math.Clamp(lastDistance - nowDistance, 0, 100);
|
||
|
|
nowSeneReward = commonParamCon.distanceReward * (lastDistance - nowDistance);
|
||
|
|
}
|
||
|
|
lastDistance = nowDistance;
|
||
|
|
return nowSeneReward;
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Calculates kill reward based on the position of the killed enemy.
|
||
|
|
/// </summary>
|
||
|
|
/// <param name="enemyPosition">The position of the killed enemy.</param>
|
||
|
|
/// <returns>The reward value calculated based on the kill position.</returns>
|
||
|
|
public float KillReward(Vector3 enemyPosition)
|
||
|
|
{
|
||
|
|
float nowKillReward = 0f;
|
||
|
|
if (targetCon.targetTypeInt == (int)Targets.Attack)
|
||
|
|
{
|
||
|
|
// attack mode
|
||
|
|
(_, int isInArea) = sceneBlockCon.nowBlock.GetDistInArea(enemyPosition);
|
||
|
|
if (isInArea == 1)
|
||
|
|
{
|
||
|
|
// kill in area enemy
|
||
|
|
nowKillReward = paramCon.killTargetEnemyReward;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
nowKillReward = commonParamCon.killNonTargetReward;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else if (targetCon.targetTypeInt == (int)Targets.Free)
|
||
|
|
{
|
||
|
|
// free mode hit
|
||
|
|
nowKillReward = paramCon.killTargetEnemyReward;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// goto & defence
|
||
|
|
nowKillReward = commonParamCon.killNonTargetReward;
|
||
|
|
}
|
||
|
|
return nowKillReward;
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Calculates hit reward based on the position of the hit enemy and the current mode.
|
||
|
|
/// </summary>
|
||
|
|
/// <param name="enemyPosition">The position of the hit enemy.</param>
|
||
|
|
/// <returns>The reward value calculated based on the hit position and mode.</returns>
|
||
|
|
public float HitEnemyReward(Vector3 enemyPosition)
|
||
|
|
{
|
||
|
|
float nowHitReward = 0f;
|
||
|
|
if (targetCon.targetTypeInt == (int)Targets.Attack)
|
||
|
|
{
|
||
|
|
// attack mode
|
||
|
|
(_, int isInArea) = sceneBlockCon.nowBlock.GetDistInArea(enemyPosition);
|
||
|
|
if (isInArea == 1)
|
||
|
|
{
|
||
|
|
// hit in area enemy
|
||
|
|
nowHitReward = paramCon.hitTargetReward;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// hit not in area enemy
|
||
|
|
nowHitReward = commonParamCon.hitNonTargetReward;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else if (targetCon.targetTypeInt == (int)Targets.Free)
|
||
|
|
{
|
||
|
|
// free mode hit
|
||
|
|
nowHitReward = paramCon.hitTargetReward;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// goto & defence
|
||
|
|
nowHitReward = commonParamCon.hitNonTargetReward;
|
||
|
|
}
|
||
|
|
return nowHitReward;
|
||
|
|
}
|
||
|
|
}
|