695 lines
26 KiB
C#
695 lines
26 KiB
C#
using System;
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using System.Collections.Generic;
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using UnityEngine;
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using Random = UnityEngine.Random;
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public class TargetController : MonoBehaviour
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{
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[SerializeField]
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private GameObject environmentObj;
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[SerializeField]
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private GameObject agentObj;
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[SerializeField]
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private GameObject HUDObj;
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[SerializeField]
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private GameObject sceneBlockContainerObj;
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[SerializeField]
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private GameObject enemyContainerObj;
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[SerializeField]
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private GameObject parameterContainerObj;
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[SerializeField]
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private GameObject commonParameterContainerObj;
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[SerializeField]
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private GameObject environmentUIObj;
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[SerializeField]
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private GameObject worldUIObj;
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// area
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public GameObject edgeUp;
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public GameObject edgeDown;
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public GameObject edgeLeft;
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public GameObject edgeRight;
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public GameObject edgeAgent_Enemy;
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//group
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public string group1Tag = "Player";
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public string group2Tag = "Enemy";
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public float minEnemyAreaX;
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[System.NonSerialized] public float maxEnemyAreaX;
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[System.NonSerialized] public float minEnemyAreaZ;
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[System.NonSerialized] public float maxEnemyAreaZ;
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[System.NonSerialized] public float minAgentAreaX;
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[System.NonSerialized] public float maxAgentAreaX;
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[System.NonSerialized] public float minAgentAreaZ;
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[System.NonSerialized] public float maxAgentAreaZ;
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[System.NonSerialized] public float startTime = 0f;
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[System.NonSerialized] public float leftTime = 0f;
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[SerializeField, Range(0f, 1f)] public float attackProb = 0.2f;
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[SerializeField, Range(0f, 1f)] public float gotoProb = 0.2f;
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[SerializeField, Range(0f, 1f)] public float defenceProb = 0.2f;
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[System.NonSerialized] public int targetTypeInt;
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[System.NonSerialized] public int gotoLevelNum;
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[System.NonSerialized] public int attackLevelNum;
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public float[] targetState = new float[6];
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public enum EndType
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{ Win, Lose, Running, Num };
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[System.NonSerialized] public int targetNum = 0;
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private Dictionary<int, float[]> oneHotRarget = new Dictionary<int, float[]>();
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private int inArea = 0;
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private float freeProb;
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private float sceneBlockSize;
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private float lastDistance;
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private int randBlockType = 0;
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private int randLevel = 0;
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public Vector3 targetPosition;
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private bool firstRewardFlag = true;
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private bool targetEnemySpawnFinish = false;
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private SceneBlockContainer sceneBlockCon;
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private EnemyContainer enemyCon;
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private EnvironmentUIControl envUICon;
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private ParameterContainer paramCon;
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private CommonParameterContainer commonParamCon;
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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 MessageBoxController messageBoxCon;
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// start scene datas 0=train 1=play
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private int gamemode;
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// Start is called before the first frame update
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private void Start()
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{
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commonParamCon = commonParameterContainerObj.GetComponent<CommonParameterContainer>();
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sceneBlockCon = sceneBlockContainerObj.GetComponent<SceneBlockContainer>();
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envUICon = environmentUIObj.GetComponent<EnvironmentUIControl>();
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enemyCon = enemyContainerObj.GetComponent<EnemyContainer>();
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agentCharaCon = agentObj.GetComponent<CharacterController>();
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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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messageBoxCon = HUDObj.GetComponent<MessageBoxController>();
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// get parameter from ParameterContainer
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gamemode = commonParamCon.gameMode;
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attackProb = commonParamCon.attackProb;
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gotoProb = commonParamCon.gotoProb;
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defenceProb = commonParamCon.defenceProb;
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// initialize spawn area
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minEnemyAreaX = edgeLeft.transform.localPosition.x + 1.0f;
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maxEnemyAreaX = edgeRight.transform.localPosition.x - 1.0f;
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minEnemyAreaZ = edgeAgent_Enemy.transform.localPosition.z + 1.0f;
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maxEnemyAreaZ = edgeUp.transform.localPosition.z - 1.0f;
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minAgentAreaX = edgeLeft.transform.localPosition.x + 1.0f;
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maxAgentAreaX = edgeRight.transform.localPosition.x - 1.0f;
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minAgentAreaZ = edgeDown.transform.localPosition.z + 1.0f;
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maxAgentAreaZ = edgeAgent_Enemy.transform.localPosition.z - 1.0f;
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freeProb = 1 - attackProb - gotoProb - defenceProb;
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targetNum = (int)Targets.Num;
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gotoLevelNum = commonParamCon.scenePrefabSet.GetLevelNumber(Targets.Go);
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attackLevelNum = commonParamCon.scenePrefabSet.GetLevelNumber(Targets.Attack);
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if (freeProb < 0)
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{
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Debug.LogError("TargetController.Start: target percentage wrong");
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}
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// initialize a simple fake onehot encoder.
