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V3.1.3 优化代码

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分离AgentController和MLAgentsController
This commit is contained in:
Koha9 2023-07-10 01:51:44 +08:00
parent 246ac4adfa
commit 0b0c0771ce
13 changed files with 931 additions and 231 deletions
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2
Assets/ML-Agents/Timers/Play_timers.json
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2
Assets/ML-Agents/Timers/StartScene_timers.json
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2
Assets/ML-Agents/Timers/Train_timers.json
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123
Assets/Scenes/Play.unity
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Assets/Scenes/Train.unity
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401
Assets/Script/InGame/AgentController.cs Normal file
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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;
}
}
}

11
Assets/Script/InGame/AgentController.cs.meta Normal file
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247
Assets/Script/InGame/MLAgentsCustomController.cs Normal file
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@ -0,0 +1,247 @@
using System;
using Unity.MLAgents;
using Unity.MLAgents.Actuators;
using Unity.MLAgents.Sensors;
using UnityEngine;
public class MLAgentsCustomController : Agent
{
public GameObject paramContainerObj;
public GameObject targetControllerObj;
public GameObject environmentUIObj;
public GameObject hudUIObj;
[Header("Env")]
public bool oneHotRayTag = true;
// script
private AgentController agentController;
private ParameterContainer paramContainer;
private TargetController targetController;
private EnvironmentUIControl envUIController;
private HUDController hudController;
private RaySensors raySensors;
// observation
private float[] myObserve = new float[4];
private float[] rayTagResult;
private float[] rayTagResultOnehot;
private float[] rayDisResult;
private float[] targetStates;
private float remainTime;
private float inAreaState;
private int finishedState;
private int step = 0;
private int EP = 0;
private void Start()
{
agentController = transform.GetComponent<AgentController>();
raySensors = transform.GetComponent<RaySensors>();
paramContainer = paramContainerObj.GetComponent<ParameterContainer>();
targetController = targetControllerObj.GetComponent<TargetController>();
envUIController = environmentUIObj.GetComponent<EnvironmentUIControl>();
hudController = hudUIObj.GetComponent<HUDController>();
}
// ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
// env开始执行初始化
public override void OnEpisodeBegin()
{
Debug.LogWarning("GameState|START TEST!");
step = 0;
agentController.UpdateLockMouse();
paramContainer.ResetTimeBonusReward();
//thisAgentObj.name = thisAgentObj.GetInstanceID().ToString();
if (paramContainer.gameMode == 0)
{
// train mode
targetController.RollNewScene();
}
else
{
// play mode
targetController.PlayInitialize();
}
// give default Reward to Reward value will be used.
if (hudController.chartOn)
{
envUIController.InitChart();
}
raySensors.UpdateRayInfo(); // update raycast
}
// ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
// 观察情报
public override void CollectObservations(VectorSensor sensor)
{
//List<float> enemyLDisList = RaySensors.enemyLDisList;// All Enemy Lside Distances
//List<float> enemyRDisList = RaySensors.enemyRDisList;// All Enemy Rside Distances
/**myObserve[0] = transform.localPosition.x / raySensors.viewDistance;
myObserve[1] = transform.localPosition.y / raySensors.viewDistance;
myObserve[2] = transform.localPosition.z / raySensors.viewDistance;
myObserve[3] = transform.eulerAngles.y / 360f;**/
myObserve[0] = transform.localPosition.x;
myObserve[1] = transform.localPosition.y;
myObserve[2] = transform.localPosition.z;
myObserve[3] = transform.eulerAngles.y / 36f;
rayTagResult = raySensors.rayTagResult;// 探测用RayTag结果 float[](raySensorNum,1)
rayTagResultOnehot = raySensors.rayTagResultOneHot.ToArray(); // 探测用RayTagonehot结果 List<int>[](raySensorNum*Tags,1)
rayDisResult = raySensors.rayDisResult; // 探测用RayDis结果 float[](raySensorNum,1)
targetStates = targetController.targetState; // (6) targettype, target x,y,z, firebasesAreaDiameter
remainTime = targetController.leftTime;
inAreaState = targetController.GetInAreaState();
agentController.UpdateGunState();
