V2.4 Add new reward function

add new reward function in attack mode
calculate distance between closest enemy and facing center line.
let agent could spawn in whole map area.
add penalty while mouseX is moving.

Assets/ML-Agents/Timers/InGame_timers.json

@@ -1 +1 @@
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Assets/Script/InGame/AgentWithGun.cs

@@ -12,6 +12,7 @@
 using System.Linq;
 using System.Drawing;
 using Color = UnityEngine.Color;
+using static TargetController;
 
 /*TODO:
 √tag 攻击排他
@@ -289,6 +290,7 @@ float ballistic()
     float facingReward()
     {
         float thisReward = 0;
+        bool isFacingtoEnemy = false;
         Ray ray = thisCam.ScreenPointToRay(new Vector3(thisCam.pixelWidth / 2, thisCam.pixelHeight / 2, 0));
         if (targetCon.targetTypeInt == (int)TargetController.Targets.Free)
         {
@@ -296,14 +298,37 @@ float facingReward()
             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 (rayScript.inViewEnemies.Count > 0 && !isFacingtoEnemy) {
+                // have enemy in view
+                List<float> projectionDis = new List<float>();
+                foreach (GameObject thisEnemy in rayScript.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);
+                }
+                // enemy in view Reward
+                thisReward = 1 / MathF.Sqrt(paramContainer.facingInviewEnemyDisCOEF* projectionDis.Min()+0.00001f);
+                if (thisReward >= paramContainer.facingReward) thisReward = paramContainer.facingReward; // limit
+                Debug.Log("ninimum = " + thisReward);
+            }
         }
         else if(targetCon.targetTypeInt == (int)TargetController.Targets.Attack)
         {
+            // attack mode
             float targetDis = Vector3.Distance(blockContainer.thisBlock.transform.position, transform.position);
             if(targetDis <= rayScript.viewDistance)
             {
@@ -388,6 +413,10 @@ public float rewardCalculate(float sceneReward,float mouseX)
         {
             epreward -= spinPenaltyReward;
         }
+        else
+        {
+            epreward -= Math.Abs(mouseX) * paramContainer.mousePenalty;
+        }
         return epreward;
     }
 
@@ -418,7 +447,6 @@ public override void CollectObservations(VectorSensor sensor)
         //List<float> enemyLDisList = RaySensors.enemyLDisList;// All Enemy Lside Distances
         //List<float> enemyRDisList = RaySensors.enemyRDisList;// All Enemy Rside Distances
 
-        rayScript.updateRayInfo();
         float[] myObserve = { transform.localPosition.x, transform.localPosition.y, transform.localPosition.z, transform.eulerAngles.y };
         float[] rayTagResult = rayScript.rayTagResult;// 探测用RayTag结果 float[](raySensorNum,1)
         float[] rayDisResult = rayScript.rayDisResult; // 探测用RayDis结果 float[](raySensorNum,1)
@@ -456,6 +484,7 @@ public override void OnActionReceived(ActionBuffers actionBuffers)
         shoot = mouseShoot;
         cameraControl(Mouse_X, 0);
         moveAgent(vertical, horizontal);
+        rayScript.updateRayInfo(); // update raycast
 
         //判断结束
         float sceneReward = 0f;

Assets/Script/InGame/ParameterContainer.cs

@@ -22,8 +22,10 @@ public class ParameterContainer : MonoBehaviour
     public bool lockCameraX = false;
     public bool lockCameraY = true;
     public bool chartOn = false;
+    public bool spawnAgentInAllMap = false;
     public int spinRecordMax = 20;
     public float spinPenaltyThreshold = 50;
+    public float facingInviewEnemyDisCOEF = 0.5f;
 
 
     [Header("Dynamic Defaut Rewards")]
@@ -78,8 +80,10 @@ public class ParameterContainer : MonoBehaviour
     [Header("Penalty Rewards")]
     [Tooltip("Speed Penalty Reward")]
     public float speedPenalty = 0f;
-    [Tooltip("view Panalty Reward")]
+    [Tooltip("spiiiiiiin Panalty Reward")]
     public float spinPenalty = 0f;
+    [Tooltip("while move mouse a little bit's penalty")]
+    public float mousePenalty = 0f;
 