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for (int i = 0; i < targetNum; i++)
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{
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float[] onehotList = new float[targetNum];
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for (int j = 0; j < targetNum; j++)
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{
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onehotList[j] = 0;
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}
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onehotList[i] = 1;
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oneHotRarget.Add(i, onehotList);
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}
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}
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private void Update()
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{
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// if gamemode is play, then time will keep paramCon.timeLimit
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if (gamemode == 1)
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{
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leftTime = commonParamCon.timeLimit;
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// print out time
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// Debug.Log("Playing Time: " + leftTime);
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}
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else
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{
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leftTime = commonParamCon.timeLimit - Time.time + startTime;
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}
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}
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/// <summary>
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/// Generates a new scene configuration by selecting a random target type and spawning related scene blocks.
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/// </summary>
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/// <remarks>
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/// This method is responsible for creating a new scene configuration, which involves selecting a target type
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/// (Go, Attack, Defence, or Free) based on predefined probabilities. Depending on the chosen target type,
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/// the method spawns the associated scene blocks, updates various flags, and informs the user interface about
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/// the selected target type.
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/// </remarks>
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public void RollNewScene()
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{
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startTime = Time.time;// Reset StartTime as now time
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leftTime = commonParamCon.timeLimit - Time.time + startTime;
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float randTargetType = UnityEngine.Random.Range(0f, 1f);
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if (randTargetType <= gotoProb)
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{
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// goto target spawn
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Debug.Log("GOTO THIS TARGET!");
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targetTypeInt = (int)Targets.Go;
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RandomSpawnSceneBlock(Targets.Go);
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// set startDistance
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firstRewardFlag = true;
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}
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else if (randTargetType > gotoProb && randTargetType <= gotoProb + attackProb)
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{
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// attack target spawn
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Debug.Log("ATTACK Mode Start");
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targetTypeInt = (int)Targets.Attack;
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RandomSpawnSceneBlock(Targets.Attack);
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// set startDistance
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firstRewardFlag = true;
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targetEnemySpawnFinish = false;
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}
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else if (randTargetType > gotoProb + attackProb && randTargetType <= gotoProb + attackProb + defenceProb)
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{
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// defence target spawn
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Debug.Log("DEFENCE Mode Start");
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targetTypeInt = (int)Targets.Defence;
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RandomSpawnSceneBlock(Targets.Defence);
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// set startDistance
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firstRewardFlag = true;
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}
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else
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{
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Debug.Log("Free Mode Start");
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targetTypeInt = (int)Targets.Free;
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enemyCon.DestroyAllEnemys();
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enemyCon.RandomInitEnemys(hudCon.enemyNum);
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MoveAgentToSpwanArea();
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sceneBlockCon.DestroyBlock();
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}
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UpdateTargetStates();
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envUICon.UpdateTargetType(targetTypeInt);
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}
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#region Agent Move Method
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/// <summary>
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/// Move the agent to the spawn area.
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/// 将Agent移动到生成区域。
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/// </summary>
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private void MoveAgentToSpwanArea()
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{
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float randX = UnityEngine.Random.Range(minAgentAreaX, maxAgentAreaX); ;
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float randZ = 0f;
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if (commonParamCon.spawnAgentInAllMap)
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{
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// spawn agent in all around map
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randZ = UnityEngine.Random.Range(minAgentAreaZ, maxEnemyAreaZ);
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}
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else
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{
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// spawn agent in only agent spawn area
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randZ = UnityEngine.Random.Range(minAgentAreaZ, maxAgentAreaZ);
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}
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int Y = 1;
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Vector3 initAgentLoc = new Vector3(randX, Y, randZ);
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MoveAgentTo(initAgentLoc);
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}
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/// <summary>
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/// Move the agent to the specified position.