//float[] focusEnemyObserve = RaySensors.focusEnemyInfo;// 最近的Enemy情报 float[](3,1) MinEnemyIndex,x,z
//sensor.AddObservation(allEnemyNum); // 敌人数量 int
sensor.AddObservation(targetStates);// (6) targettype, target x,y,z, firebasesAreaDiameter
sensor.AddObservation(inAreaState); // (1)
sensor.AddObservation(remainTime); // (1)
sensor.AddObservation(agentController.gunReadyToggle); // (1) save gun is ready?
sensor.AddObservation(myObserve); // (4)自机位置xyz+朝向 float[](4,1)
if (oneHotRayTag)
{
sensor.AddObservation(rayTagResultOnehot); // 探测用RayTag结果 float[](raySensorNum,1)
}
else
{
sensor.AddObservation(rayTagResult);
}
sensor.AddObservation(rayDisResult); // 探测用RayDis结果 float[](raySensorNum,1)
envUIController.UpdateStateText(targetStates, inAreaState, remainTime, agentController.gunReadyToggle, myObserve, rayTagResultOnehot, rayDisResult);
/*foreach(float aaa in rayDisResult)
{
Debug.Log(aaa);
}
Debug.LogWarning("------------");*/
//sensor.AddObservation(focusEnemyObserve); // 最近的Enemy情报 float[](3,1) MinEnemyIndex,x,z
//sensor.AddObservation(raySensorNum); // raySensor数量 int
//sensor.AddObservation(remainTime); // RemainTime int
}
// ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
// agent 输入处理
public override void OnActionReceived(ActionBuffers actionBuffers)
{
//获取输入
int vertical = actionBuffers.DiscreteActions[0];
int horizontal = actionBuffers.DiscreteActions[1];
int mouseShoot = actionBuffers.DiscreteActions[2];
float Mouse_X = actionBuffers.ContinuousActions[0];
if (vertical == 2) vertical = -1;
if (horizontal == 2) horizontal = -1;
//应用输入
agentController.CameraControl(Mouse_X, 0);
agentController.MoveAgent(vertical, horizontal);
raySensors.UpdateRayInfo(); // update raycast
//判断结束
float sceneReward = 0f;
float endReward = 0f;
(finishedState, sceneReward, endReward) = targetController.CheckOverAndRewards();
float thisRoundReward = agentController.RewardCalculate(sceneReward + endReward, Mouse_X, Math.Abs(vertical) + Math.Abs(horizontal), mouseShoot);
if (hudController.chartOn)
{
envUIController.UpdateChart(thisRoundReward);
}
else
{
envUIController.RemoveChart();
}
//Debug.Log("reward = " + thisRoundReward);
if (finishedState != (int)TargetController.EndType.Running)
{
// Win or lose Finished
Debug.Log("Finish reward = " + thisRoundReward);
EP += 1;
string targetString = Enum.GetName(typeof(SceneBlockContainer.Targets), targetController.targetTypeInt);
switch (finishedState)
{
case (int)TargetController.EndType.Win:
Debug.LogWarning("Result|" + targetString + "|Win");
break;
case (int)TargetController.EndType.Lose:
Debug.LogWarning("Result|" + targetString + "|Lose");
break;
default:
Debug.LogWarning("TypeError");
break;
}
SetReward(thisRoundReward);
EndEpisode();
}
else
{
// game not over yet
step += 1;
}
SetReward(thisRoundReward);
}
// ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
// 控制调试
public override void Heuristic(in ActionBuffers actionsOut)
{
//-------------------BUILD
ActionSegment<float> continuousActions = actionsOut.ContinuousActions;
ActionSegment<int> discreteActions = actionsOut.DiscreteActions;
if (Input.GetKey(KeyCode.W) && !Input.GetKey(KeyCode.S))
{
discreteActions[0] = 1;
}
else if (Input.GetKey(KeyCode.S) && !Input.GetKey(KeyCode.W))
{
discreteActions[0] = -1;
}
else
{
discreteActions[0] = 0;
}
if (Input.GetKey(KeyCode.D) && !Input.GetKey(KeyCode.A))
{
discreteActions[1] = 1;
}
else if (Input.GetKey(KeyCode.A) && !Input.GetKey(KeyCode.D))
{
discreteActions[1] = -1;
}
else
{
discreteActions[1] = 0;
}
if (Input.GetMouseButton(0))
{
// Debug.Log("mousebuttonhit");
discreteActions[2] = 1;
}
else
{
discreteActions[2] = 0;
}
//^^^^^^^^^^^^^^^^^^^^^discrete-Control^^^^^^^^^^^^^^^^^^^^^^
//vvvvvvvvvvvvvvvvvvvvvvvvvvvvvcontinuous-Controlvvvvvvvvvvvvvvvvvvvvvv
float Mouse_X = Input.GetAxis("Mouse X") * agentController.mouseXSensitivity * Time.deltaTime;
//float Mouse_Y = Input.GetAxis("Mouse Y") * agentController.mouseYSensitivity * Time.deltaTime;
continuousActions[0] = Mouse_X;
//continuousActions[1] = nonReward;
//continuousActions[2] = shootReward;
//continuousActions[3] = shootWithoutReadyReward;
//continuousActions[4] = hitReward;
//continuousActions[5] = winReward;
//continuousActions[6] = loseReward;
//continuousActions[7] = killReward;
//continuousActions[1] = Mouse_Y;
//continuousActions[2] = timeLimit;
//^^^^^^^^^^^^^^^^^^^^^^^^^^^^^continuous-Control^^^^^^^^^^^^^^^^^^^^^^
}
}

