V3.1.3 优化代码

分离AgentController和MLAgentsController

Assets/ML-Agents/Timers/Play_timers.json

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Assets/ML-Agents/Timers/StartScene_timers.json

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Assets/ML-Agents/Timers/Train_timers.json

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Assets/Scenes/Play.unity

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Assets/Scenes/Train.unity

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Assets/Script/InGame/AgentController.cs

@@ -0,0 +1,401 @@
+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;
+        }
+    }
+}

Assets/Script/InGame/AgentController.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: a899ce3efe4b8384a8cc2e43cc761b71
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Script/InGame/MLAgentsCustomController.cs

@@ -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^^^^^^^^^^^^^^^^^^^^^^
+    }
+}

Assets/Script/InGame/MLAgentsCustomController.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 427cc67643922b245b572721bea0462d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Script/InGame/SceneBlockContainer.cs

@@ -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;
         }
     }
 

Assets/Script/InGame/TargetController.cs

@@ -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;
+            SpawnSceneBlock(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);
             // set startDistance
             firstRewardFlag = true;
         }
@@ -164,21 +150,7 @@ public void RollNewScene()
         {
             // attack target spawn
             Debug.Log("ATTACK!");
-            targetTypeInt = (int)SceneBlockContainer.Targets.Attack;
+            SpawnSceneBlock(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);
             // set startDistance
             firstRewardFlag = true;
             targetEnemySpawnFinish = false;
@@ -187,21 +159,7 @@ public void RollNewScene()
         {
             // defence target spawn
             Debug.Log("DEFENCE!");
-            targetTypeInt = (int)SceneBlockContainer.Targets.Defence;
+            SpawnSceneBlock(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);
             // 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)
         {

UserSettings/EditorUserSettings.asset

@@ -9,14 +9,14 @@ EditorUserSettings:
       value: 55090405535008090b5608764626074415151c79747c74602b7c1861e4b96c6c
       flags: 0
     RecentlyUsedSceneGuid-1:
-      value: 06570c0704040b0e5a575520137b5e44154f192e292d22367c2c4866b7b3376f
-      flags: 0
-    RecentlyUsedSceneGuid-2:
       value: 5703025650035e5d090f087148715d4443161e2c7e2c20357b281b31b0e43060
       flags: 0
-    RecentlyUsedSceneGuid-3:
+    RecentlyUsedSceneGuid-2:
       value: 5453565f53020f085f5d0e72157a0844454f4c2b757d7265757a4f64b7b4313c
       flags: 0
+    RecentlyUsedSceneGuid-3:
+      value: 06570c0704040b0e5a575520137b5e44154f192e292d22367c2c4866b7b3376f
+      flags: 0
     RecentlyUsedScenePath-0:
       value: 22424703114646680e0b0227036c6c111b07142f1f2b233e2867083debf42d
       flags: 0

