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// 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 projectionDis = new List(); + 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 projectionDis = new List(); - 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 - 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