V2.7 Normalized state
Normalized distance and rotation state.
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@ -1 +1 @@
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File diff suppressed because it is too large
Load Diff
@ -63,7 +63,7 @@ public class AgentWithGun : Agent
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private string myTag = "";
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private float lastEnemyFacingDistance = 0f; // record last enemy facing minimum distance
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// scripts
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private RaySensors rayScript;
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private RaySensors raySensors;
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private CharacterController PlayerController;
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private EnvironmentUIControl EnvUICon;
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private ParameterContainer paramContainer;
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@ -82,7 +82,7 @@ private void Start()
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EnvUICon = EnvironmentUIControlObj.GetComponent<EnvironmentUIControl>();
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targetCon = TargetControllerObj.GetComponent<TargetController>();
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hudController = HUDObj.GetComponent<HUDController>();
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rayScript = GetComponent<RaySensors>();
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raySensors = GetComponent<RaySensors>();
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PlayerController = this.transform.GetComponent<CharacterController>();
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// Environment parameters
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lockMouse = paramContainer.lockMouse;
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@ -263,7 +263,7 @@ float ballistic()
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{
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// while if attack mode
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float targetDis = Vector3.Distance(blockContainer.thisBlock.transform.position, transform.position);
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if (targetDis <= rayScript.viewDistance)
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if (targetDis <= raySensors.viewDistance)
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{
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// Debug.DrawRay(new Vector3(0,0,0), viewPoint, Color.red);
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if (Vector3.Distance(ray.origin + (ray.direction * targetDis), blockContainer.thisBlock.transform.position) <= blockContainer.thisBlock.firebasesAreaDiameter / 2)
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@ -310,10 +310,10 @@ float facingReward()
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isFacingtoEnemy = true;
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}
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}
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if (rayScript.inViewEnemies.Count > 0 && !isFacingtoEnemy) {
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if (raySensors.inViewEnemies.Count > 0 && !isFacingtoEnemy) {
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// have enemy in view
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List<float> projectionDis = new List<float>();
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foreach (GameObject thisEnemy in rayScript.inViewEnemies)
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foreach (GameObject thisEnemy in raySensors.inViewEnemies)
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{
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// for each enemy in view
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Vector3 projection = Vector3.Project(thisEnemy.transform.position - transform.position, (ray.direction * 10));
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@ -346,7 +346,7 @@ float facingReward()
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{
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// attack mode
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float targetDis = Vector3.Distance(blockContainer.thisBlock.transform.position, transform.position);
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if(targetDis <= rayScript.viewDistance)
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if(targetDis <= raySensors.viewDistance)
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{
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// Debug.DrawRay(new Vector3(0,0,0), viewPoint, Color.red);
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if (Vector3.Distance(ray.origin + (ray.direction * targetDis), blockContainer.thisBlock.transform.position) <= blockContainer.thisBlock.firebasesAreaDiameter / 2)
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@ -419,7 +419,7 @@ public override void OnEpisodeBegin()
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{
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EnvUICon.initChart();
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}
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rayScript.updateRayInfo(); // update raycast
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raySensors.updateRayInfo(); // update raycast
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}
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// ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
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// 观察情报
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@ -428,10 +428,10 @@ public override void CollectObservations(VectorSensor sensor)
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//List<float> enemyLDisList = RaySensors.enemyLDisList;// All Enemy Lside Distances
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//List<float> enemyRDisList = RaySensors.enemyRDisList;// All Enemy Rside Distances
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float[] myObserve = { transform.localPosition.x, transform.localPosition.y, transform.localPosition.z, transform.eulerAngles.y/360f };
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float[] rayTagResult = rayScript.rayTagResult;// 探测用RayTag结果 float[](raySensorNum,1)
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float[] rayTagResultOnehot = rayScript.rayTagResultOneHot.ToArray(); // 探测用RayTagonehot结果 List<int>[](raySensorNum*Tags,1)
