Koha9
ad547e4edb
delete all unuse feature for Parallel environment. it's possible to run each single environment independent
571 lines
20 KiB
C#
571 lines
20 KiB
C#
using System;
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using System.Reflection;
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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using UnityEngine.UI;
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using UnityEditor;
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using Unity.MLAgents;
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using Unity.MLAgents.Sensors;
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using Unity.MLAgents.Actuators;
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using XCharts;
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using XCharts.Runtime;
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using System.Linq;
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/*主要ML-Agent控制*/
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public class AgentWithGun : Agent
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{
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public GameObject EnviromentObj;
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public GameObject EnemyContainerObj;
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public GameObject thisAgentObj;
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public Transform thisAgent;
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public Camera thisCam;
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public CharacterController PlayerController;
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public GameObject enemyPrefab;
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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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[Header("Rewards")]
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[Tooltip("Nothing happened reward")]
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public float nonRewardDefault = -0.05f;
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[Tooltip("Agent Do shoot action reward")]
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public float shootRewardDefault = -0.1f;
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[Tooltip("Agent Do shoot action but gun is not read")]
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public float shootWithoutReadyRewardDefault = -1.0f;
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[Tooltip("Hit Enemy reward")]
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public float hitRewardDefault = 2.0f;
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[Tooltip("Episode Win reward")]
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public float winRewardDefault = 10.0f;
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[Tooltip("Episode Lose reward")]
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public float loseRewardDefault = -0.05f;
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[Tooltip("Enemy down reward")]
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public float killRewardDefault = 5.0f;
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[Header("Env")]
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public bool lockMouse = false;
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public float Damage = 50; // damage to enemy
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public float fireRate = 0.5f;
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public int enemyNum = 3;
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public int timeLimit = 30;
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public bool lockCameraX = false;
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public bool lockCameraY = true;
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//public Vector3 startPosition = new Vector3(9, 1, 18);
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[Header("GetAxis() Simulate")]
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public float MoveSpeed = 2.0f;
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public float vX = 0f;
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public float vZ = 0f;
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public float acceleration = 0.1f; // 加速度
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public float mouseXSensitivity = 100;
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public float mouseYSensitivity = 200;
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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
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private float startTime = 0;
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private int shoot = 0;
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private float lastShootTime = 0.0f;
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private int nowEnemyNum = 0;
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private int enemyKillCount = 0;
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private int step = 0;
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private int EP = 0;
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public bool defaultTPCamera = true;
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private bool gunReadyToggle = true;
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private RaySensors rayScript;
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[System.NonSerialized] 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 nonReward;
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[System.NonSerialized] public float shootReward;
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[System.NonSerialized] public float shootWithoutReadyReward;
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[System.NonSerialized] public float hitReward;
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[System.NonSerialized] public float winReward;
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[System.NonSerialized] public float loseReward;
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[System.NonSerialized] public float killReward;
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[System.NonSerialized] public int remainTime;
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private void Start()
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{
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rayScript = GetComponent<RaySensors>();
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// give default Reward to Reward value will be used.
