From 9087a8c552a4d9561730b96be08389f01bd065e2 Mon Sep 17 00:00:00 2001 From: Koha9 Date: Tue, 24 Oct 2023 03:34:15 +0900 Subject: [PATCH] =?UTF-8?q?=E5=88=86=E7=A6=BB=E6=89=80=E6=9C=89RewardFunct?= =?UTF-8?q?ion=E7=9B=B8=E5=85=B3=E5=88=B0=E5=8D=95=E7=8B=AC=E7=9A=84?= =?UTF-8?q?=E4=B8=80=E4=B8=AAScript=E9=87=8C=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Assets/ML-Agents/Timers/Play_timers.json | 2 +- Assets/ML-Agents/Timers/Train_timers.json | 2 +- Assets/RewardFunction.cs | 587 ++++++++++++++++++ Assets/RewardFunction.cs.meta | 11 + Assets/Scenes/Play.unity | 50 +- Assets/Scenes/Train.unity | 73 ++- .../GameScript/Character/AgentController.cs | 269 +------- .../GameScript/CommonParameterContainer.cs | 3 +- .../GameScript/MLAgentsCustomController.cs | 59 +- Assets/Script/GameScript/TargetController.cs | 295 +-------- UserSettings/EditorUserSettings.asset | 8 +- UserSettings/Layouts/default-2021.dwlt | 158 ++--- 12 files changed, 805 insertions(+), 712 deletions(-) create mode 100644 Assets/RewardFunction.cs create mode 100644 Assets/RewardFunction.cs.meta diff --git a/Assets/ML-Agents/Timers/Play_timers.json b/Assets/ML-Agents/Timers/Play_timers.json index 84e921e..6fa5c34 100644 --- a/Assets/ML-Agents/Timers/Play_timers.json +++ b/Assets/ML-Agents/Timers/Play_timers.json @@ -1 +1 @@ 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C:\\Users\\UCUNI\\OneDrive\\Unity\\ML-Agents\\Aimbot-ParallelEnv -useHub -hubIPC -cloudEnvironment production -licensingIpc LicenseClient-3RTM9hQ6yJRZGQKZx8Slg -hubSessionId a9694f1b-42f4-414c-9f3a-decdfec467f4 -accessToken 0RXRt4Gr5-wz9bb63SDgNZNzv9nApR3GYqka0HInnGM00ef","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"Play","end_time_seconds":"1698085527"}} \ No newline at end of file diff --git a/Assets/ML-Agents/Timers/Train_timers.json b/Assets/ML-Agents/Timers/Train_timers.json index 7bdb1a3..20cf9a1 100644 --- a/Assets/ML-Agents/Timers/Train_timers.json +++ b/Assets/ML-Agents/Timers/Train_timers.json @@ -1 +1 @@ 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[SerializeField] private GameObject environmentUIObj; + [SerializeField] private GameObject commonParameterContainerObj; + [SerializeField] private GameObject enemyContainerObj; + + private GameObject agentObj; + private Camera fpsCam; + private CommonParameterContainer commonParamCon; + private SceneBlockContainer sceneBlockCon; + private ParameterContainer paramCon; + private TargetController targetCon; + private EnvironmentUIControl envUICon; + private AgentController agentCon; + private RaySensors raySensors; + + private bool firstRewardFlag = false; + private float lastDistance; + private float lastEnemyFacingDistance = 0f; // record last enemy facing minimum distance + private float lastTargetFacingDistance = 0f; // record last target facing minimum distance + private List spinRecord = new List(); + + private void Start() + { + agentObj = gameObject; + agentCon = agentObj.GetComponent(); + fpsCam = agentCon.fpsCam; + commonParamCon = commonParameterContainerObj.GetComponent(); + paramCon = parameterContainerObj.GetComponent(); + sceneBlockCon = sceneBlockContainerObj.GetComponent(); + targetCon = targetControllerObj.GetComponent(); + envUICon = environmentUIObj.GetComponent(); + raySensors = GetComponent(); + } + + /// + /// Calculates the reward value. + /// + /// Reward value from the scene. + /// Movement amount of the mouse along the X-axis. + /// Movement of discrete. + /// State of the shooting action. + /// Returns the calculated total reward value. + /// + /// This method calculates the total reward based on the provided parameters, + /// taking into account rewards for enemy kills, shooting actions, facing reward, + /// and penalties such as spin and movement. + /// + public float RewardCalculate(float sceneReward, float mouseX, float movement, int shootState) + { + float epreward = 0f; + // Got kill point reward + if (agentCon.enemyKillCount > 0) + { + for (int i = 0; i < agentCon.enemyKillCount; i++) + { + // get + epreward += KillReward(agentCon.killEnemyPosition); + } + agentCon.enemyKillCount = 0; + } + else + { + agentCon.enemyKillCount = 0; + } + // Shoot action reward + epreward += Ballistic(shootState) + sceneReward; + // facing reward + epreward += FacingReward(); + // Penalty + // spin penalty + spinRecord.Add(mouseX); + if (spinRecord.Count >= commonParamCon.spinRecordMax) + { + spinRecord.RemoveAt(0); + } + float spinPenaltyReward = Math.Abs(spinRecord.ToArray().Sum() * commonParamCon.spinPenalty); + if (spinPenaltyReward >= commonParamCon.spinPenaltyThreshold) + { + epreward -= spinPenaltyReward; + } + else + { + epreward -= Math.Abs(mouseX) * commonParamCon.mousePenalty; + } + // move penalty + if (movement != 0) + { + epreward -= commonParamCon.movePenalty; + } + return epreward; + } + + /// + /// Calculates the reward value for shooting actions. + /// + /// State value of the shooting action. + /// Returns the reward value associated with shooting. + /// + /// This method calculates the reward value based on the shooting state and other related conditions, + /// such as whether the enemy was hit, whether the shot was towards the target area, and whether the gun was ready to shoot. + /// + private float Ballistic(int shootState) + { + Vector3 point = new Vector3(fpsCam.pixelWidth / 2, fpsCam.pixelHeight / 2, 0);// start position + Ray ray = fpsCam.ScreenPointToRay(point); + RaycastHit hit; + // Debug.DrawRay(centerRay.origin, centerRay.direction * 100, Color.blue); + // Mouse Pressed + if (shootState != 0 && agentCon.gunReadyToggle == true) + { + agentCon.lastShootTime = Time.time; + if (Physics.Raycast(ray, out hit, 100)) + { + if (hit.collider.tag != agentCon.myTag && hit.collider.tag != "Wall" && hit.collider.tag != "Untagged") + { + // kill enemy + GameObject gotHitObj = hit.transform.gameObject; + gotHitObj.GetComponent().ReactToHit(commonParamCon.damage, gameObject); + shootState = 0; + return HitEnemyReward(gotHitObj.transform.position); + } + } + if (targetCon.targetTypeInt == (int)Targets.Attack) + { + // while if attack mode + float targetDis = Vector3.Distance(sceneBlockCon.nowBlock.