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/// 将代理移动到指定位置。
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/// </summary>
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/// <param name="position">要移动到的位置。</param>
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/// <remarks>
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/// When moving the character using transform.localPosition,
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/// must disable the character controller, or it won't work properly.
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/// 使用 transform.localPosition 移动角色时，
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/// 必须禁用角色控制器，否则它将无法正常工作。
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/// </remarks>
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public void MoveAgentTo(Vector3 position)
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{
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// while using transform.localPosition to move character
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// u should turn off character Controller or it won't work
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agentCharaCon.enabled = false;
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agentObj.transform.localPosition = position;
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agentCharaCon.enabled = true;
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}
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#endregion Agent Move Method
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#region Random SceneBlock Spawn Method
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/// <summary>
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/// Randomly spawns a scene block based on the target type.
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/// 根据目标类型随机生成场景块。
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/// </summary>
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/// <param name="targetType">要生成的场景块的目标类型。The target type of the scene block to be generated.</param>
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/// <remarks>
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/// This method generates a random scene block based on the target type and spawns enemies at the specified location.
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/// 此方法根据目标类型生成一个随机场景块，并在指定位置生成敌人。
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/// </remarks>
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private void RandomSpawnSceneBlock(Targets targetType)
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{
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randLevel = RollRandomLevelIndex(targetType);
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randBlockType = Random.Range(0, commonParamCon.scenePrefabSet.GetBlockNumber(randLevel,targetType));
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sceneBlockSize = commonParamCon.scenePrefabSet.GetBlockSize(randLevel, randBlockType, targetType);
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float randX = UnityEngine.Random.Range(minEnemyAreaX + sceneBlockSize / 2 + 1f, maxEnemyAreaX - sceneBlockSize / 2 - 1f);
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float randZ = UnityEngine.Random.Range(minEnemyAreaZ + sceneBlockSize / 2 + 1f, maxEnemyAreaZ - sceneBlockSize / 2 - 1f);
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targetPosition = new Vector3(randX, 0, randZ);
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// init scene block
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sceneBlockCon.DestroyBlock();
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sceneBlockCon.CreateNewBlock(targetType, randLevel, randBlockType, targetPosition, group1Tag, group2Tag);
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enemyCon.DestroyAllEnemys();
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enemyCon.RandomInitEnemysExcept(hudCon.enemyNum, targetPosition, sceneBlockSize);
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sceneBlockCon.nowBlock.InitBlock(environmentObj);
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}
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#endregion Random SceneBlock Spawn Method
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#region Reward function
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/// <summary>
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/// Checks the game's end state and retrieves rewards.
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/// </summary>
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/// <returns>A tuple containing the game's end type, current reward, and final reward.
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/// 1 = success,2 = overtime,0 = notover</returns>
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public (int, float, float) CheckOverAndRewards()
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{
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int endTypeInt = 0;
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float nowReward = 0;
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float endReward = 0;
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float nowDistance = 0f;
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switch (targetTypeInt)
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{
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case (int)Targets.Go:
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// goto
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(nowDistance, inArea) = sceneBlockCon.GetAgentTargetDistanceAndInside(agentObj.transform.position);
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envUICon.UpdateTargetGauge(sceneBlockCon.nowBlock.firebasesBelong, sceneBlockCon.nowBlock.belongMaxPoint);
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float areaTargetReward = GetDistanceReward(nowDistance, inArea);
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//if(inArea != 0)
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if (sceneBlockCon.nowBlock.firebasesBelong >= sceneBlockCon.nowBlock.belongMaxPoint)
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{
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// win
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// let the area belongs to me
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nowReward = areaTargetReward;
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endReward = paramCon.goWinReward;
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//nowReward = (paramCon.inAreaReward * inArea) + getDistanceReward(nowDistance);
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endTypeInt = (int)EndType.Win;
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}
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else if (leftTime <= 0)
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{
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// time out lose
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nowReward = areaTargetReward;
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endReward = commonParamCon.loseReward;
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endTypeInt = (int)EndType.Lose;
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}
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else
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{
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// keep on keeping on!