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nonReward = nonRewardDefault;
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shootReward = shootRewardDefault;
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shootWithoutReadyReward = shootWithoutReadyRewardDefault;
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hitReward = hitRewardDefault;
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winReward = winRewardDefault;
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loseReward = loseRewardDefault;
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killReward = killRewardDefault;
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//initialize remainTime
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remainTime = (int)(timeLimit - Time.time + startTime);
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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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}
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/* ----------此Update用于debug，Build前删除或注释掉！----------*/
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/*void Update()
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{
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//Debug.Log(RaySensors.rayTagResult[0]);
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}*/
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/* ----------此Update用于debug，Build前删除或注释掉！----------*/
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// --------------初始化---------------
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// randomInitEnemys随机生成enemy
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public void randomInitEnemys(int EnemyNum)
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{
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for (int i = 0; i < EnemyNum; i++)
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{
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float randX = UnityEngine.Random.Range(minEnemyAreaX, maxEnemyAreaX);
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float randZ = UnityEngine.Random.Range(minEnemyAreaZ, maxEnemyAreaZ);
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int Y = 1;
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Instantiate(enemyPrefab, new Vector3(randX, Y, randZ) + EnviromentObj.transform.position, Quaternion.identity, EnemyContainerObj.transform);
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}
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}
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// --------------初始化---------------
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// randomInitAgent随机位置初始化Agent
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public void randomInitAgent()
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{
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float randX = UnityEngine.Random.Range(minAgentAreaX, maxAgentAreaX);
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float randZ = UnityEngine.Random.Range(minAgentAreaZ, maxAgentAreaZ);
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int Y = 1;
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Vector3 initAgentLoc = new Vector3(randX, Y, randZ);
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thisAgent.localPosition = initAgentLoc;
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}
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// ------------动作处理--------------
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// moveAgent 用于模拟Input.GetAxis移动
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public void moveAgent(int vertical, int horizontal)
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{
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Vector3 thisMovement;
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if (horizontal != 0)//当按下按键（水平方向）
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{
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if (vX < MoveSpeed && vX > -MoveSpeed)//当前速度小于最大速度
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{
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vX += (float)horizontal * acceleration;//增加加速度
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}
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else
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{
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//防止在一瞬间切换输入时速度仍保持不变
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if ((vX * horizontal) > 0)//输入与当前速度方向同向
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{
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vX = (float)horizontal * MoveSpeed; //限制最大速度
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}
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else
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{
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vX += (float)horizontal * acceleration;//增加加速度
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}
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}
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}
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else
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{
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if (Math.Abs(vX) > 0.001)
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{
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vX -= (vX / Math.Abs(vX)) * acceleration;//减少加速度
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}
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else
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{
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vX = 0;
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}
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}
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if (vertical != 0)//当按下按键（垂直方向）
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{
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if (vZ < MoveSpeed && vZ > -MoveSpeed)//当前速度小于最大速度
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{
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vZ += (float)vertical * acceleration;//增加加速度
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}
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else
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{
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if ((vZ * vertical) > 0)//输入与当前速度方向同向
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{
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vZ = (float)vertical * MoveSpeed; //限制最大速度
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}
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else
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{
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vZ += (float)vertical * acceleration;//增加加速度
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}
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}
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}
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else
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{
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if (Math.Abs(vZ) > 0.001)
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{
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vZ -= (vZ / Math.Abs(vZ)) * acceleration;//减少加速度
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}
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else
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{
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vZ = 0;
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}
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}
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thisMovement = (transform.forward * vZ + transform.right * vX) * MoveSpeed;
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//PlayerController下的.Move为实现物体运动的函数
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//Move()括号内放入一个Vector3类型的量，本例中为Player_Move
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PlayerController.Move(thisMovement * Time.deltaTime);