11
Assets/Script/InGame/MLAgentsCustomController.cs.meta Normal file
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4
Assets/Script/InGame/SceneBlockContainer.cs
View File

@ -57,6 +57,10 @@ public void CreateNewBlock(Targets targetType, int blockType, Vector3 blockPosit
thisBlock.group2Tag = tag2;
sceneSize = thisBlock.blockSize;
break;
default:
Debug.LogWarning("SceneBlock: CreateNewBlock: targetType not found!");
break;
}
}

96
Assets/Script/InGame/TargetController.cs
View File

@ -51,7 +51,7 @@ public enum EndType
private int inArea = 0;
private float freeProb;
private float sceneSize;
private float sceneBlockSize;
private float lastDistance;
public Vector3 targetPosition;
private Vector3 targetLocalPosition;
@ -142,21 +142,7 @@ public void RollNewScene()
{
// goto target spawn
Debug.Log("GOTO THIS TARGET!");
targetTypeInt = (int)SceneBlockContainer.Targets.Go;
int randBlockType = Random.Range(0, blockCont.goBlockPrefabs.Length);
// get choosed scene size
sceneSize = blockCont.goBlockPrefabs[randBlockType].GetComponent<SceneBlock>().blockSize;
float randX = UnityEngine.Random.Range(minEnemyAreaX + sceneSize / 2 + 1f, maxEnemyAreaX - sceneSize / 2 - 1f);
float randZ = UnityEngine.Random.Range(minEnemyAreaZ + sceneSize / 2 + 1f, maxEnemyAreaZ - sceneSize / 2 - 1f);
targetPosition = new Vector3(randX, 0f, randZ);
// Init Agent position
MoveAgentToSpwanArea();
// init scene block
blockCont.DestroyBlock();
blockCont.CreateNewBlock(SceneBlockContainer.Targets.Go, randBlockType, targetPosition, group1Tag, group2Tag);
enemyCont.DestroyAllEnemys();
enemyCont.RandomInitEnemysExcept(hudCon.enemyNum, targetPosition, sceneSize);
blockCont.thisBlock.InitBlock(environmentObj);
SpawnSceneBlock(SceneBlockContainer.Targets.Go);
// set startDistance
firstRewardFlag = true;
}
@ -164,21 +150,7 @@ public void RollNewScene()
{
// attack target spawn
Debug.Log("ATTACK!");
targetTypeInt = (int)SceneBlockContainer.Targets.Attack;
int randBlockType = Random.Range(0, blockCont.attackBlockPrefabs.Length);
// get choosed scene size
sceneSize = blockCont.attackBlockPrefabs[randBlockType].GetComponent<SceneBlock>().blockSize;
float randX = UnityEngine.Random.Range(minEnemyAreaX + sceneSize / 2 + 1f, maxEnemyAreaX - sceneSize / 2 - 1f);
float randZ = UnityEngine.Random.Range(minEnemyAreaZ + sceneSize / 2 + 1f, maxEnemyAreaZ - sceneSize / 2 - 1f);
targetPosition = new Vector3(randX, 0f, randZ);
// Init Agent position
MoveAgentToSpwanArea();
// init scene block
blockCont.DestroyBlock();
blockCont.CreateNewBlock(SceneBlockContainer.Targets.Attack, randBlockType, targetPosition, group1Tag, group2Tag);
enemyCont.DestroyAllEnemys();
enemyCont.RandomInitEnemysExcept(hudCon.enemyNum, targetPosition, sceneSize);
blockCont.thisBlock.InitBlock(environmentObj);
SpawnSceneBlock(SceneBlockContainer.Targets.Attack);
// set startDistance
firstRewardFlag = true;
targetEnemySpawnFinish = false;
@ -187,21 +159,7 @@ public void RollNewScene()
{
// defence target spawn
Debug.Log("DEFENCE!");
targetTypeInt = (int)SceneBlockContainer.Targets.Defence;
int randBlockType = Random.Range(0, blockCont.attackBlockPrefabs.Length);
// get choosed scene size
sceneSize = blockCont.defencePrefabs[randBlockType].GetComponent<SceneBlock>().blockSize;
float randX = UnityEngine.Random.Range(minEnemyAreaX + sceneSize / 2 + 1f, maxEnemyAreaX - sceneSize / 2 - 1f);
float randZ = UnityEngine.Random.Range(minEnemyAreaZ + sceneSize / 2 + 1f, maxEnemyAreaZ - sceneSize / 2 - 1f);