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), sceneBlockCon.nowBlock.transform.position) <= sceneBlockCon.nowBlock.firebasesAreaDiameter / 2) + { + // im shooting at target but didn't hit enemy + // Debug.DrawRay(centerRay.origin, viewPoint-centerRay.origin, Color.blue); + return commonParamCon.shootTargetAreaReward; + } + } + } + shootState = 0; + return commonParamCon.shootReward; + } + else if (shootState != 0 && agentCon.gunReadyToggle == false) + { + // shoot without ready + shootState = 0; + return commonParamCon.shootWithoutReadyReward; + } + else + { + // do not shoot + shootState = 0; + return commonParamCon.nonReward; + } + } + + /// + /// Retrieves the reward value based on the character's facing direction. + /// + /// Returns the reward value for the facing direction. + /// + /// This method calculates a reward value based on the relationship between the character's facing direction and the target. + /// in free mode, if the character is facing an enemy, the reward is a fixed value + /// in attack mode, the reward depends on the distance between the character and the target, among other factors. + /// + private float FacingReward() + { + float nowReward = 0; + bool isFacingtoEnemy = false; + float enemyFacingDistance = 0f; + + 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 = sceneBlockCon.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) + { + case (int)Targets.Free: + //free mode + RaycastHit hit; + if (Physics.Raycast(centerRay, out hit, 100)) + { + // facing to an enemy + if (hit.collider.tag != agentCon.myTag && hit.collider.tag != "Wall") + { + nowReward = commonParamCon.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(commonParamCon.facingInviewEnemyDisCOEF * enemyFacingDistance + 0.00001f); + } + else + { + nowReward = 0; + } + // enemy in view Reward + lastEnemyFacingDistance = enemyFacingDistance; + if (nowReward >= commonParamCon.facingReward) nowReward = commonParamCon.facingReward; // limit + if (nowReward <= -commonParamCon.facingReward) nowReward = -commonParamCon.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 <= sceneBlockCon.nowBlock.firebasesAreaDiameter / 2) + { + // Debug.DrawRay(centerRay.origin, viewPoint-centerRay.origin, Color.blue); + nowReward = commonParamCon.facingReward; + } + else + { + // while not facing to target + nowReward = (lastTargetFacingDistance - camCenterToTarget) * commonParamCon.facingTargetReward; + } + } + // update lastTargetFacingDistance + lastTargetFacingDistance = camCenterToTarget; + break; + + case (int)Targets.Go: + // goto mode + if (camCenterToTarget <= camCenterToViewEdge) + { + // fireArea is in view + nowReward = commonParamCon.facingReward; + } + else + { + nowReward = 0; + } + break; + + default: + Debug.LogError("Wrong target type"); + break; + } + return nowReward; + } + + /// + /// Checks the game's end state and retrieves rewards. + /// + /// A tuple containing the game's end type, current reward, and final reward. + /// 1 = success,2 = overtime,0 = notover + public (int, float, float) CheckOverAndRewards() + { + int endTypeInt = 0; + float nowReward = 0; + float endReward = 0; + switch (targetCon.targetTypeInt) + { + case (int)Targets.Go: + // goto + (endTypeInt, nowReward, endReward) = CheckOverAndRewardsGo(); + break; + + case (int)Targets.Attack: + // attack + (endTypeInt, nowReward, endReward) = CheckOverAndRewardsAttack(); + break; + + case (int)Targets.Defence: + //defence + (endTypeInt, nowReward, endReward) = CheckOverAndRewardsDefence(); + break; + + case (int)Targets.Stay: + // Stay + // endless + nowReward = 0; + endReward = 0; + endTypeInt = (int)EndType.Running; + break; + + default: + //free kill + (endTypeInt, nowReward, endReward) = CheckOverAndRewardsFreeKill(); + break; + } + envUICon.ShowResult(endTypeInt); + return (endTypeInt, nowReward, endReward); + } + + private (int, float, float) CheckOverAndRewardsGo() + { + int endTypeInt = 0; + float nowReward = 0; + float endReward = 0; + float nowDistance = 0; + + (nowDistance, targetCon.inArea) = sceneBlockCon.GetAgentTargetDistanceAndInside(agentObj.transform.position); + envUICon.UpdateTargetGauge(sceneBlockCon.nowBlock.firebasesBelong, sceneBlockCon.nowBlock.belongMaxPoint); + float areaTargetReward = GetDistanceReward(nowDistance, targetCon.inArea); + //if(inArea != 0) + if (sceneBlockCon.nowBlock.firebasesBelong >= sceneBlockCon.nowBlock.belongMaxPoint) + { + // win + // let the area belongs to me + nowReward = areaTargetReward; + endReward = paramCon.goWinReward; + //nowReward = (paramCon.inAreaReward * inArea) + getDistanceReward(nowDistance); + endTypeInt = (int)EndType.Win; + } + else if (targetCon.leftTime <= 0) + { + // time out lose + nowReward = areaTargetReward; + endReward = commonParamCon.loseReward; + endTypeInt = (int)EndType.Lose; + } + else + { + // keep on keeping