UserSettings/Layouts/default-2021.dwlt

@@ -14,16 +14,16 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   m_PixelRect:
     serializedVersion: 2
-    x: 64
+    x: 637
-    y: 43
+    y: 162
-    width: 1856
+    width: 1016
-    height: 1037
+    height: 1021
   m_ShowMode: 4
-  m_Title: Hierarchy
+  m_Title: Game
   m_RootView: {fileID: 9}
   m_MinSize: {x: 875, y: 300}
   m_MaxSize: {x: 10000, y: 10000}
-  m_Maximized: 1
+  m_Maximized: 0
 --- !u!114 &2
 MonoBehaviour:
   m_ObjectHideFlags: 52
@@ -40,9 +40,9 @@ MonoBehaviour:
   m_Position:
     serializedVersion: 2
     x: 0
-    y: 717
+    y: 705
-    width: 1087
+    width: 593
-    height: 270
+    height: 266
   m_MinSize: {x: 231, y: 271}
   m_MaxSize: {x: 10001, y: 10021}
   m_ActualView: {fileID: 15}
@@ -70,12 +70,12 @@ MonoBehaviour:
     serializedVersion: 2
     x: 0
     y: 0
-    width: 1087
+    width: 593
-    height: 987
+    height: 971
   m_MinSize: {x: 100, y: 200}
   m_MaxSize: {x: 8096, y: 16192}
   vertical: 1
-  controlID: 52
+  controlID: 108
 --- !u!114 &4
 MonoBehaviour:
   m_ObjectHideFlags: 52
@@ -92,9 +92,9 @@ MonoBehaviour:
   m_Position:
     serializedVersion: 2
     x: 0
-    y: 717
+    y: 705
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+    width: 173
-    height: 270
+    height: 266
   m_MinSize: {x: 102, y: 121}
   m_MaxSize: {x: 4002, y: 4021}
   m_ActualView: {fileID: 19}
@@ -119,14 +119,14 @@ MonoBehaviour:
   - {fileID: 4}
   m_Position:
     serializedVersion: 2
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+    x: 593
     y: 0
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+    width: 173
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+    height: 971
   m_MinSize: {x: 100, y: 200}
   m_MaxSize: {x: 8096, y: 16192}
   vertical: 1
-  controlID: 21
+  controlID: 119
 --- !u!114 &6
 MonoBehaviour:
   m_ObjectHideFlags: 52
@@ -144,10 +144,10 @@ MonoBehaviour:
     serializedVersion: 2
     x: 0
     y: 0
-    width: 312
+    width: 173
-    height: 717
+    height: 705
-  m_MinSize: {x: 202, y: 221}
+  m_MinSize: {x: 200, y: 200}
-  m_MaxSize: {x: 4002, y: 4021}
+  m_MaxSize: {x: 4000, y: 4000}
   m_ActualView: {fileID: 17}
   m_Panes:
   - {fileID: 17}
@@ -173,12 +173,12 @@ MonoBehaviour:
     serializedVersion: 2
     x: 0
     y: 30
-    width: 1856
+    width: 1016
-    height: 987
+    height: 971
   m_MinSize: {x: 300, y: 200}
   m_MaxSize: {x: 24288, y: 16192}
   vertical: 0
-  controlID: 142
+  controlID: 107
 --- !u!114 &8
 MonoBehaviour:
   m_ObjectHideFlags: 52
@@ -194,12 +194,12 @@ MonoBehaviour:
   m_Children: []
   m_Position:
     serializedVersion: 2
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+    x: 766
     y: 0
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+    width: 250
-    height: 987
+    height: 971
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+  m_MinSize: {x: 275, y: 50}
-  m_MaxSize: {x: 4001, y: 4021}
+  m_MaxSize: {x: 4000, y: 4000}
   m_ActualView: {fileID: 16}
   m_Panes:
   - {fileID: 16}
@@ -225,8 +225,8 @@ MonoBehaviour:
     serializedVersion: 2
     x: 0
     y: 0
-    width: 1856
+    width: 1016
-    height: 1037
+    height: 1021
   m_MinSize: {x: 875, y: 300}
   m_MaxSize: {x: 10000, y: 10000}
   m_UseTopView: 1
@@ -250,7 +250,7 @@ MonoBehaviour:
     serializedVersion: 2
     x: 0
     y: 0
-    width: 1856
+    width: 1016
     height: 30
   m_MinSize: {x: 0, y: 0}
   m_MaxSize: {x: 0, y: 0}
@@ -271,8 +271,8 @@ MonoBehaviour:
   m_Position:
     serializedVersion: 2
     x: 0
-    y: 1017
+    y: 1001
-    width: 1856
+    width: 1016
     height: 20
   m_MinSize: {x: 0, y: 0}
   m_MaxSize: {x: 0, y: 0}
@@ -293,8 +293,8 @@ MonoBehaviour:
     serializedVersion: 2
     x: 0
     y: 0
-    width: 1087
+    width: 593
-    height: 717
+    height: 705
   m_MinSize: {x: 201, y: 221}
   m_MaxSize: {x: 4001, y: 4021}
   m_ActualView: {fileID: 18}
@@ -325,7 +325,7 @@ MonoBehaviour:
     serializedVersion: 2
     x: 64
     y: 73
-    width: 1086
+    width: 1082
     height: 696
   m_ViewDataDictionary: {fileID: 0}
   m_OverlayCanvas:
@@ -337,7 +337,7 @@ MonoBehaviour:
   m_ShowGizmos: 0
   m_TargetDisplay: 0
   m_ClearColor: {r: 0, g: 0, b: 0, a: 0}
-  m_TargetSize: {x: 1086, y: 675}
+  m_TargetSize: {x: 1082, y: 675}
   m_TextureFilterMode: 0
   m_TextureHideFlags: 61
   m_RenderIMGUI: 1
@@ -352,8 +352,8 @@ MonoBehaviour:
     m_VRangeLocked: 0
     hZoomLockedByDefault: 0
     vZoomLockedByDefault: 0
-    m_HBaseRangeMin: -543
+    m_HBaseRangeMin: -541
-    m_HBaseRangeMax: 543
+    m_HBaseRangeMax: 541
     m_VBaseRangeMin: -337.5
     m_VBaseRangeMax: 337.5