targetPosition = new Vector3(randX, 0f, randZ);
// Init Agent position
MoveAgentTo(targetPosition);
// init scene block
blockCont.DestroyBlock();
blockCont.CreateNewBlock(SceneBlockContainer.Targets.Defence, randBlockType, targetPosition, group1Tag, group2Tag);
enemyCont.DestroyAllEnemys();
enemyCont.RandomInitEnemysExcept(hudCon.enemyNum, targetPosition, sceneSize);
blockCont.thisBlock.InitBlock(environmentObj);
SpawnSceneBlock(SceneBlockContainer.Targets.Defence);
// set startDistance
firstRewardFlag = true;
}
@ -219,18 +177,17 @@ public void RollNewScene()
}
// get target observation states
public void UpdateTargetStates()
private void UpdateTargetStates()
{
// targettype, x,y,z, firebasesAreaDiameter
if (targetTypeInt == (int)SceneBlockContainer.Targets.Free)
targetState[0] = targetTypeInt;
if (targetTypeInt == (int)SceneBlockContainer.Targets.Free || targetTypeInt == (int)SceneBlockContainer.Targets.Stay)
{
targetState[0] = targetTypeInt;
for (int i = 1; i < targetState.Length; i++)
targetState[i] = 0f;
}
else
{
targetState[0] = targetTypeInt;
/* targetState[1] = targetPosition.x / raySensors.viewDistance; // normalization
targetState[2] = targetPosition.y / raySensors.viewDistance;
targetState[3] = targetPosition.z / raySensors.viewDistance;*/
@ -243,7 +200,7 @@ public void UpdateTargetStates()
}
// move Agent into Agent Spawn Area
public void MoveAgentToSpwanArea()
private void MoveAgentToSpwanArea()
{
float randX = UnityEngine.Random.Range(minAgentAreaX, maxAgentAreaX); ;
float randZ = 0f;
@ -417,8 +374,43 @@ public void MoveAgentTo(Vector3 thisPosition)
return (endTypeInt, thisReward, endReward);
}
// initialize scene block by target type
private void SpawnSceneBlock(SceneBlockContainer.Targets thisTargetType)
{
int randBlockType = 0;
switch (thisTargetType)
{
case SceneBlockContainer.Targets.Go:
randBlockType = Random.Range(0, blockCont.goBlockPrefabs.Length);
sceneBlockSize = blockCont.goBlockPrefabs[randBlockType].GetComponent<SceneBlock>().blockSize;
break;
case SceneBlockContainer.Targets.Attack:
randBlockType = Random.Range(0, blockCont.attackBlockPrefabs.Length);
sceneBlockSize = blockCont.attackBlockPrefabs[randBlockType].GetComponent<SceneBlock>().blockSize;
break;
case SceneBlockContainer.Targets.Defence:
// randBlockType = Random.Range(0, blockCont.defenceBlockPrefabs.Length);
// sceneBlockSize = blockCont.defenceBlockPrefabs[randBlockType].GetComponent<SceneBlock>().blockSize;
Debug.LogWarning("Defence Block Not Ready");
break;
default:
Debug.LogWarning("TargetController: InitializeSceneBlock: Wrong TargetType");
break;
}
float randX = UnityEngine.Random.Range(minEnemyAreaX + sceneBlockSize / 2 + 1f, maxEnemyAreaX - sceneBlockSize / 2 - 1f);
float randZ = UnityEngine.Random.Range(minEnemyAreaZ + sceneBlockSize / 2 + 1f, maxEnemyAreaZ - sceneBlockSize / 2 - 1f);
targetPosition = new Vector3(randX, 0, randZ);
// init scene block
blockCont.DestroyBlock();
blockCont.CreateNewBlock(thisTargetType, randBlockType, targetPosition, group1Tag, group2Tag);
enemyCont.DestroyAllEnemys();
enemyCont.RandomInitEnemysExcept(hudCon.enemyNum, targetPosition, sceneBlockSize);
blockCont.thisBlock.InitBlock(environmentObj);
}
// caulculate sceneReward if close to target then get great reward
public float GetDistanceReward(float nowDistance, int inarea)
private float GetDistanceReward(float nowDistance, int inarea)
{
if (firstRewardFlag)
{

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