     [Header("Dynamic Rewards")]
     [Tooltip("Free mode Hit Enemy reward")]

Assets/Script/InGame/RaySensors.cs

@@ -36,6 +36,7 @@ public class RaySensors : MonoBehaviour
     GameObject[] rayInfoOBJ;
     LineRenderer[] lineRenderers;
     rayInfoUI[] rayInfoUIs;
+    public List<GameObject> inViewEnemies = new List<GameObject>();
     
 
     private void Start()
@@ -102,6 +103,7 @@ private void singleRaycastUpdate(Ray ray,LineRenderer thisLineRenderer,rayInfoUI
                     break;
                 case 2: // Enemy
                     rayColor = Color.red;
+                    inViewEnemies.Add(thisHit.transform.gameObject);
                     break;
                 case -1: // Hit Nothing
                     rayColor = Color.gray;
@@ -162,7 +164,7 @@ public void updateRayInfo()
         float focusLEdge = agentCam.pixelWidth * (1 - focusRange) / 2;
         float focusREdge = agentCam.pixelWidth * (1 + focusRange) / 2;
         float thisCamPixelHeight = agentCam.pixelHeight;
-
+        inViewEnemies.Clear();
         for (int i = 0; i < halfOuterRayNum; i++) // create left outside rays; 0 ~ focusLeftEdge
         {
             Vector3 point = new Vector3(i * focusLEdge / (halfOuterRayNum - 1), thisCamPixelHeight / 2, 0);

Assets/Script/InGame/TargetController.cs

@@ -215,8 +215,19 @@ public void updateTargetStates()
     // move Agent into Agent Spawn Area
     public void moveAgentToSpwanArea()
     {
-        float randX = UnityEngine.Random.Range(minAgentAreaX, maxAgentAreaX);
+        float randX = UnityEngine.Random.Range(minAgentAreaX, maxAgentAreaX); ;
-        float randZ = UnityEngine.Random.Range(minAgentAreaZ, maxAgentAreaZ);
+        float randZ = 0f;
+        if (paramCon.spawnAgentInAllMap)
+        {
+            // spawn agent in all around map
+            randZ = UnityEngine.Random.Range(minAgentAreaZ, maxEnemyAreaZ);
+        }
+        else
+        {
+            // spawn agent in only agent spawn area
+            randZ = UnityEngine.Random.Range(minAgentAreaZ, maxAgentAreaZ);
+        }
+
         int Y = 1;
         Vector3 initAgentLoc = new Vector3(randX, Y, randZ);
         moveAgentTo(initAgentLoc);
@@ -369,6 +380,7 @@ public float getDistanceReward(float nowDistance,int inarea)
     {
         if (firstRewardFlag)
         {
+            // first distance record
             (lastDistance, _) = blockCont.getAgentTargetDistanceAndInside(AgentObj.transform.position);
             firstRewardFlag = false;
         }