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nowReward = areaTargetReward;
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endReward = 0;
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endTypeInt = (int)EndType.Running;
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}
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break;
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case (int)Targets.Attack:
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// attack
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(nowDistance, inArea) = sceneBlockCon.GetAgentTargetDistanceAndInside(agentObj.transform.position);
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envUICon.UpdateTargetGauge(sceneBlockCon.nowBlock.firebasesBelong, sceneBlockCon.nowBlock.belongMaxPoint);
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if (sceneBlockCon.nowBlock.GetInAreaNumber(group2Tag) <= 0 && targetEnemySpawnFinish)
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{
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// win
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// let the area belongs to me and kill every enmy in this area.
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nowReward = 0;
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endReward = paramCon.attackWinReward;
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//nowReward = (paramCon.inAreaReward * inArea) + getSceneReward(nowDistance);
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endTypeInt = (int)EndType.Win;
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targetEnemySpawnFinish = false;
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}
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else if (leftTime <= 0 && targetEnemySpawnFinish)
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{
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// time out lose
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nowReward = 0;
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endReward = commonParamCon.loseReward;
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//nowReward = (paramCon.inAreaReward * inArea) + getSceneReward(nowDistance);
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endTypeInt = (int)EndType.Lose;
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targetEnemySpawnFinish = false;
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}
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else
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{
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// keep on keeping on!
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// nowReward = (paramCon.inAreaReward * inArea) + getDistanceReward(nowDistance);
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nowReward = 0;
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endReward = 0;
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targetEnemySpawnFinish = true;
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endTypeInt = (int)EndType.Running;
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}
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break;
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case (int)Targets.Defence:
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//defence
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// !!! DIDN't FINISH!!!
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(nowDistance, inArea) = sceneBlockCon.GetAgentTargetDistanceAndInside(agentObj.transform.position);
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envUICon.UpdateTargetGauge(sceneBlockCon.nowBlock.firebasesBelong, sceneBlockCon.nowBlock.belongMaxPoint);
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if (leftTime <= 0 && sceneBlockCon.nowBlock.firebasesBelong >= 0f)
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{
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// win
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// time over and the area still mine
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nowReward = paramCon.defenceWinReward;
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//nowReward = (paramCon.inAreaReward * inArea) + getSceneReward(nowDistance);
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endTypeInt = (int)EndType.Win;
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}
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else if (sceneBlockCon.nowBlock.firebasesBelong <= sceneBlockCon.nowBlock.belongMaxPoint)
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{
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// lost area lose
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nowReward = commonParamCon.loseReward;
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//nowReward = (paramCon.inAreaReward * inArea) + getSceneReward(nowDistance);
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endTypeInt = (int)EndType.Lose;
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}
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else
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{
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// keep on keeping on!
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// nowReward = (paramCon.inAreaReward * inArea) + getDistanceReward(nowDistance);
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endTypeInt = (int)EndType.Running;
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}
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break;
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case (int)Targets.Stay:
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// Stay
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// endless
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nowReward = 0;
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endReward = 0;
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endTypeInt = (int)EndType.Running;
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break;
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default:
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//free kill
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if (enemyContainerObj.transform.childCount <= 0)
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{
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// win
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// nowReward = paramCon.winReward + (paramCon.timeBonusPerSecReward * leftTime);
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nowReward = 0;
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endReward = paramCon.freeWinReward;
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endTypeInt = (int)EndType.Win;
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}
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else if (leftTime <= 0)
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{
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// lose
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//nowReward = paramCon.loseReward;
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nowReward = 0;
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endReward = commonParamCon.loseReward;
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endTypeInt = (int)EndType.Lose;
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}
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else
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{
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// keep on keeping on!
