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V3.4.4 添加goto模式的facing reward逻辑

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Koha9 2023-10-16 05:02:57 +09:00
parent 55f6604307
commit 03267d2cf8
4 changed files with 289 additions and 179 deletions
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2
Assets/ML-Agents/Timers/Train_timers.json
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@ -1 +1 @@
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80
Assets/Scenes/Train.unity
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176
Assets/Script/GameScript/Character/AgentController.cs
View File

@ -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
RaycastHit hit;
if (Physics.Raycast(ray, out hit, 100))
{
// facing to an enemy
if (hit.collider.tag != myTag && hit.collider.tag != "Wall")
case (int)Targets.Free:
//free mode
RaycastHit hit;
if (Physics.Raycast(centerRay, out hit, 100))
{
// 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
lastEnemyFacingDistance = enemyFacingDistance;
if (nowReward >= paramContainer.facingReward) nowReward = paramContainer.facingReward; // limit
if (nowReward <= -paramContainer.facingReward) nowReward = -paramContainer.facingReward; // limit
// 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;
break;
default:
Debug.LogError("Wrong target type");
break;
}
return nowReward;
}

210
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