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+      x: -540
+      y: -271
+      width: 1080
+      height: 542
+    m_MinimalGUI: 1
+  m_defaultScale: 1
+  m_LastWindowPixelSize: {x: 1080, y: 563}
+  m_ClearInEditMode: 1
+  m_NoCameraWarning: 1
+  m_LowResolutionForAspectRatios: 01000000000000000000
+  m_XRRenderMode: 0
+  m_RenderTexture: {fileID: 0}
+--- !u!114 &17
 MonoBehaviour:
   m_ObjectHideFlags: 52
   m_CorrespondingSourceObject: {fileID: 0}
@@ -330,7 +496,7 @@ MonoBehaviour:
   m_OverlayCanvas:
     m_LastAppliedPresetName: Default
     m_SaveData: []
---- !u!114 &14
+--- !u!114 &18
 MonoBehaviour:
   m_ObjectHideFlags: 52
   m_CorrespondingSourceObject: {fileID: 0}
@@ -350,10 +516,10 @@ MonoBehaviour:
     m_Tooltip: 
   m_Pos:
     serializedVersion: 2
-    x: 70
+    x: 62
-    y: 668
+    y: 669
-    width: 1093
+    width: 1099
-    height: 363
+    height: 370
   m_ViewDataDictionary: {fileID: 0}
   m_OverlayCanvas:
     m_LastAppliedPresetName: Default
@@ -383,10 +549,10 @@ MonoBehaviour:
   m_LockTracker:
     m_IsLocked: 0
   m_FolderTreeState:
-    scrollPos: {x: 0, y: 0}
+    scrollPos: {x: 0, y: 34}
-    m_SelectedIDs: 6a780000
+    m_SelectedIDs: 7a780000
-    m_LastClickedID: 30826
+    m_LastClickedID: 30842
-    m_ExpandedIDs: 00000000287800002a7800002c7800002e780000307800006478000000ca9a3b
+    m_ExpandedIDs: 0000000030780000327800003478000036780000387800006e7800007478000000ca9a3b
     m_RenameOverlay:
       m_UserAcceptedRename: 0
       m_Name: 
@@ -402,7 +568,7 @@ MonoBehaviour:
       m_IsRenaming: 0
       m_OriginalEventType: 11
       m_IsRenamingFilename: 1
-      m_ClientGUIView: {fileID: 2}
+      m_ClientGUIView: {fileID: 5}
     m_SearchString: 
     m_CreateAssetUtility:
       m_EndAction: {fileID: 0}
@@ -414,7 +580,7 @@ MonoBehaviour:
     scrollPos: {x: 0, y: 0}
     m_SelectedIDs: 
     m_LastClickedID: 0
-    m_ExpandedIDs: 00000000287800002a7800002c7800002e78000030780000
+    m_ExpandedIDs: 000000003078000032780000347800003678000038780000
     m_RenameOverlay:
       m_UserAcceptedRename: 0
       m_Name: 
@@ -458,7 +624,7 @@ MonoBehaviour:
       m_IsRenaming: 0
       m_OriginalEventType: 11
       m_IsRenamingFilename: 1
-      m_ClientGUIView: {fileID: 2}
+      m_ClientGUIView: {fileID: 5}
     m_CreateAssetUtility:
       m_EndAction: {fileID: 0}
       m_InstanceID: 0
@@ -470,7 +636,7 @@ MonoBehaviour:
     m_GridSize: 16
   m_SkipHiddenPackages: 0
   m_DirectoriesAreaWidth: 355
---- !u!114 &15
+--- !u!114 &19
 MonoBehaviour:
   m_ObjectHideFlags: 52
   m_CorrespondingSourceObject: {fileID: 0}
@@ -490,10 +656,10 @@ MonoBehaviour:
     m_Tooltip: 
   m_Pos:
     serializedVersion: 2
-    x: 1393
+    x: 1433
-    y: 83
+    y: 73
-    width: 516
+    width: 486
-    height: 948
+    height: 966
   m_ViewDataDictionary: {fileID: 0}
   m_OverlayCanvas:
     m_LastAppliedPresetName: Default
@@ -505,13 +671,13 @@ MonoBehaviour:
     m_ControlHash: -371814159
     m_PrefName: Preview_InspectorPreview
   m_LastInspectedObjectInstanceID: -1
-  m_LastVerticalScrollValue: 0
+  m_LastVerticalScrollValue: 339
   m_GlobalObjectId: 
   m_InspectorMode: 0
   m_LockTracker:
     m_IsLocked: 0
   m_PreviewWindow: {fileID: 0}
---- !u!114 &16
+--- !u!114 &20
 MonoBehaviour:
   m_ObjectHideFlags: 52
   m_CorrespondingSourceObject: {fileID: 0}
@@ -531,10 +697,10 @@ MonoBehaviour:
     m_Tooltip: 
   m_Pos:
     serializedVersion: 2
-    x: 1164
+    x: 1162
-    y: 83
+    y: 73
-    width: 227
+    width: 269
-    height: 354
+    height: 361
   m_ViewDataDictionary: {fileID: 0}
