From bf1d1d8d3b4063a2236c73874447d494b17ce2d8 Mon Sep 17 00:00:00 2001 From: Koha9 Date: Sun, 31 Dec 2023 07:49:58 +0900 Subject: [PATCH] =?UTF-8?q?Onehot=E5=8A=9F=E8=83=BD=E5=AE=8C=E5=96=84?= =?UTF-8?q?=EF=BC=8C=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit OneHot功能完善，更改TaySensor探测到Tag的index表示。与之前不通用！ 修正PlayMode中的scenePrefabSet未定位错误 修正Raysensor中TagToInt不包含rayTagResult中的-1 --- Assets/ML-Agents/Timers/Play_timers.json | 2 +- .../ML-Agents/Timers/StartScene_timers.json | 2 +- Assets/ML-Agents/Timers/Train_timers.json | 2 +- Assets/Scenes/Play.unity | 7 +- .../GameScript/MLAgentsCustomController.cs | 2 +- Assets/Script/GameScript/RaySensors.cs | 101 ++++++++---------- Assets/Script/ObjectTags.cs | 27 +++++ Assets/Script/ObjectTags.cs.meta | 11 ++ UserSettings/EditorUserSettings.asset | 6 +- 9 files changed, 90 insertions(+), 70 deletions(-) create mode 100644 Assets/Script/ObjectTags.cs create mode 100644 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6ebbd27eb466c4a41bd2584c1b9c2e1f, type: 2} --- !u!4 &220347586 Transform: m_ObjectHideFlags: 0 @@ -3303,7 +3302,7 @@ RectTransform: m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} m_AnchorMin: {x: 0, y: 1} m_AnchorMax: {x: 1, y: 1} - m_AnchoredPosition: {x: 0.000030517578, y: -246.2016} + m_AnchoredPosition: {x: 0.000030517578, y: -246.2022} m_SizeDelta: {x: 0, y: 0} m_Pivot: {x: 0, y: 0} --- !u!114 &324069808 @@ -12790,7 +12789,7 @@ MonoBehaviour: m_HandleRect: {fileID: 538300382} m_Direction: 2 m_Value: 0 - m_Size: 0.99989116 + m_Size: 0.99999 m_NumberOfSteps: 0 m_OnValueChanged: m_PersistentCalls: diff --git a/Assets/Script/GameScript/MLAgentsCustomController.cs b/Assets/Script/GameScript/MLAgentsCustomController.cs index 982af6c..63d37fa 100644 --- a/Assets/Script/GameScript/MLAgentsCustomController.cs +++ b/Assets/Script/GameScript/MLAgentsCustomController.cs @@ -100,7 +100,7 @@ public override void CollectObservations(VectorSensor sensor) myObserve[2] = transform.localPosition.z; myObserve[3] = transform.eulerAngles.y / 36f; rayTagResult = raySensors.rayTagResult;// 探测用RayTag类型结果 float[](raySensorNum,1) - rayTagResultOnehot = raySensors.rayTagResultOneHot.ToArray(); // 探测用RayTagonehot结果 List[](raySensorNum*Tags,1) + rayTagResultOnehot = raySensors.rayTagResultOneHot; // 探测用RayTagonehot结果 List[](raySensorNum*Tags,1) rayDisResult = raySensors.rayDisResult; // 探测用RayDis距离结果 float[](raySensorNum,1) targetStates = targetController.targetState; // (6) targettype, target x,y,z, firebasesAreaDiameter remainTime = targetController.leftTime; diff --git a/Assets/Script/GameScript/RaySensors.cs b/Assets/Script/GameScript/RaySensors.cs index 0327bf0..4c521f0 100644 --- a/Assets/Script/GameScript/RaySensors.cs +++ b/Assets/Script/GameScript/RaySensors.cs @@ -30,7 +30,7 @@ public class RaySensors : MonoBehaviour [Header("RayCastResult")] public float[] rayTagResult; - public List rayTagResultOneHot; + public float[] rayTagResultOneHot; public float[] rayDisResult; [System.NonSerialized] public int totalRayNum; @@ -49,6 +49,7 @@ private void Start() totalRayNum = halfOuterRayNum * 2 + focusRayNum; rayTagResult = new float[totalRayNum]; rayDisResult = new float[totalRayNum]; + rayTagResultOneHot = new float[totalRayNum*ObjectTags.Tags.Count]; linesOBJ = new GameObject[totalRayNum]; lineRenderers = new LineRenderer[totalRayNum]; rayInfoOBJ = new GameObject[totalRayNum]; @@ -70,85 +71,60 @@ private void Start() } } - public int TagToInt(string