V3.4.4 添加goto模式的facing reward逻辑

Assets/ML-Agents/Timers/Train_timers.json

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Assets/Scenes/Train.unity

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Assets/Script/GameScript/Character/AgentController.cs

@@ -199,7 +199,7 @@ private float Ballistic(int shootState)
         Vector3 point = new Vector3(fpsCam.pixelWidth / 2, fpsCam.pixelHeight / 2, 0);//发射位置
         Ray ray = fpsCam.ScreenPointToRay(point);
         RaycastHit hit;
-        // Debug.DrawRay(ray.origin, ray.direction * 100, Color.blue);
+        // Debug.DrawRay(centerRay.origin, centerRay.direction * 100, Color.blue);
         //按下鼠标左键
         if (shootState != 0 && gunReadyToggle == true)
         {
@@ -225,7 +225,7 @@ private float Ballistic(int shootState)
                     if (Vector3.Distance(ray.origin + (ray.direction * targetDis), blockContainer.nowBlock.transform.position) <= blockContainer.nowBlock.firebasesAreaDiameter / 2)
                     {
                         // im shooting at target but didn't hit enemy
-                        // Debug.DrawRay(ray.origin, viewPoint-ray.origin, Color.blue);
+                        // Debug.DrawRay(centerRay.origin, viewPoint-centerRay.origin, Color.blue);
                         return paramContainer.shootTargetAreaReward;
                     }
                 }
@@ -252,79 +252,121 @@ private float FacingReward()
         float nowReward = 0;
         bool isFacingtoEnemy = false;
         float enemyFacingDistance = 0f;
-        Ray ray = fpsCam.ScreenPointToRay(new Vector3(fpsCam.pixelWidth / 2, fpsCam.pixelHeight / 2, 0));
+
-        if (targetCon.targetTypeInt == (int)Targets.Free)
+        Vector3 screenCenter = new Vector3(fpsCam.pixelWidth / 2, fpsCam.pixelHeight / 2, 0);
+        Vector3 screenLeft = new Vector3(0, fpsCam.pixelHeight / 2, 0);
+
+        Ray centerRay = fpsCam.ScreenPointToRay(screenCenter);
+        Ray leftRay = fpsCam.ScreenPointToRay(screenLeft);
+
+        // target fireBaseArea Position, turen y to camera's y
+        Vector3 fireBaseArea = blockContainer.nowBlock.fireBasesAreaObj.transform.position;
+        fireBaseArea.y = fpsCam.transform.position.y;
+
+        // my position, turn y to camera's y
+        // Debug.DrawRay(fpsCam.transform.position, centerRay.direction * 100, Color.blue);
+        Vector3 myposition = transform.position;
+        myposition.y = fpsCam.transform.position.y;
+
+        // Target to Agent distance
+        //Debug.DrawLine(fireBaseArea, myposition, Color.red);
+        float targetDis = Vector3.Distance(fireBaseArea, myposition);
+
+        // point in centerRay and leftRay which distance is targetDis from camera center
+        Vector3 pointInCenterRay = fpsCam.transform.position + (centerRay.direction * targetDis);
+        Vector3 pointInLeftRay = fpsCam.transform.position + (leftRay.direction * targetDis);
+
+        // center of screen to target's distance
+        // Debug.DrawLine(pointInCenterRay, fireBaseArea,Color.green);
+        float camCenterToTarget = Vector3.Distance(pointInCenterRay, fireBaseArea);
+
+        // left of screen to target's distance
+        // Debug.DrawLine(pointInLeftRay, pointInCenterRay, Color.yellow);
+        float camCenterToViewEdge = Vector3.Distance(pointInLeftRay, pointInCenterRay);
+
+        switch (targetCon.targetTypeInt)
         {
-            //free mode
+            case (int)Targets.Free:
-            RaycastHit hit;
+                //free mode
-            if (Physics.Raycast(ray, out hit, 100))
+                RaycastHit hit;
-            {
+                if (Physics.Raycast(centerRay, out hit, 100))
-                // facing to an enemy
-                if (hit.collider.tag != myTag && hit.collider.tag != "Wall")
                 {
+                    // facing to an enemy
+                    if (hit.collider.tag != myTag && hit.collider.tag != "Wall")
+                    {
+                        nowReward = paramContainer.facingReward;
+                        isFacingtoEnemy = true;
+                    }
+                }
+                if (raySensors.inViewEnemies.Count > 0 && !isFacingtoEnemy)
+                {
+                    // have enemy in view
+                    List<float> projectionDis = new List<float>();
+                    foreach (GameObject theEnemy in raySensors.inViewEnemies)
+                    {
+                        // for each enemy in view
+                        Vector3 projection = Vector3.Project(theEnemy.transform.position - transform.position, (centerRay.direction * 10));
+                        Vector3 verticalToRay = transform.position + projection - theEnemy.transform.position;
+                        projectionDis.Add(verticalToRay.magnitude);
+                        // Debug.Log("enemy!" + verticalToRay.magnitude);
+                        // Debug.DrawRay(transform.position, (centerRay.direction * 100), Color.cyan);
+                        // Debug.DrawRay(transform.position, theEnemy.transform.position - transform.position, Color.yellow);
+                        // Debug.DrawRay(transform.position, projection, Color.blue);
+                        // Debug.DrawRay(theEnemy.transform.position, verticalToRay, Color.magenta);
+                    }
+                    enemyFacingDistance = projectionDis.Min();