on! + nowReward = areaTargetReward; + endReward = 0; + endTypeInt = (int)EndType.Running; + } + return (endTypeInt, nowReward, endReward); + } + + private (int, float, float) CheckOverAndRewardsAttack() + { + int endTypeInt = 0; + float nowReward = 0; + float endReward = 0; + float nowDistance = 0; + (nowDistance, targetCon.inArea) = sceneBlockCon.GetAgentTargetDistanceAndInside(agentObj.transform.position); + envUICon.UpdateTargetGauge(sceneBlockCon.nowBlock.firebasesBelong, sceneBlockCon.nowBlock.belongMaxPoint); + if (sceneBlockCon.nowBlock.GetInAreaNumber(commonParamCon.group2Tag) <= 0 && targetCon.targetEnemySpawnFinish) + { + // win + // let the area belongs to me and kill every enmy in this area. + nowReward = 0; + endReward = paramCon.attackWinReward; + //nowReward = (paramCon.inAreaReward * inArea) + getSceneReward(nowDistance); + endTypeInt = (int)EndType.Win; + targetCon.targetEnemySpawnFinish = false; + } + else if (targetCon.leftTime <= 0 && targetCon.targetEnemySpawnFinish) + { + // time out lose + nowReward = 0; + endReward = commonParamCon.loseReward; + //nowReward = (paramCon.inAreaReward * inArea) + getSceneReward(nowDistance); + endTypeInt = (int)EndType.Lose; + targetCon.targetEnemySpawnFinish = false; + } + else + { + // keep on keeping on! + // nowReward = (paramCon.inAreaReward * inArea) + getDistanceReward(nowDistance); + nowReward = 0; + endReward = 0; + targetCon.targetEnemySpawnFinish = true; + endTypeInt = (int)EndType.Running; + } + return (endTypeInt, nowReward, endReward); + } + + private (int, float, float) CheckOverAndRewardsDefence() + { + // !!! NOT FINISHED YET!!! + int endTypeInt = 0; + float nowReward = 0; + float endReward = 0; + float nowDistance = 0; + (nowDistance, targetCon.inArea) = sceneBlockCon.GetAgentTargetDistanceAndInside(agentObj.transform.position); + envUICon.UpdateTargetGauge(sceneBlockCon.nowBlock.firebasesBelong, sceneBlockCon.nowBlock.belongMaxPoint); + if (targetCon.leftTime <= 0 && sceneBlockCon.nowBlock.firebasesBelong >= 0f) + { + // win + // time over and the area still mine + nowReward = paramCon.defenceWinReward; + //nowReward = (paramCon.inAreaReward * inArea) + getSceneReward(nowDistance); + endTypeInt = (int)EndType.Win; + } + else if (sceneBlockCon.nowBlock.firebasesBelong <= sceneBlockCon.nowBlock.belongMaxPoint) + { + // lost area lose + nowReward = commonParamCon.loseReward; + //nowReward = (paramCon.inAreaReward * inArea) + getSceneReward(nowDistance); + endTypeInt = (int)EndType.Lose; + } + else + { + // keep on keeping on! + // nowReward = (paramCon.inAreaReward * inArea) + getDistanceReward(nowDistance); + endTypeInt = (int)EndType.Running; + } + return (endTypeInt, nowReward, endReward); + } + + private (int, float, float) CheckOverAndRewardsFreeKill() + { + int endTypeInt = 0; + float nowReward = 0; + float endReward = 0; + if (enemyContainerObj.transform.childCount <= 0) + { + // win + // nowReward = paramCon.winReward + (paramCon.timeBonusPerSecReward * leftTime); + nowReward = 0; + endReward = paramCon.freeWinReward; + endTypeInt = (int)EndType.Win; + } + else if (targetCon.leftTime <= 0) + { + // lose + //nowReward = paramCon.loseReward; + nowReward = 0; + endReward = commonParamCon.loseReward; + endTypeInt = (int)EndType.Lose; + } + else + { + // keep on keeping on! + nowReward = 0; + endReward = 0; + endTypeInt = (int)EndType.Running; + } + return (endTypeInt, nowReward, endReward); + } + + /// + /// Calculates scene reward based on distance, granting higher rewards for being closer to the target. + /// + /// The current distance. + /// Whether inside an area. + /// The reward value calculated based on distance. + private float GetDistanceReward(float nowDistance, int inarea) + { + if (firstRewardFlag) + { + // first distance record + (lastDistance, _) = sceneBlockCon.GetAgentTargetDistanceAndInside(agentObj.transform.position); + firstRewardFlag = false; + } + float nowSeneReward = 0f; + if (inarea != 0) + { + // in area + nowSeneReward = paramCon.inAreaReward; + } + else + { + // out of area + // nowSeneReward = paramCon.distanceReward * Math.Clamp(lastDistance - nowDistance, 0, 100); + nowSeneReward = commonParamCon.distanceReward * (lastDistance - nowDistance); + } + lastDistance = nowDistance; + return nowSeneReward; + } + + /// + /// Calculates kill reward based on the position of the killed enemy. + /// + /// The position of the killed enemy. + /// The reward value calculated based on the kill position. + public float KillReward(Vector3 enemyPosition) + { + float nowKillReward = 0f; + if (targetCon.targetTypeInt == (int)Targets.Attack) + { + // attack mode + (_, int isInArea) = sceneBlockCon.nowBlock.GetDistInArea(enemyPosition); + if (isInArea == 1) + { + // kill in area enemy + nowKillReward = paramCon.killTargetEnemyReward; + } + else + { + nowKillReward = commonParamCon.killNonTargetReward; + } + } + else if (targetCon.targetTypeInt == (int)Targets.Free) + { + // free mode hit + nowKillReward = paramCon.killTargetEnemyReward; + } + else + { + // goto & defence + nowKillReward = commonParamCon.killNonTargetReward; + } + return nowKillReward; + } + + /// + /// Calculates hit reward based on the position of the hit enemy and the current mode. + /// + /// The position of the hit enemy. + /// The reward value calculated based on the hit position and mode. + public float HitEnemyReward(Vector3 enemyPosition) + { + float nowHitReward = 0f; + if (targetCon.targetTypeInt == (int)Targets.Attack) + { + // attack mode + (_, int isInArea) = sceneBlockCon.nowBlock.GetDistInArea(enemyPosition); + if (isInArea == 1) + { + // hit in area enemy + nowHitReward = paramCon.hitTargetReward; + } + else + { + // hit not in area enemy + nowHitReward = commonParamCon.hitNonTargetReward; + } + } + else if (targetCon.targetTypeInt == (int)Targets.Free) + { + // free mode hit + nowHitReward = paramCon.hitTargetReward; + } + else + { + // goto & defence + nowHitReward = commonParamCon.hitNonTargetReward; + } + return nowHitReward; + } +} \ No newline at end of file diff --git a/Assets/RewardFunction.cs.meta b/Assets/RewardFunction.cs.meta new file mode 100644 index 0000000..462bfbd --- /dev/null +++ b/Assets/RewardFunction.