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// update Key Viewer
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}
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// ------------动作处理--------------
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// cameraControl 用于控制Agent视角转动
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public void cameraControl(float Mouse_X, float Mouse_Y)
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{
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//Mouse_X = Input.GetAxis("Mouse X") * MouseSensitivity * Time.deltaTime;
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//Debug.Log(Input.GetAxis("Mouse X"));
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//Mouse_Y = Input.GetAxis("Mouse Y") * MouseSensitivity * Time.deltaTime;
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if (lockCameraX)
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{
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Mouse_X = 0;
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}
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if (lockCameraY)
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{
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Mouse_Y = 0;
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}
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yRotation = yRotation - Mouse_Y;
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//xRotation值为正时，屏幕下移，当xRotation值为负时，屏幕上移
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//当鼠标向上滑动，Mouse_Y值为正,xRotation-Mouse_Y的值为负,xRotation总的值为负，屏幕视角向上滑动
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//当鼠标向下滑动，Mouse_Y值为负,xRotation-Mouse_Y的值为正,xRotation总的值为正，屏幕视角向下滑动
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//简单来说就是要控制鼠标滑动的方向与屏幕移动的方向要相同
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//limit UP DOWN between -90 -> 90
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yRotation = Mathf.Clamp(yRotation, -90f, 90f);
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//相机左右旋转时，是以Y轴为中心旋转的，上下旋转时，是以X轴为中心旋转的
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thisAgent.Rotate(Vector3.up * Mouse_X);
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//Vector3.up相当于Vector3(0,1,0),CameraRotation.Rotate(Vector3.up * Mouse_X)相当于使CameraRotation对象绕y轴旋转Mouse_X个单位
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//即相机左右旋转时，是以Y轴为中心旋转的，此时Mouse_X控制着值的大小
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//相机在上下旋转移动时，相机方向不会随着移动，类似于低头和抬头，左右移动时，相机方向会随着向左向右移动，类似于向左向右看
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//所以在控制相机向左向右旋转时，要保证和父物体一起转动
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thisCam.transform.localRotation = Quaternion.Euler(yRotation, 0, 0);
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//this.transform指这个CameraRotation的位置,localRotation指的是旋转轴
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//transform.localRotation = Quaternion.Eular(x,y,z)控制旋转的时候，按照X-Y-Z轴的旋转顺规
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//即以围绕X轴旋转x度，围绕Y轴旋转y度，围绕Z轴旋转z度
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//且绕轴旋转的坐标轴是父节点本地坐标系的坐标轴
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}
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// GotKill 获得击杀时用于被呼出
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public void GotKill()
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{
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enemyKillCount += 1;
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}
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// check gun is ready to shoot
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bool gunReady()
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{
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if ((Time.time - lastShootTime) >= fireRate)
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{
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return true;
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}
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else
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{
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return false;
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}
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}
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// ballistic 射击弹道处理，并返回获得reward
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float ballistic()
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{
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Vector3 point = new Vector3(thisCam.pixelWidth / 2, thisCam.pixelHeight / 2, 0);//发射位置
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Ray ray = thisCam.ScreenPointToRay(point);
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RaycastHit hit;
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Debug.DrawRay(ray.origin, ray.direction * 100, Color.blue);
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//按下鼠标左键
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if (shoot != 0 && gunReadyToggle == true)
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{
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lastShootTime = Time.time;
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if (Physics.Raycast(ray, out hit, 100))
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{
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if (hit.collider.tag == "Enemy")
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{
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GameObject gotHitObj = hit.transform.gameObject;//获取受到Ray撞击的对象
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gotHitObj.GetComponent<Enemy>().ReactToHit(Damage, thisAgentObj);
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shoot = 0;
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return hitReward;
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}
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}
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shoot = 0;
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return shootReward;
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}
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else if (shoot != 0 && gunReadyToggle == false)
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{
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shoot = 0;
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return shootWithoutReadyReward;
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}
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else
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{
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shoot = 0;
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return nonReward;
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}
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}
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// destroyEnemy消除EnemyContainer内所有Enemy
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public void destroyAllEnemys()
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{
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foreach(Transform childObj in EnemyContainerObj.transform)
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{
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if(childObj.tag == "Enemy")
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{
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Destroy(childObj.gameObject);
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}
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}
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}
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// checkFinish 检查是否结束回合返回int值
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// 1 = success,2 = overtime,0 = notover
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int checkFinish()
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{
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if (EnemyContainerObj.transform.childCount <= 0)
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{
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//成功击杀所有Enemy