tag) - { - switch (tag) - { - case "Wall": - return 1; - - default: - if (tag != myTag) - { - return 2; - } - return 0; - } - } - - private void SingleRaycastUpdate(Ray ray, LineRenderer lineRenderer, RayInfoUI rayInfoUI, out float rayTagResult, out float rayDisResult) + private void SingleRaycastUpdate(Ray ray,int rayIndex) { // get Raycast hit infomation and return Tag and distance RaycastHit nowHit; - Color rayColor = Color.cyan; + Color rayColor = Color.gray; float lineLength = viewDistance; string rayInfoText = ""; Vector3 rayInfoPosition; if (Physics.Raycast(ray, out nowHit, viewDistance)) // 若在viewDistance范围内有碰撞 { - rayInfoText = nowHit.collider.tag; - rayTagResult = TagToInt(rayInfoText); - rayTagResultOneHot.AddRange(oneHotTags.Encoder(rayInfoText)); - rayDisResult = nowHit.distance; - lineLength = rayDisResult; - rayInfoText += "\n" + Convert.ToString(rayDisResult); - // rayDisResult = rayDisResult / viewDistance; // Normalization! - // 输出log - switch (rayTagResult) + // Tag + string thisTag = nowHit.collider.tag; + // result update + rayTagResult[rayIndex] = ObjectTags.TagToInt(thisTag); + rayDisResult[rayIndex] = nowHit.distance; + int oneHotIndex = rayIndex * ObjectTags.Tags.Count + ObjectTags.TagToInt(thisTag); + rayTagResultOneHot[oneHotIndex] = 1f; + if (rayTagResult[rayIndex] == ObjectTags.TagToInt("Enemy")) { - case 1:// Wall - rayColor = Color.white; - break; - - case 2: // Enemy - rayColor = Color.red; - inViewEnemies.Add(nowHit.transform.gameObject); - break; - - case -1: // Hit Nothing - rayColor = Color.gray; - break; - - default: // default,got wrong - rayColor = Color.cyan; - break; + inViewEnemies.Add(nowHit.transform.gameObject); } + // ingame info update + lineLength = nowHit.distance; + rayInfoText = thisTag + "\n" + Convert.ToString(nowHit.distance); + rayColor = ObjectTags.TagToCololr(thisTag); + } else // 若在viewDistance范围无碰撞 { - rayTagResultOneHot.AddRange(oneHotTags.Encoder()); - rayTagResult = -1f; - rayDisResult = -1f; - //输出log - //Debug.Log(0); - //Debug.Log(0); + // Result update + // rayTagResultOneHot keep zero + rayTagResult[rayIndex] = -1; + rayDisResult[rayIndex] = -1; + // Info + rayInfoText = "Empty"; } + + // draw Info In Game rayInfoPosition = ray.origin + (ray.direction * lineLength); if (showInGameRay) { - DrawLine(ray, lineLength, lineRenderer, rayColor); + DrawLine(ray, lineLength, lineRenderers[rayIndex], rayColor); } else { - TurnOffLine(lineRenderer, rayColor); + TurnOffLine(lineRenderers[rayIndex], rayColor); } // drawRay in game - if (showInGameRayInfo) rayInfoUI.UpdateInfo(rayInfoText, rayInfoPosition, rayColor, TPSCam); + if (showInGameRayInfo) rayInfoUIs[rayIndex].UpdateInfo(rayInfoText, rayInfoPosition, rayColor, TPSCam); // Show log if (showDebugRay) Debug.DrawRay(ray.origin, ray.direction * viewDistance, rayColor); // drawRay in debug // Debug.Log(ray.origin + ray.direction); - // Debug.Log(rayTagResult); - // Debug.Log(tagToInt(nowHit.collider.tag)); + // Debug.Log(thisRayTagResult); + // Debug.Log(tagToInt(nowHit.collider.thisTag)); } private void DrawLine(Ray ray, float lineLength, LineRenderer lineRenderer, Color lineColor) @@ -177,24 +153,31 @@ public void UpdateRayInfo() float focusREdge = agentCam.pixelWidth * (1 + focusRange) / 2; float camPixelHeight = agentCam.pixelHeight; inViewEnemies.Clear(); - rayTagResultOneHot.Clear(); + ClearResult(); for (int i = 0; i < halfOuterRayNum; i++) // create left outside rays; 0 ~ focusLeftEdge { Vector3 point = new Vector3(i * focusLEdge / (halfOuterRayNum - 1), camPixelHeight / 2, 0); Ray nowRay = agentCam.ScreenPointToRay(point); - SingleRaycastUpdate(nowRay, lineRenderers[i], rayInfoUIs[i], out rayTagResult[i], out rayDisResult[i]); + SingleRaycastUpdate(nowRay,i); } for (int i = 0; i < halfOuterRayNum; i++) // create right outside rays; focusRightEdge ~ MaxPixelHeight { Vector3 point = new Vector3(focusREdge + (i * focusLEdge / (halfOuterRayNum - 1)), camPixelHeight / 2, 0); Ray nowRay = agentCam.ScreenPointToRay(point); - SingleRaycastUpdate(nowRay, lineRenderers[halfOuterRayNum + i], rayInfoUIs[halfOuterRayNum + i], out rayTagResult[halfOuterRayNum + i], out rayDisResult[halfOuterRayNum + i]); + SingleRaycastUpdate(nowRay, halfOuterRayNum + i); } for (int i = 0; i < focusRayNum; i++) // create center focus rays; focusLeftEdge ~ focusLeftEdge { Vector3 point = new Vector3(focusLEdge + ((i + 1) * (focusREdge - focusLEdge) / (focusRayNum + 1)), camPixelHeight / 2, 0); Ray nowRay = agentCam.ScreenPointToRay(point); - SingleRaycastUpdate(nowRay, lineRenderers[halfOuterRayNum * 2 + i], rayInfoUIs[halfOuterRayNum * 2 + i], out rayTagResult[halfOuterRayNum * 2 + i], out rayDisResult[halfOuterRayNum * 2 + i]); + SingleRaycastUpdate(nowRay, halfOuterRayNum * 2 + i); } } + + private void ClearResult() + { + rayTagResult = new float[totalRayNum]; + rayDisResult = new float[totalRayNum]; + rayTagResultOneHot = new float[totalRayNum * ObjectTags.Tags.Count]; + } } \ No newline at end of file diff --git a/Assets/Script/ObjectTags.cs b/Assets/Script/ObjectTags.cs new file mode 100644 index 0000000..bea2d46 --- /dev/null +++ b/Assets/Script/ObjectTags.cs @@ -0,0 +1,27 @@ +using System.Collections.Generic; +using UnityEngine; + +public static class ObjectTags +{ + public static List Tags = new List() { "Wall", "Enemy", "Player" }; + + public static int TagToInt(string tag) + { + return Tags.IndexOf(tag); + } + + public static Color TagToCololr(string tag) + { + switch (tag) + { + case "Wall": + return Color.white; + case "Enemy": + return Color.red; + case "Player": + return Color.green; + default: + return Color.cyan; + } + } +} \ No newline at end of file diff --git a/Assets/Script/ObjectTags.cs.meta b/Assets/Script/ObjectTags.cs.meta new file mode 100644 index 0000000..96e4491 --- /dev/null +++ b/Assets/Script/ObjectTags.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 38fdb6190ddd36f448389fc04284710d +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UserSettings/EditorUserSettings.asset b/UserSettings/EditorUserSettings.asset index 3d09235..d983ba2 100644 --- a/UserSettings/EditorUserSettings.asset +++ b/UserSettings/EditorUserSettings.asset @@ -9,13 +9,13 @@ EditorUserSettings: value: 55090405535008090b5608764626074415151c79747c74602b7c1861e4b96c6c flags: 0 RecentlyUsedSceneGuid-1: - value: 5703025650035e5d090f087148715d4443161e2c7e2c20357b281b31b0e43060 + value: 06570c0704040b0e5a575520137b5e44154f192e292d22367c2c4866b7b3376f flags: 0 RecentlyUsedSceneGuid-2: - value: 5453565f53020f085f5d0e72157a0844454f4c2b757d7265757a4f64b7b4313c + value: 5703025650035e5d090f087148715d4443161e2c7e2c20357b281b31b0e43060 flags: 0 RecentlyUsedSceneGuid-3: - value: 06570c0704040b0e5a575520137b5e44154f192e292d22367c2c4866b7b3376f + value: 5453565f53020f085f5d0e72157a0844454f4c2b757d7265757a4f64b7b4313c flags: 0 RecentlyUsedScenePath-0: value: 22424703114646680e0b0227036c6c111b07142f1f2b233e2867083debf42d