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 04b45691af6143d4d84b5d024d062bf7 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scenes/Play.unity b/Assets/Scenes/Play.unity index 56ce49d..24705b6 100644 --- a/Assets/Scenes/Play.unity +++ b/Assets/Scenes/Play.unity @@ -1766,6 +1766,8 @@ MonoBehaviour: spinRecordMax: 40 spinPenaltyThreshold: 10 facingInviewEnemyDisCOEF: 0.5 + group1Tag: Player + group2Tag: Enemy hitTargetRewardDefault: 25 killTargetEnemyRewardDefault: 25 inAreaRewardDefault: 12 @@ -3300,7 +3302,7 @@ RectTransform: m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} m_AnchorMin: {x: 0, y: 1} m_AnchorMax: {x: 1, y: 1} - 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m_Alignment: 0 + m_Alignment: 5 m_AlignByGeometry: 0 m_RichText: 1 m_HorizontalOverflow: 1 @@ -16584,7 +16603,7 @@ MonoBehaviour: m_HandleRect: {fileID: 1766662801} m_Direction: 2 m_Value: 0 - m_Size: 1 + m_Size: 0.9999902 m_NumberOfSteps: 0 m_OnValueChanged: m_PersistentCalls: diff --git a/Assets/Script/GameScript/Character/AgentController.cs b/Assets/Script/GameScript/Character/AgentController.cs index e60d758..12984e7 100644 --- a/Assets/Script/GameScript/Character/AgentController.cs +++ b/Assets/Script/GameScript/Character/AgentController.cs @@ -5,22 +5,8 @@ public class AgentController : MonoBehaviour { - [SerializeField] - private GameObject commonParameterContainerObj; - [SerializeField] - private GameObject environmentObj; - [SerializeField] - private GameObject enemyContainerObj; - [SerializeField] - private GameObject sceneBlockContainerObj; - [SerializeField] - private GameObject environmentUIControlObj; - [SerializeField] - private GameObject targetControllerObj; - [SerializeField] - private GameObject HUDObj; - [SerializeField] - private Camera fpsCam; + [SerializeField] public GameObject commonParameterContainerObj; + [SerializeField] public Camera fpsCam; [Header("GetAxis() Simulate")] public float moveSpeed = 9.0f; @@ -33,45 +19,33 @@ public class AgentController : MonoBehaviour 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 spinRecord = new List(); private bool lockMouse; - private float damage; private float fireRate; private bool lockCameraX; private bool lockCameraY; // environment - private float lastShootTime = 0.0f; + public float lastShootTime = 0.0f; - private int enemyKillCount = 0; - private Vector3 killEnemyPosition; + public int enemyKillCount = 0; + public 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 + public string myTag = ""; - // scripts - private RaySensors raySensors; private CharacterController playerController; private CommonParameterContainer commonPramCon; - private SceneBlockContainer blockContainer; - private TargetController targetCon; private void Start() { // initialize scripts commonPramCon = commonParameterContainerObj.GetComponent(); - blockContainer = sceneBlockContainerObj.GetComponent(); - targetCon = targetControllerObj.GetComponent(); - raySensors = GetComponent(); - playerController = this.transform.GetComponent(); + playerController = transform.GetComponent(); // initialize Environment parameters lockMouse = commonPramCon.lockMouse; - damage = commonPramCon.damage; fireRate = commonPramCon.fireRate; lockCameraX = commonPramCon.lockCameraX; lockCameraY = commonPramCon.lockCameraY; @@ -199,234 +173,7 @@ public void CameraControl(float Mouse_X, float Mouse_Y) #endregion Camera Control - #region Reward Functions - - // ballistic 射击弹道处理，并返回获得reward - 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(centerRay.origin, centerRay.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" && hit.collider.tag != "Untagged") - { - // kill enemy - GameObject gotHitObj = hit.transform.gameObject;//获取受到Ray撞击的对象 - gotHitObj.GetComponent().ReactToHit(damage, gameObject); - shootState = 0; - return targetCon.HitEnemyReward(gotHitObj.transform.position); - } - } - if (targetCon.targetTypeInt == (int)Targets.Attack) - { - // while if attack mode - float targetDis = Vector3.Distance(blockContainer.nowBlock.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.nowBlock.transform.position) <= blockContainer.nowBlock.firebasesAreaDiameter / 2) - { - // im shooting at target but didn't hit enemy - // Debug.DrawRay(centerRay.origin, viewPoint-centerRay.origin, Color.blue); - return commonPramCon.shootTargetAreaReward; - } - } - } - shootState = 0; - return commonPramCon.shootReward; - } - else if (shootState != 0 && gunReadyToggle == false) - { - // shoot without ready - shootState = 0; - return commonPramCon.shootWithoutReadyReward; - } - else - { - // do not shoot - shootState = 0; - return commonPramCon.nonReward; - } - } - - private float FacingReward() - { - float nowReward = 0; - bool isFacingtoEnemy = false; - float enemyFacingDistance = 0f; - - 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) - { - 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 = commonPramCon.