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nowReward = 0;
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endReward = 0;
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endTypeInt = (int)EndType.Running;
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}
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break;
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}
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envUICon.ShowResult(endTypeInt);
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worldUICon.UpdateChart(targetTypeInt, endTypeInt);
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return (endTypeInt, nowReward, endReward);
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}
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/// <summary>
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/// Calculates scene reward based on distance, granting higher rewards for being closer to the target.
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/// 根据距离计算场景奖励，靠近目标则获得更高奖励。
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/// </summary>
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/// <param name="nowDistance">The current distance.</param>
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/// <param name="inarea">Whether inside an area.</param>
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/// <returns>The reward value calculated based on distance.</returns>
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private float GetDistanceReward(float nowDistance, int inarea)
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{
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if (firstRewardFlag)
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{
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// first distance record
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(lastDistance, _) = sceneBlockCon.GetAgentTargetDistanceAndInside(agentObj.transform.position);
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firstRewardFlag = false;
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}
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float nowSeneReward = 0f;
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if (inarea != 0)
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{
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// in area
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nowSeneReward = paramCon.inAreaReward;
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}
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else
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{
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// out of area
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// nowSeneReward = paramCon.distanceReward * Math.Clamp(lastDistance - nowDistance, 0, 100);
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nowSeneReward = commonParamCon.distanceReward * (lastDistance - nowDistance);
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}
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lastDistance = nowDistance;
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return nowSeneReward;
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}
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/// <summary>
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/// Calculates kill reward based on the position of the killed enemy.
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/// 根据击杀的敌人位置计算击杀奖励。
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/// </summary>
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/// <param name="enemyPosition">The position of the killed enemy.</param>
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/// <returns>The reward value calculated based on the kill position.</returns>
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public float KillReward(Vector3 enemyPosition)
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{
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float nowKillReward = 0f;
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if (targetTypeInt == (int)Targets.Attack)
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{
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// attack mode
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(_, int isInArea) = sceneBlockCon.nowBlock.GetDistInArea(enemyPosition);
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if (isInArea == 1)
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{
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// kill in area enemy
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nowKillReward = paramCon.killTargetEnemyReward;
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}
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else
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{
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nowKillReward = commonParamCon.killNonTargetReward;
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||
}
|
||
}
|
||
else if (targetTypeInt == (int)Targets.Free)
|
||
{
|
||
// free mode hit
|
||
nowKillReward = paramCon.killTargetEnemyReward;
|
||
}
|
||
else
|
||
{
|
||
// goto & defence
|
||
nowKillReward = commonParamCon.killNonTargetReward;
|
||
}
|
||
return nowKillReward;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 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。
|
||
/// </summary>
|
||
/// <param name="enemyPosition">The position of the hit enemy.</param>
|
||
/// <returns>The reward value calculated based on the hit position and mode.</returns>
|
||
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
|
||
|
||
/// <summary>
|
||
/// Initializes the game in play mode.
|
||
/// 初始化游戏playMode。
|
||
/// </summary>
|
||
/// <remarks>
|
||
/// This method is used to initialize the game in play mode,
|
||
/// including setting the target type, updating target states,
|
||
/// updating UI display, moving the agent to the spawn area,
|
||
/// destroying all enemies, and scene blocks.
|
||
/// 该方法用于初始化游戏播放模式，包括设置目标类型、更新目标状态、更新UI显示、
|
||
/// 将代理移动到生成区域、销毁所有敌人和场景块。
|
||
/// </remarks>
|
||
public void PlayInitialize()
|
||
{
|
||
targetTypeInt = (int)Targets.Stay;
|
||
UpdateTargetStates();
|
||
envUICon.UpdateTargetType(targetTypeInt);
|
||
MoveAgentToSpwanArea();
|
||
enemyCon.DestroyAllEnemys();
|
||
sceneBlockCon.DestroyBlock();
|
||
}
|
||
|
||
// change to attack mode
|
||
public void AttackModeChange(Vector3 targetPosition)
|
||
{
|
||
targetTypeInt = (int)Targets.Attack;
|
||
UpdateTargetStates(targetPosition);
|
||
envUICon.UpdateTargetType(targetTypeInt);
|
||
}
|
||
|
||
// change to free mode
|
||
public void FreeModeChange()
|
||
{
|
||
targetTypeInt = (int)Targets.Free;
|
||
UpdateTargetStates();
|
||
envUICon.UpdateTargetType(targetTypeInt);
|
||
}
|
||
|
||
// change to goto mode
|
||
public void GotoModeChange(Vector3 targetPosition)
|
||
{
|
||
targetTypeInt = (int)Targets.Go;
|
||
UpdateTargetStates(targetPosition);
|
||
envUICon.UpdateTargetType(targetTypeInt);
|
||
}
|
||
|
||
// change to stay mode
|
||
public void StayModeChange()
|
||
{
|
||
targetTypeInt = (int)Targets.Stay;
|
||
UpdateTargetStates();
|
||
envUICon.UpdateTargetType(targetTypeInt);
|
||
}
|
||
|
||
#endregion Play Mode Method
|
||
|
||
/// <summary>
|
||
/// Gets the target observation states.