     m_HAllowExceedBaseRangeMin: 1
@@ -373,23 +373,23 @@ MonoBehaviour:
       serializedVersion: 2
       x: 0
       y: 21
-      width: 1086
+      width: 1082
       height: 675
     m_Scale: {x: 1, y: 1}
-    m_Translation: {x: 543, y: 337.5}
+    m_Translation: {x: 541, y: 337.5}
     m_MarginLeft: 0
     m_MarginRight: 0
     m_MarginTop: 0
     m_MarginBottom: 0
     m_LastShownAreaInsideMargins:
       serializedVersion: 2
-      x: -543
+      x: -541
       y: -337.5
-      width: 1086
+      width: 1082
       height: 675
     m_MinimalGUI: 1
   m_defaultScale: 1
-  m_LastWindowPixelSize: {x: 1086, y: 696}
+  m_LastWindowPixelSize: {x: 1082, y: 696}
   m_ClearInEditMode: 1
   m_NoCameraWarning: 1
   m_LowResolutionForAspectRatios: 01000000000000000000
@@ -443,10 +443,10 @@ MonoBehaviour:
     m_Tooltip: 
   m_Pos:
     serializedVersion: 2
-    x: 64
+    x: 637
-    y: 790
+    y: 897
-    width: 1086
+    width: 592
-    height: 249
+    height: 245
   m_ViewDataDictionary: {fileID: 0}
   m_OverlayCanvas:
     m_LastAppliedPresetName: Default
@@ -464,7 +464,7 @@ MonoBehaviour:
     m_SkipHidden: 0
     m_SearchArea: 1
     m_Folders:
-    - Assets
+    - Assets/Scenes
     m_Globs: []
     m_OriginalText: 
   m_ViewMode: 1
@@ -477,9 +477,9 @@ MonoBehaviour:
     m_IsLocked: 0
   m_FolderTreeState:
     scrollPos: {x: 0, y: 0}
-    m_SelectedIDs: 5a760000
+    m_SelectedIDs: 05ca9a3b
-    m_LastClickedID: 30298
+    m_LastClickedID: 1000000005
-    m_ExpandedIDs: 000000005a7600005c7600005e7600006076000062760000a076000000ca9a3b
+    m_ExpandedIDs: 00000000ee660000f0660000f2660000f4660000f66600001467000000ca9a3b
     m_RenameOverlay:
       m_UserAcceptedRename: 0
       m_Name: 
@@ -507,7 +507,7 @@ MonoBehaviour:
     scrollPos: {x: 0, y: 0}
     m_SelectedIDs: 
     m_LastClickedID: 0
-    m_ExpandedIDs: 000000005a7600005c7600005e7600006076000062760000
+    m_ExpandedIDs: 00000000ee660000f0660000f2660000f4660000f6660000
     m_RenameOverlay:
       m_UserAcceptedRename: 0
       m_Name: 
@@ -538,18 +538,18 @@ MonoBehaviour:
     m_ExpandedInstanceIDs: c62300008a5c000000000000
     m_RenameOverlay:
       m_UserAcceptedRename: 0
-      m_Name: MLAgentsController
+      m_Name: 
-      m_OriginalName: MLAgentsController
+      m_OriginalName: 
       m_EditFieldRect:
         serializedVersion: 2
         x: 0
         y: 0
         width: 0
         height: 0
-      m_UserData: 91370
+      m_UserData: 0
       m_IsWaitingForDelay: 0
       m_IsRenaming: 0
-      m_OriginalEventType: 4
+      m_OriginalEventType: 11
       m_IsRenamingFilename: 1
       m_ClientGUIView: {fileID: 2}
     m_CreateAssetUtility:
@@ -559,7 +559,7 @@ MonoBehaviour:
       m_Icon: {fileID: 0}
       m_ResourceFile: 
     m_NewAssetIndexInList: -1
-    m_ScrollPosition: {x: 0, y: 86}
+    m_ScrollPosition: {x: 0, y: 0}
     m_GridSize: 16
   m_SkipHiddenPackages: 0
   m_DirectoriesAreaWidth: 355
@@ -583,10 +583,10 @@ MonoBehaviour:
     m_Tooltip: 
   m_Pos:
     serializedVersion: 2
-    x: 1463
+    x: 1403
-    y: 73
+    y: 192
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+    width: 249
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+    height: 950
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@@ -624,10 +624,10 @@ MonoBehaviour:
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   m_Pos:
     serializedVersion: 2
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+    x: 1230
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+    y: 192
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+    height: 684
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@@ -637,7 +637,7 @@ MonoBehaviour:
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       m_SelectedIDs: 
       m_LastClickedID: 0
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@@ -919,9 +919,9 @@ MonoBehaviour:
   m_PlayAudio: 0
   m_AudioPlay: 0
   m_Position:
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+    m_Target: {x: 208.58499, y: -370.4251, z: 418.47623}
     speed: 2
-    m_Value: {x: 54.110233, y: -123.744255, z: 92.51965}
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     m_gridOpacity: 0.5
   m_Rotation:
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+    m_Target: {x: 0.32789153, y: 0.21797852, z: -0.078089386, w: 0.9158536}
     speed: 2
-    m_Value: {x: 0.4578698, y: 0.27968383, z: -0.15440664, w: 0.82963294}
+    m_Value: {x: 0.32790574, y: 0.21798797, z: -0.07809277, w: 0.9158933}
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+    m_Target: 472.939
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