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(commonPramCon.facingInviewEnemyDisCOEF * enemyFacingDistance + 0.00001f); - } - else - { - nowReward = 0; - } - // enemy in view Reward - lastEnemyFacingDistance = enemyFacingDistance; - if (nowReward >= commonPramCon.facingReward) nowReward = commonPramCon.facingReward; // limit - if (nowReward <= -commonPramCon.facingReward) nowReward = -commonPramCon.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 = commonPramCon.facingReward; - } - else - { - // while not facing to target - nowReward = (lastTargetFacingDistance - camCenterToTarget) * commonPramCon.facingTargetReward; - } - } - // update lastTargetFacingDistance - lastTargetFacingDistance = camCenterToTarget; - break; - case (int)Targets.Go: - // goto mode - if (camCenterToTarget <= camCenterToViewEdge) - { - // fireArea is in view - nowReward = commonPramCon.facingReward; - } - else - { - nowReward = 0; - } - break; - default: - Debug.LogError("Wrong target type"); - break; - } - return nowReward; - } - - 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 >= commonPramCon.spinRecordMax) - { - spinRecord.RemoveAt(0); - } - float spinPenaltyReward = Math.Abs(spinRecord.ToArray().Sum() * commonPramCon.spinPenalty); - if (spinPenaltyReward >= commonPramCon.spinPenaltyThreshold) - { - epreward -= spinPenaltyReward; - } - else - { - epreward -= Math.Abs(mouseX) * commonPramCon.mousePenalty; - } - // move penalty - if (movement != 0) - { - epreward -= commonPramCon.movePenalty; - } - return epreward; - } - - #endregion Reward Functions - - // GotKill 获得击杀时用于被呼出 + // Got Kill point public void KillRecord(Vector3 killEnemyPosition) { enemyKillCount += 1; diff --git a/Assets/Script/GameScript/CommonParameterContainer.cs b/Assets/Script/GameScript/CommonParameterContainer.cs index d84b40f..6c2897d 100644 --- a/Assets/Script/GameScript/CommonParameterContainer.cs +++ b/Assets/Script/GameScript/CommonParameterContainer.cs @@ -11,7 +11,6 @@ public class CommonParameterContainer : MonoBehaviour [Header("Env")] public bool lockMouse = false; - public float damage = 50; // damage to enemy public float fireRate = 0.5f; public int timeLimit = 30; @@ -21,6 +20,8 @@ public class CommonParameterContainer : MonoBehaviour public int spinRecordMax = 40; public float spinPenaltyThreshold = 10; public float facingInviewEnemyDisCOEF = 0.5f; + public string group1Tag = "Player"; + public string group2Tag = "Enemy"; [Header("Dynamic Defaut Rewards")] //[Tooltip("Hit Enemy reward")] diff --git a/Assets/Script/GameScript/MLAgentsCustomController.cs b/Assets/Script/GameScript/MLAgentsCustomController.cs index 705d0eb..9378bfd 100644 --- a/Assets/Script/GameScript/MLAgentsCustomController.cs +++ b/Assets/Script/GameScript/MLAgentsCustomController.cs @@ -8,11 +8,12 @@ public class MLAgentsCustomController : Agent { [SerializeField] private GameObject paramContainerObj; - [SerializeField] private GameObject CommonParameterContainer; + [SerializeField] private GameObject commonParameterContainer; [SerializeField] private GameObject targetControllerObj; [SerializeField] private GameObject environmentUIObj; [SerializeField] private GameObject sideChannelObj; - [SerializeField] private GameObject hudUIObj; + [SerializeField] private GameObject worldUIControllerObj; + [SerializeField] private GameObject hudObj; [Header("Env")] public bool oneHotRayTag = true; @@ -29,6 +30,8 @@ public class MLAgentsCustomController : Agent private RaySensors raySensors; private MessageBoxController messageBoxController; private AimBotSideChannelController sideChannelController; + private WorldUIController worldUICon; + private RewardFunction rewardFunction; // observation private float[] myObserve = new float[4]; @@ -40,29 +43,26 @@ public class MLAgentsCustomController : Agent private float remainTime; private float inAreaState; - private int finishedState; - private int step = 0; - private int EP = 0; + private int endTypeInt; private void Start() { agentController = transform.GetComponent(); raySensors = transform.GetComponent(); paramContainer = paramContainerObj.GetComponent(); - commonParamCon = CommonParameterContainer.GetComponent(); + commonParamCon = commonParameterContainer.GetComponent(); targetController = targetControllerObj.GetComponent(); envUIController = environmentUIObj.GetComponent(); - hudController = hudUIObj.GetComponent(); - targetUIController = hudUIObj.GetComponent(); - messageBoxController = hudUIObj.GetComponent(); + hudController = hudObj.GetComponent(); + targetUIController = hudObj.GetComponent(); + messageBoxController = worldUIControllerObj.GetComponent(); sideChannelController = sideChannelObj.GetComponent(); + rewardFunction = gameObject.GetComponent(); + worldUICon = worldUIControllerObj.GetComponent(); } - #region On episode begin function - public override void OnEpisodeBegin() { - step = 0; agentController.UpdateLockMouse(); paramContainer.ResetTimeBonusReward(); if (commonParamCon.gameMode == 0) @@ -88,10 +88,6 @@ public override void OnEpisodeBegin() raySensors.UpdateRayInfo(); // update raycast } - #endregion On episode begin function - - #region Observation sensor function - public override void CollectObservations(VectorSensor sensor) { //List enemyLDisList = RaySensors.enemyLDisList;// All Enemy Lside Distances @@ -139,10 +135,6 @@ public override void CollectObservations(VectorSensor