|
||
/// 获取目标观测状态。
|
||
/// </summary>
|
||
/// <param name="targetPosition">The target position (optional).</param>
|
||
private void UpdateTargetStates(Vector3? targetPosition = null)
|
||
{
|
||
// targettype, x,y,z, firebasesAreaDiameter
|
||
targetState[0] = targetTypeInt;
|
||
if (targetPosition != null)
|
||
{
|
||
this.targetPosition = (Vector3)targetPosition;
|
||
}
|
||
if (targetTypeInt == (int)Targets.Free || targetTypeInt == (int)Targets.Stay)
|
||
{
|
||
for (int i = 1; i < targetState.Length; i++)
|
||
// set target position state to 0
|
||
targetState[i] = 0f;
|
||
}
|
||
else
|
||
{
|
||
targetState[1] = this.targetPosition.x;
|
||
targetState[2] = this.targetPosition.y;
|
||
targetState[3] = this.targetPosition.z;
|
||
targetState[4] = sceneBlockCon.nowBlock.firebasesAreaDiameter;
|
||
targetState[5] = sceneBlockCon.nowBlock.belongRatio;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// Gets the in-area state.
|
||
/// 获取是否在区域内的State
|
||
/// </summary>
|
||
/// <returns>The in-area state.</returns>
|
||
public int GetInAreaState()
|
||
{
|
||
if (targetTypeInt == (int)Targets.Go)
|
||
{
|
||
return inArea;
|
||
}
|
||
else
|
||
{
|
||
return 0;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// Gets a random level index based on the target type.
|
||
/// 根据目标类型获取随机关卡索引。
|
||
/// </summary>
|
||
/// <param name="target">The target type.</param>
|
||
/// <returns>A random level index.</returns>
|
||
public int RollRandomLevelIndex(Targets target)
|
||
{
|
||
List<float> targetProbs;
|
||
|
||
switch (target)
|
||
{
|
||
case Targets.Attack:
|
||
targetProbs = commonParamCon.attackLevelProbs;
|
||
break;
|
||
case Targets.Go:
|
||
targetProbs = commonParamCon.gotoLevelProbs;
|
||
break;
|
||
case Targets.Defence:
|
||
targetProbs = commonParamCon.defenceLevelProbs;
|
||
break;
|
||
default:
|
||
messageBoxCon.PushMessage(
|
||
new List<string> { "[ERROR]TargetController:RandomLevel", "target type error" },
|
||
new List<string> { "#800000ff" });
|
||
Debug.LogWarning("[ERROR]TargetController:RandomLevel:target type error");
|
||
return -1; // Exit early on default case
|
||
}
|
||
|
||
// sample random level depends on the target probabilities
|
||
float randomNum = UnityEngine.Random.Range(0f, 1f);
|
||
float sumProb = 0f;
|
||
for (int i = 0; i < targetProbs.Count; i++)
|
||
{
|
||
sumProb += targetProbs[i];
|
||
if (randomNum < sumProb)
|
||
{
|
||
return i;
|
||
}
|
||
}
|
||
|
||
// If no level was returned, log an error and return -1
|
||
messageBoxCon.PushMessage(
|
||
new List<string> { "[ERROR]TargetController:RandomLevel", "level index out of range" },
|
||
new List<string> { "orange" });
|
||
return -1;
|
||
}
|
||
} |