   m_OverlayCanvas:
     m_LastAppliedPresetName: Default
@@ -542,9 +708,9 @@ MonoBehaviour:
   m_SceneHierarchy:
     m_TreeViewState:
       scrollPos: {x: 0, y: 0}
-      m_SelectedIDs: 180e0000
+      m_SelectedIDs: 28760400087a0400288104000e810400dc7e0400c27f040014810400467d0400
-      m_LastClickedID: 0
+      m_LastClickedID: 294214
-      m_ExpandedIDs: 32fbffff
+      m_ExpandedIDs: e442f9ff4243f9ff9043f9ffb045f9ff0c46f9ff8e47f9ffaa39fafffaa3faffce30fbff7644fbff8005fcffaa05fcffd405fcffb091fdffda91fdff54bdfdff60bdfdff8abdfdff7207ffffce07ffff5009ffff32fbffffe8690000f46a0000ac5c010006610100966301003865010074690100186c0100246d0100
       m_RenameOverlay:
         m_UserAcceptedRename: 0
         m_Name: 
@@ -560,7 +726,7 @@ MonoBehaviour:
         m_IsRenaming: 0
         m_OriginalEventType: 11
         m_IsRenamingFilename: 0
-        m_ClientGUIView: {fileID: 6}
+        m_ClientGUIView: {fileID: 9}
       m_SearchString: 
     m_ExpandedScenes: []
     m_CurrenRootInstanceID: 0
@@ -568,7 +734,7 @@ MonoBehaviour:
       m_IsLocked: 0
     m_CurrentSortingName: TransformSorting
   m_WindowGUID: 4c969a2b90040154d917609493e03593
---- !u!114 &17
+--- !u!114 &21
 MonoBehaviour:
   m_ObjectHideFlags: 52
   m_CorrespondingSourceObject: {fileID: 0}
@@ -588,10 +754,10 @@ MonoBehaviour:
     m_Tooltip: 
   m_Pos:
     serializedVersion: 2
-    x: 70
+    x: 62
-    y: 83
+    y: 73
-    width: 1093
+    width: 1099
-    height: 564
+    height: 575
   m_ViewDataDictionary: {fileID: 0}
   m_OverlayCanvas:
     m_LastAppliedPresetName: Default
@@ -826,9 +992,9 @@ MonoBehaviour:
   m_PlayAudio: 0
   m_AudioPlay: 0
   m_Position:
-    m_Target: {x: -239.0546, y: -114.70053, z: -22.453913}
+    m_Target: {x: -195.93393, y: 33.51526, z: -136.41278}
     speed: 2
-    m_Value: {x: -239.0546, y: -114.70053, z: -22.453913}
+    m_Value: {x: -195.93393, y: 33.51526, z: -136.41278}
   m_RenderMode: 0
   m_CameraMode:
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@@ -875,13 +1041,13 @@ MonoBehaviour:
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     m_gridOpacity: 0.5
   m_Rotation:
-    m_Target: {x: 0.40307263, y: 0.2750459, z: -0.1284353, w: 0.86333007}
+    m_Target: {x: 0.5397075, y: 0.021956332, z: -0.014136463, w: 0.8414428}
     speed: 2
-    m_Value: {x: 0.40308225, y: 0.2750525, z: -0.12843837, w: 0.8633507}
+    m_Value: {x: 0.5397096, y: 0.021956418, z: -0.014136519, w: 0.84144616}
   m_Size:
-    m_Target: 122.92201
+    m_Target: 12.821374
     speed: 2
-    m_Value: 122.92201
+    m_Value: 12.821374
   m_Ortho:
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     speed: 2
@@ -899,14 +1065,14 @@ MonoBehaviour:
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     m_DynamicClip: 1
     m_OcclusionCulling: 0
-  m_LastSceneViewRotation: {x: -0.08717229, y: 0.89959055, z: -0.21045254, w: -0.3726226}
+  m_LastSceneViewRotation: {x: 0.7098538, y: -0.00044325352, z: 0.00036315605, w: 0.70432067}
   m_LastSceneViewOrtho: 0
   m_ReplacementShader: {fileID: 0}
   m_ReplacementString: 
   m_SceneVisActive: 1
   m_LastLockedObject: {fileID: 0}
   m_ViewIsLockedToObject: 0
---- !u!114 &18
+--- !u!114 &22
 MonoBehaviour:
   m_ObjectHideFlags: 52
   m_CorrespondingSourceObject: {fileID: 0}
@@ -926,10 +1092,10 @@ MonoBehaviour:
     m_Tooltip: 
   m_Pos:
     serializedVersion: 2
-    x: 1164
+    x: 1162
-    y: 458
+    y: 455
-    width: 227
+    width: 269
-    height: 573
+    height: 584
   m_ViewDataDictionary: {fileID: 0}
   m_OverlayCanvas:
     m_LastAppliedPresetName: Default