sensor) //sensor.AddObservation(remainTime); // RemainTime int } - #endregion Observation sensor function - - #region Action received function - public override void OnActionReceived(ActionBuffers actionBuffers) { //获取输入 @@ -161,24 +153,24 @@ public override void OnActionReceived(ActionBuffers actionBuffers) //判断结束 float sceneReward = 0f; float endReward = 0f; - (finishedState, sceneReward, endReward) = targetController.CheckOverAndRewards(); - float nowRoundReward = agentController.RewardCalculate(sceneReward + endReward, Mouse_X, Math.Abs(vertical) + Math.Abs(horizontal), mouseShoot); + (endTypeInt, sceneReward, endReward) = rewardFunction.CheckOverAndRewards(); + float nowReward = rewardFunction.RewardCalculate(sceneReward + endReward, Mouse_X, Math.Abs(vertical) + Math.Abs(horizontal), mouseShoot); if (hudController.chartOn) { - envUIController.UpdateChart(nowRoundReward); + envUIController.UpdateChart(nowReward); } else { envUIController.RemoveChart(); } - //Debug.Log("reward = " + nowRoundReward); - if (finishedState != (int)TargetController.EndType.Running) + worldUICon.UpdateChart(targetController.targetTypeInt, endTypeInt); + //Debug.Log("reward = " + nowReward); + if (endTypeInt != (int)TargetController.EndType.Running) { // Win or lose Finished - Debug.Log("Finish reward = " + nowRoundReward); - EP += 1; + Debug.Log("Finish reward = " + nowReward); string targetString = Enum.GetName(typeof(Targets), targetController.targetTypeInt); - switch (finishedState) + switch (endTypeInt) { case (int)TargetController.EndType.Win: sideChannelController.SendSideChannelMessage("Result", targetString + "|Win"); @@ -198,21 +190,16 @@ public override void OnActionReceived(ActionBuffers actionBuffers) Debug.LogWarning("TypeError"); break; } - SetReward(nowRoundReward); + SetReward(nowReward); EndEpisode(); } else { // game not over yet - step += 1; } - SetReward(nowRoundReward); + SetReward(nowReward); } - #endregion Action received function - - #region Heuristic function - public override void Heuristic(in ActionBuffers actionsOut) { //-------------------BUILD @@ -270,6 +257,4 @@ public override void Heuristic(in ActionBuffers actionsOut) //continuousActions[2] = timeLimit; //^^^^^^^^^^^^^^^^^^^^^^^^^^^^^continuous-Control^^^^^^^^^^^^^^^^^^^^^^ } - - #endregion Heuristic function } \ No newline at end of file diff --git a/Assets/Script/GameScript/TargetController.cs b/Assets/Script/GameScript/TargetController.cs index 29d590f..b4e9c3b 100644 --- a/Assets/Script/GameScript/TargetController.cs +++ b/Assets/Script/GameScript/TargetController.cs @@ -5,24 +5,13 @@ public class TargetController : MonoBehaviour { - [SerializeField] - private GameObject environmentObj; - [SerializeField] - private GameObject agentObj; - [SerializeField] - private GameObject HUDObj; - [SerializeField] - private GameObject sceneBlockContainerObj; - [SerializeField] - private GameObject enemyContainerObj; - [SerializeField] - private GameObject parameterContainerObj; - [SerializeField] - private GameObject commonParameterContainerObj; - [SerializeField] - private GameObject environmentUIObj; - [SerializeField] - private GameObject worldUIObj; + [SerializeField] private GameObject environmentObj; + [SerializeField] private GameObject agentObj; + [SerializeField] private GameObject HUDObj; + [SerializeField] private GameObject sceneBlockContainerObj; + [SerializeField] private GameObject enemyContainerObj; + [SerializeField] private GameObject commonParameterContainerObj; + [SerializeField] private GameObject environmentUIObj; // area public GameObject edgeUp; @@ -32,11 +21,6 @@ public class TargetController : MonoBehaviour public GameObject edgeRight; public GameObject edgeAgent_Enemy; - //group - public string group1Tag = "Player"; - - public string group2Tag = "Enemy"; - public float minEnemyAreaX; [System.NonSerialized] public float maxEnemyAreaX; [System.NonSerialized] public float minEnemyAreaZ; @@ -63,23 +47,20 @@ public enum EndType [System.NonSerialized] public int targetNum = 0; private Dictionary oneHotRarget = new Dictionary(); - private int inArea = 0; private float freeProb; private float sceneBlockSize; - private float lastDistance; private int randBlockType = 0; private int randLevel = 0; + public int inArea = 0; public Vector3 targetPosition; private bool firstRewardFlag = true; - private bool targetEnemySpawnFinish = false; + public bool targetEnemySpawnFinish = false; private SceneBlockContainer sceneBlockCon; private EnemyContainer enemyCon; private EnvironmentUIControl envUICon; - private ParameterContainer paramCon; private CommonParameterContainer commonParamCon; private CharacterController agentCharaCon; - private WorldUIController worldUICon; private HUDController hudCon; private MessageBoxController messageBoxCon; @@ -94,8 +75,6 @@ private void Start() envUICon = environmentUIObj.GetComponent(); enemyCon = enemyContainerObj.GetComponent(); agentCharaCon = agentObj.GetComponent(); - paramCon = parameterContainerObj.GetComponent(); - worldUICon = worldUIObj.GetComponent(); hudCon = HUDObj.GetComponent(); messageBoxCon = HUDObj.GetComponent(); @@ -279,7 +258,7 @@ private void RandomSpawnSceneBlock(Targets targetType) // init scene block sceneBlockCon.DestroyBlock(); - sceneBlockCon.CreateNewBlock(targetType, randLevel, randBlockType, targetPosition, group1Tag, group2Tag); + sceneBlockCon.CreateNewBlock(targetType, randLevel, randBlockType, targetPosition, commonParamCon.group1Tag, commonParamCon.group2Tag); enemyCon.DestroyAllEnemys(); enemyCon.RandomInitEnemysExcept(hudCon.enemyNum, targetPosition, sceneBlockSize); sceneBlockCon.nowBlock.InitBlock(environmentObj); @@ -287,260 +266,6 @@ private void RandomSpawnSceneBlock(Targets targetType) #endregion Random SceneBlock Spawn Method - #region Reward function - - /// - /// Checks the game's end state and retrieves rewards. - /// - /// A tuple containing the game's end type, current reward, and final reward. - /// 1 = success,2 = overtime,0 = notover - public (int, float, float) CheckOverAndRewards() - { - int endTypeInt = 0; - float nowReward = 0; - float endReward = 0; - float nowDistance = 0f; - switch (targetTypeInt) - { - case (int)Targets.Go: - // goto - (nowDistance, inArea) = sceneBlockCon.GetAgentTargetDistanceAndInside(agentObj.transform.position); - envUICon.UpdateTargetGauge(sceneBlockCon.nowBlock.firebasesBelong, sceneBlockCon.nowBlock.belongMaxPoint); - float areaTargetReward = GetDistanceReward(nowDistance, inArea); - //if(inArea != 0) - if (sceneBlockCon.nowBlock.firebasesBelong >= sceneBlockCon.nowBlock.belongMaxPoint) - { - // win - // let the area belongs to me - nowReward = areaTargetReward; - endReward = paramCon.goWinReward; - //nowReward = (paramCon.inAreaReward * inArea) + getDistanceReward(nowDistance); - endTypeInt = (int)EndType.Win; - } - else if (leftTime <= 0) - { - // time out lose - nowReward = areaTargetReward; - endReward = commonParamCon.loseReward; - endTypeInt = (int)EndType.Lose; - } - else - { - // keep on keeping on! - nowReward = areaTargetReward; - endReward = 0; - endTypeInt = (int)EndType.Running; - } - break; - - case (int)Targets.Attack: - // attack - (nowDistance, inArea) = sceneBlockCon.GetAgentTargetDistanceAndInside(agentObj.transform.position); - envUICon.UpdateTargetGauge(sceneBlockCon.nowBlock.firebasesBelong, sceneBlockCon.nowBlock.belongMaxPoint); - if (sceneBlockCon.nowBlock.GetInAreaNumber(group2Tag) <= 0 && targetEnemySpawnFinish) - { - // win - // let the area belongs to me and kill every enmy in this area. - nowReward = 0; - endReward = paramCon.attackWinReward; - //nowReward = (paramCon.inAreaReward * inArea) + getSceneReward(nowDistance); - endTypeInt = (int)EndType.Win; - targetEnemySpawnFinish = false; - } - else if (leftTime <= 0 && targetEnemySpawnFinish) - { - // time out lose - nowReward = 0; - endReward = commonParamCon.loseReward; - //nowReward = (paramCon.inAreaReward * inArea) + getSceneReward(nowDistance); - endTypeInt = (int)EndType.Lose; - targetEnemySpawnFinish = false; - } - else - { - // keep on keeping on! - // nowReward = (paramCon.inAreaReward * inArea) + getDistanceReward(nowDistance); - nowReward = 0; - endReward = 0; - targetEnemySpawnFinish = true; - endTypeInt = (int)EndType.Running; - } - break; - - case (int)Targets.Defence: - //defence - // !!! DIDN't FINISH!!! - (nowDistance, inArea) = sceneBlockCon.GetAgentTargetDistanceAndInside(agentObj.transform.position); - envUICon.UpdateTargetGauge(sceneBlockCon.nowBlock.firebasesBelong, sceneBlockCon.nowBlock.belongMaxPoint); - if (leftTime <= 0 && sceneBlockCon.nowBlock.firebasesBelong >= 0f) - { - // win - // time over and the area still mine - nowReward = paramCon.defenceWinReward; - //nowReward = (paramCon.inAreaReward * inArea) + getSceneReward(nowDistance); - endTypeInt = (int)EndType.Win; - } - else if (sceneBlockCon.nowBlock.firebasesBelong <= sceneBlockCon.nowBlock.belongMaxPoint) - { - // lost area lose - nowReward = commonParamCon.loseReward; - //nowReward = (paramCon.inAreaReward * inArea) + getSceneReward(nowDistance); - endTypeInt = (int)EndType.Lose; - } - else - { - // keep on keeping on! - // nowReward = (paramCon.inAreaReward * inArea) + getDistanceReward(nowDistance); - endTypeInt = (int)EndType.Running; - } - break; - - case (int)Targets.Stay: - // Stay - // endless - nowReward = 0; - endReward = 0; - endTypeInt = (int)EndType.Running; - break; - - default: - //free kill - if (enemyContainerObj.transform.childCount <= 0) - { - // win - // nowReward = paramCon.winReward + (paramCon.timeBonusPerSecReward * leftTime); - nowReward = 0; - endReward = paramCon.freeWinReward; - endTypeInt = (int)EndType.Win; - } - else if (leftTime <= 0) - { - // lose - //nowReward = paramCon.loseReward; - nowReward = 0; - endReward = commonParamCon.loseReward; - endTypeInt = (int)EndType.Lose; - } - else - { - // keep on keeping on! - nowReward = 0; - endReward = 0; - endTypeInt = (int)EndType.Running; - } - break; - } - envUICon.ShowResult(endTypeInt); - worldUICon.UpdateChart(targetTypeInt, endTypeInt); - return (endTypeInt, nowReward, endReward); - } - - /// - /// Calculates scene reward based on distance, granting higher rewards for being closer to the target. - /// 根据距离计算场景奖励，靠近目标则获得更高奖励。 - /// - /// The current distance. - /// Whether inside an area. - /// The reward value calculated based on distance. - private float GetDistanceReward(float nowDistance, int inarea) - { - if (firstRewardFlag) - { - // first distance record - (lastDistance, _) = sceneBlockCon.GetAgentTargetDistanceAndInside(agentObj.transform.position); - firstRewardFlag = false; - } - float nowSeneReward = 0f; - if (inarea != 0) - { - // in area - nowSeneReward = paramCon.inAreaReward; - } - else - { - // out of area - // nowSeneReward = paramCon.distanceReward * Math.Clamp(lastDistance - nowDistance, 0, 100); - nowSeneReward = commonParamCon.distanceReward * (lastDistance - nowDistance); - } - lastDistance = nowDistance; - return nowSeneReward; - } - - /// - /// Calculates kill reward based on the position of the killed enemy. - /// 根据击杀的敌人位置计算击杀奖励。 - /// - /// The position of the killed enemy. - /// The reward value calculated based on the kill position. - public float KillReward(Vector3 enemyPosition) - { - float nowKillReward = 0f; - if (targetTypeInt == (int)Targets.Attack) - { - // attack mode - (_, int isInArea) = sceneBlockCon.nowBlock.GetDistInArea(enemyPosition); - if (isInArea == 1) - { - // kill in area enemy - nowKillReward = paramCon.killTargetEnemyReward; - } - else - { - nowKillReward = commonParamCon.killNonTargetReward; - } - } - else if (targetTypeInt == (int)Targets.Free) - { - // free mode hit - nowKillReward = paramCon.killTargetEnemyReward; - } - else - { - // goto & defence - nowKillReward = commonParamCon.killNonTargetReward; - } - return nowKillReward; - } - - /// - /// Calculates hit reward based on the position of the hit enemy and the current mode. - /// 根据击中的敌人位置和当前模式计算击中Reward。 - /// - /// The position of the hit enemy. - /// The reward value calculated based on the hit position and mode. - public float HitEnemyReward(Vector3 enemyPosition) - { - float nowHitReward = 0f; - if (targetTypeInt == (int)Targets.Attack) - { - // attack mode - (_, int isInArea) = sceneBlockCon.nowBlock.GetDistInArea(enemyPosition); - if (isInArea == 1) - { - // hit in area enemy - nowHitReward = paramCon.hitTargetReward; - } - else - { - // hit not in area enemy - nowHitReward = commonParamCon.hitNonTargetReward; - } - } - else if (targetTypeInt == (int)Targets.Free) - { - // free mode hit - nowHitReward = paramCon.hitTargetReward; - } - else - { - // goto & defence - nowHitReward = commonParamCon.hitNonTargetReward; - } - return nowHitReward; - } - - #endregion Reward function - #region Play Mode Method /// diff --git a/UserSettings/EditorUserSettings.asset b/UserSettings/EditorUserSettings.asset index d983ba2..3d09235 100644 --- a/UserSettings/EditorUserSettings.asset +++ b/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 diff --git a/UserSettings/Layouts/default-2021.dwlt b/UserSettings/Layouts/default-2021.dwlt index 8ccc15b..bd96fc6 100644 --- a/UserSettings/Layouts/default-2021.dwlt +++ b/UserSettings/Layouts/default-2021.dwlt @@ -14,16 +14,16 @@ MonoBehaviour: m_EditorClassIdentifier: m_PixelRect: serializedVersion: 2 - x: 65 - y: 43 - width: 1855 - height: 1037 + x: -141 + y: 132 + width: 1792 + height: 1021 m_ShowMode: 4 m_Title: Inspector m_RootView: {fileID: 2} 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 @@ -44,8 +44,8 @@ MonoBehaviour: serializedVersion: 2 x: 0 y: 0 - width: 1855 - height: 1037 + width: 1792 + height: 1021 m_MinSize: {x: 875, y: 300} m_MaxSize: {x: 10000, y: 10000} m_UseTopView: 1 @@ -69,7 +69,7 @@ MonoBehaviour: serializedVersion: 2 x: 0 y: 0 - width: 1855 + width: 1792 height: 30 m_MinSize: {x: 0, y: 0} m_MaxSize: {x: 0, y: 0} @@ -90,8 +90,8 @@ MonoBehaviour: m_Position: serializedVersion: 2 x: 0 - y: 1017 - width: 1855 + y: 1001 + width: 1792 height: 20 m_MinSize: {x: 0, y: 0} m_MaxSize: {x: 0, y: 0} @@ -115,12 +115,12 @@ MonoBehaviour: serializedVersion: 2 x: 0 y: 30 - width: 1855 - height: 987 + width: 1792 + height: 971 m_MinSize: {x: 300, y: 200} m_MaxSize: {x: 24288, y: 16192} vertical: 0 - controlID: 65 + controlID: 52 --- !u!114 &6 MonoBehaviour: m_ObjectHideFlags: 52 @@ -140,12 +140,12 @@ MonoBehaviour: serializedVersion: 2 x: 0 y: 0 - width: 991 - height: 987 + width: 957 + height: 971 m_MinSize: {x: 100, y: 200} m_MaxSize: {x: 8096, y: 16192} vertical: 1 - controlID: 22 + controlID: 128 --- !u!114 &7 MonoBehaviour: m_ObjectHideFlags: 52 @@ -163,8 +163,8 @@ MonoBehaviour: serializedVersion: 2 x: 0 y: 0 - width: 991 - height: 707 + width: 957 + height: 696 m_MinSize: {x: 201, y: 221} m_MaxSize: {x: 4001, y: 4021} m_ActualView: {fileID: 13} @@ -189,9 +189,9 @@ MonoBehaviour: m_Position: serializedVersion: 2 x: 0 - y: 707 - width: 991 - height: 280 + y: 696 + width: 957 + height: 275 m_MinSize: {x: 231, y: 271} m_MaxSize: {x: 10001, y: 10021} m_ActualView: {fileID: 15} @@ -217,14 +217,14 @@ MonoBehaviour: - {fileID: 11} m_Position: serializedVersion: 2 - x: 991 + x: 957 y: 0 - width: 513 - height: 987 + width: 496 + height: 971 m_MinSize: {x: 100, y: 200} m_MaxSize: {x: 8096, y: 16192} vertical: 1 - 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m_Target: {x: 55.10534, y: 48.328194, z: -133.0123} + m_Target: {x: 530.726, y: 365.746, z: -133.89053} speed: 2 - m_Value: {x: 55.10534, y: 48.328194, z: -133.0123} + m_Value: {x: 530.726, y: 365.746, z: -133.89053} m_RenderMode: 0 m_CameraMode: drawMode: 0 @@ -615,9 +615,9 @@ MonoBehaviour: speed: 2 m_Value: {x: 0, y: 0, z: 0, w: 1} m_Size: - m_Target: 330.06903 + m_Target: 473.89896 speed: 2 - m_Value: 330.06903 + m_Value: 473.89896 m_Ortho: m_Target: 1 speed: 2 @@ -754,10 +754,10 @@ MonoBehaviour: m_Tooltip: m_Pos: serializedVersion: 2 - x: 65 - y: 780 - width: 990 - height: 259 + x: -141 + y: 858 + width: 956 + height: 254 m_ViewDataDictionary: {fileID: 0} m_OverlayCanvas: m_LastAppliedPresetName: Default @@ -775,36 +775,36 @@ MonoBehaviour: m_SkipHidden: 0 m_SearchArea: 1 m_Folders: - - Assets/Script/UI + - Assets/Script/GameScript m_Globs: [] m_OriginalText: m_ViewMode: 1 m_StartGridSize: 16 m_LastFolders: - - Assets/Script/UI + - Assets/Script/GameScript m_LastFoldersGridSize: 16 m_LastProjectPath: C:\Users\UCUNI\OneDrive\Unity\ML-Agents\Aimbot-ParallelEnv m_LockTracker: m_IsLocked: 0 m_FolderTreeState: - 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