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return 1;
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}
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else if (Time.time - startTime >= timeLimit)
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{
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//超时失败
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return 2;
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}
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else
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{
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return 0;
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}
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}
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// getEnemyNum 获取现场除了自己以外的敌人数量
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int getEnemyNum()
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{
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int enemyNum = 0;
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GameObject[] EnemyGameObjs;
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EnemyGameObjs = GameObject.FindGameObjectsWithTag("Enemy");
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//遍历所有Enemy
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foreach (GameObject EnemyObj in EnemyGameObjs)
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{
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Vector3 thisEnemyPosition = EnemyObj.transform.localPosition;
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Vector3 thisEnemyScale = EnemyObj.transform.localScale;
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Vector3 MyselfPosition = thisAgent.localPosition;
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//探测到Agent为自己时的处理
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if (thisEnemyPosition == MyselfPosition)
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{
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//Debug.Log("OH It's me");
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}
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else
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{
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enemyNum += 1;
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}
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}
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return enemyNum;
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}
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// enemyNumDiff 获取与上一把相比敌人数量的区别
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int enemyNumDiff()
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{
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int diff = 0;
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int nowEnemyNum = getEnemyNum();
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diff = enemyNum - nowEnemyNum;
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return diff;
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}
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// ------------Reward--------------
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// rewardCalculate 计算本动作的Reward
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public float rewardCalculate()
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{
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float epreward = 0f;
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// 击杀reward判断
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if (enemyKillCount > 0)
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{
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for (int i = 0; i < enemyKillCount; i++)
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{
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epreward += killReward;
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}
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enemyKillCount = 0;
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}
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else
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{
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enemyKillCount = 0;
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}
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// 射击动作reward判断
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epreward += ballistic();
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return epreward;
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}
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// ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
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// env开始执行初始化
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public override void OnEpisodeBegin()
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{
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step = 0;
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if (lockMouse)
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{
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Cursor.lockState = CursorLockMode.Locked; // hide and lock the mouse
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}
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//iniCharts();
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//thisAgentObj.name = thisAgentObj.GetInstanceID().ToString();
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destroyAllEnemys();
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startTime = Time.time;// Reset StartTime as now time
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randomInitAgent();
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randomInitEnemys(enemyNum);
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nowEnemyNum = getEnemyNum(); // Reset Enemy number
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}
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// ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
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// 观察情报
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public override void CollectObservations(VectorSensor sensor)
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{
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//List<float> enemyLDisList = RaySensors.enemyLDisList;// All Enemy Lside Distances
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//List<float> enemyRDisList = RaySensors.enemyRDisList;// All Enemy Rside Distances
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rayScript.updateRayInfo();
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float[] myObserve = { thisAgent.localPosition.x, thisAgent.localPosition.y, thisAgent.localPosition.z, thisAgent.rotation.w };
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float[] rayTagResult = rayScript.rayTagResult;// 探测用RayTag结果 float[](raySensorNum,1)
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float[] rayDisResult = rayScript.rayDisResult; // 探测用RayDis结果 float[](raySensorNum,1)
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//float[] focusEnemyObserve = RaySensors.focusEnemyInfo;// 最近的Enemy情报 float[](3,1) MinEnemyIndex,x,z
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//sensor.AddObservation(allEnemyNum); // 敌人数量 int
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sensor.AddObservation(myObserve); // 自机位置xyz+朝向 float[](4,1)
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sensor.AddObservation(rayTagResult); // 探测用RayTag结果 float[](raySensorNum,1)
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sensor.AddObservation(rayDisResult); // 探测用RayDis结果 float[](raySensorNum,1)
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//sensor.AddObservation(focusEnemyObserve); // 最近的Enemy情报 float[](3,1) MinEnemyIndex,x,z
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//sensor.AddObservation(raySensorNum); // raySensor数量 int
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gunReadyToggle = gunReady();
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sensor.AddObservation(gunReadyToggle); // save gun is ready?