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float[] rayDisResult = rayScript.rayDisResult; // 探测用RayDis结果 float[](raySensorNum,1)
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float[] myObserve = { transform.localPosition.x/raySensors.viewDistance, transform.localPosition.y / raySensors.viewDistance, transform.localPosition.z / raySensors.viewDistance, transform.eulerAngles.y/360f };
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float[] rayTagResult = raySensors.rayTagResult;// 探测用RayTag结果 float[](raySensorNum,1)
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float[] rayTagResultOnehot = raySensors.rayTagResultOneHot.ToArray(); // 探测用RayTagonehot结果 List<int>[](raySensorNum*Tags,1)
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float[] rayDisResult = raySensors.rayDisResult; // 探测用RayDis结果 float[](raySensorNum,1)
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float[] targetStates = targetCon.targetState; // (6) targettype, target x,y,z, firebasesAreaDiameter
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float remainTime = targetCon.leftTime;
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gunReadyToggle = gunReady();
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@ -452,6 +452,11 @@ public override void CollectObservations(VectorSensor sensor)
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sensor.AddObservation(rayTagResult);
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}
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sensor.AddObservation(rayDisResult); // 探测用RayDis结果 float[](raySensorNum,1)
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/*foreach(float aaa in rayDisResult)
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{
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Debug.Log(aaa);
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}
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Debug.LogWarning("------------");*/
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//sensor.AddObservation(focusEnemyObserve); // 最近的Enemy情报 float[](3,1) MinEnemyIndex,x,z
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//sensor.AddObservation(raySensorNum); // raySensor数量 int
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//sensor.AddObservation(remainTime); // RemainTime int
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@ -473,7 +478,7 @@ public override void OnActionReceived(ActionBuffers actionBuffers)
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shoot = mouseShoot;
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cameraControl(Mouse_X, 0);
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moveAgent(vertical, horizontal);
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rayScript.updateRayInfo(); // update raycast
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raySensors.updateRayInfo(); // update raycast
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//判断结束
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float sceneReward = 0f;
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@ -63,6 +63,7 @@ public enum EndType { Win, Lose, Running, Num };
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private CharacterController agentCharaCon;
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private WorldUIController worldUICon;
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private HUDController hudCon;
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private RaySensors raySensors;
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// Start is called before the first frame update
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void Start()
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@ -84,6 +85,7 @@ void Start()
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paramCon = ParameterContainerObj.GetComponent<ParameterContainer>();
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worldUICon = WorldUIObj.GetComponent<WorldUIController>();
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hudCon = HUDObj.GetComponent<HUDController>();
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raySensors = AgentObj.GetComponent<RaySensors>();
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freeProb = 1 - attackProb - gotoProb - defenceProb;
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targetNum = (int)Targets.Num;
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if (freeProb < 0)
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@ -183,7 +185,7 @@ public void rollNewScene()
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}
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else
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{
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Debug.Log("Free");
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//Debug.Log("Free");
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targetTypeInt = (int)Targets.Free;
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enemyCont.destroyAllEnemys();
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enemyCont.randomInitEnemys(hudCon.enemyNum);
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@ -207,10 +209,10 @@ public void updateTargetStates()
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else
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{
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targetState[0] = targetTypeInt;
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targetState[1] = targetPosition.x;
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targetState[2] = targetPosition.y;
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targetState[3] = targetPosition.z;
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targetState[4] = blockCont.thisBlock.firebasesAreaDiameter;
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targetState[1] = targetPosition.x / raySensors.viewDistance; // normalization
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targetState[2] = targetPosition.y / raySensors.viewDistance;
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targetState[3] = targetPosition.z / raySensors.viewDistance;
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targetState[4] = blockCont.thisBlock.firebasesAreaDiameter / raySensors.viewDistance;
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targetState[5] = blockCont.thisBlock.belongRatio;
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}
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}
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@ -1041,13 +1041,13 @@ MonoBehaviour:
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@ -1092,10 +1092,10 @@ MonoBehaviour:
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|
Loading…
Reference in New Issue
Block a user