+                    if (enemyFacingDistance <= lastEnemyFacingDistance)
+                    {
+                        // closing to enemy
+                        nowReward = 1 / MathF.Sqrt(paramContainer.facingInviewEnemyDisCOEF * enemyFacingDistance + 0.00001f);
+                    }
+                    else
+                    {
+                        nowReward = 0;
+                    }
+                    // enemy in view Reward
+                    lastEnemyFacingDistance = enemyFacingDistance;
+                    if (nowReward >= paramContainer.facingReward) nowReward = paramContainer.facingReward; // limit
+                    if (nowReward <= -paramContainer.facingReward) nowReward = -paramContainer.facingReward; // limit
+                    // Debug.Log("ninimum = " + nowReward);
+                }
+                break;
+            case (int)Targets.Attack:
+                // attack mode
+                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.nowBlock.firebasesAreaDiameter / 2)
+                    {
+                        // Debug.DrawRay(centerRay.origin, viewPoint-centerRay.origin, Color.blue);
+                        nowReward = paramContainer.facingReward;
+                    }
+                    else
+                    {
+                        // while not facing to target
+                        nowReward = (lastTargetFacingDistance - camCenterToTarget) * paramContainer.facingTargetReward;
+                    }
+                }
+                // update lastTargetFacingDistance
+                lastTargetFacingDistance = camCenterToTarget;
+                break;
+            case (int)Targets.Go:
+                // goto mode
+                if (camCenterToTarget <= camCenterToViewEdge)
+                {
+                    // fireArea is in view
                     nowReward = paramContainer.facingReward;
-                    isFacingtoEnemy = true;
-                }
-            }
-            if (raySensors.inViewEnemies.Count > 0 && !isFacingtoEnemy)
-            {
-                // have enemy in view
-                List<float> projectionDis = new List<float>();
-                foreach (GameObject theEnemy in raySensors.inViewEnemies)
-                {
-                    // for each enemy in view
-                    Vector3 projection = Vector3.Project(theEnemy.transform.position - transform.position, (ray.direction * 10));
-                    Vector3 verticalToRay = transform.position + projection - theEnemy.transform.position;
-                    projectionDis.Add(verticalToRay.magnitude);
-                    // Debug.Log("enemy!" + verticalToRay.magnitude);
-                    // Debug.DrawRay(transform.position, (ray.direction * 100), Color.cyan);
-                    // Debug.DrawRay(transform.position, theEnemy.transform.position - transform.position, Color.yellow);
-                    // Debug.DrawRay(transform.position, projection, Color.blue);
-                    // Debug.DrawRay(theEnemy.transform.position, verticalToRay, Color.magenta);
-                }
-                enemyFacingDistance = projectionDis.Min();
-                if (enemyFacingDistance <= lastEnemyFacingDistance)
-                {
-                    // closing to enemy
-                    nowReward = 1 / MathF.Sqrt(paramContainer.facingInviewEnemyDisCOEF * enemyFacingDistance + 0.00001f);
                 }
                 else
                 {
                     nowReward = 0;
                 }
-                // enemy in view Reward
+                break;
-                lastEnemyFacingDistance = enemyFacingDistance;
+            default:
-                if (nowReward >= paramContainer.facingReward) nowReward = paramContainer.facingReward; // limit
+                Debug.LogError("Wrong target type");
-                if (nowReward <= -paramContainer.facingReward) nowReward = -paramContainer.facingReward; // limit
+                break;
-                // Debug.Log("ninimum = " + nowReward);
-            }
-        }
-        else if (targetCon.targetTypeInt == (int)Targets.Attack)
-        {
-            // attack mode
-            // Target to Agent distance
-            float targetDis = Vector3.Distance(blockContainer.nowBlock.transform.position, transform.position);
-            // center of screen between target's distance
-            float camCenterToTarget = Vector3.Distance(ray.origin + (ray.direction * targetDis), blockContainer.nowBlock.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.nowBlock.firebasesAreaDiameter / 2)
-                {
-                    // Debug.DrawRay(ray.origin, viewPoint-ray.origin, Color.blue);
-
-                    nowReward = paramContainer.facingReward;
-                }
-                else
-                {
-                    // while not facing to target
-                    nowReward = (lastTargetFacingDistance - camCenterToTarget) * paramContainer.facingTargetReward;
-                }
-            }
-            // update lastTargetFacingDistance
-            lastTargetFacingDistance = camCenterToTarget;
         }
         return nowReward;
     }

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+    - Assets/Script/GameScript
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