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//sensor.AddObservation(remainTime); // RemainTime int
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}
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// ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
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// agent 输入处理
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public override void OnActionReceived(ActionBuffers actionBuffers)
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{
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//获取输入
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int vertical = actionBuffers.DiscreteActions[0];
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int horizontal = actionBuffers.DiscreteActions[1];
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int mouseShoot = actionBuffers.DiscreteActions[2];
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float Mouse_X = actionBuffers.ContinuousActions[0];
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if (vertical == 2) vertical = -1;
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if (horizontal == 2) horizontal = -1;
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remainTime = (int)(timeLimit - Time.time + startTime);
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//应用输入
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shoot = mouseShoot;
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cameraControl(Mouse_X, 0);
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moveAgent(vertical, horizontal);
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float thisRoundReward = rewardCalculate();
|
||
|
||
//判断结束
|
||
int finished = checkFinish();
|
||
if (finished == 1)
|
||
{
|
||
//Win Finished
|
||
EP += 1;
|
||
SetReward(winReward);
|
||
Debug.Log("reward = " + winReward);
|
||
EndEpisode();
|
||
}
|
||
else if (finished == 2)
|
||
{
|
||
//Lose Finished
|
||
|
||
EP += 1;
|
||
SetReward(loseReward);
|
||
Debug.Log("reward = " + loseReward);
|
||
EndEpisode();
|
||
}
|
||
else
|
||
{
|
||
// game not over yet
|
||
step += 1;
|
||
SetReward(thisRoundReward);
|
||
Debug.Log("reward = " + thisRoundReward);
|
||
}
|
||
}
|
||
|
||
// ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
|
||
// 控制调试
|
||
public override void Heuristic(in ActionBuffers actionsOut)
|
||
{
|
||
//
|
||
//-------------------BUILD
|
||
ActionSegment<float> continuousActions = actionsOut.ContinuousActions;
|
||
ActionSegment<int> discreteActions = actionsOut.DiscreteActions;
|
||
|
||
int vertical = 0;
|
||
int horizontal = 0;
|
||
if (Input.GetKey(KeyCode.W) && !Input.GetKey(KeyCode.S))
|
||
{
|
||
vertical = 1;
|
||
}
|
||
else if (Input.GetKey(KeyCode.S) && !Input.GetKey(KeyCode.W))
|
||
{
|
||
vertical = -1;
|
||
}
|
||
else
|
||
{
|
||
vertical = 0;
|
||
}
|
||
if (Input.GetKey(KeyCode.D) && !Input.GetKey(KeyCode.A))
|
||
{
|
||
horizontal = 1;
|
||
}
|
||
else if (Input.GetKey(KeyCode.A) && !Input.GetKey(KeyCode.D))
|
||
{
|
||
horizontal = -1;
|
||
}
|
||
else
|
||
{
|
||
horizontal = 0;
|
||
}
|
||
|
||
if (Input.GetMouseButton(0))
|
||
{
|
||
// Debug.Log("mousebuttonhit");
|
||
shoot = 1;
|
||
}
|
||
else
|
||
{
|
||
shoot = 0;
|
||
}
|
||
discreteActions[0] = vertical;
|
||
discreteActions[1] = horizontal;
|
||
discreteActions[2] = shoot;
|
||
//^^^^^^^^^^^^^^^^^^^^^discrete-Control^^^^^^^^^^^^^^^^^^^^^^
|
||
|
||
//vvvvvvvvvvvvvvvvvvvvvvvvvvvvvcontinuous-Controlvvvvvvvvvvvvvvvvvvvvvv
|
||
float Mouse_X = Input.GetAxis("Mouse X") * mouseXSensitivity * Time.deltaTime;
|
||
float Mouse_Y = Input.GetAxis("Mouse Y") * mouseYSensitivity * Time.deltaTime;
|
||
continuousActions[0] = Mouse_X;
|
||
//continuousActions[1] = nonReward;
|
||
//continuousActions[2] = shootReward;
|
||
//continuousActions[3] = shootWithoutReadyReward;
|
||
//continuousActions[4] = hitReward;
|
||
//continuousActions[5] = winReward;
|
||
//continuousActions[6] = loseReward;
|
||
//continuousActions[7] = killReward;
|
||
//continuousActions[1] = Mouse_Y;
|
||
//continuousActions[2] = timeLimit;
|
||
//^^^^^^^^^^^^^^^^^^^^^^^^^^^^^continuous-Control^^^^^^^^^^^^^^^^^^^^^^
|
||
|
||
}
|
||
} |