654 lines
25 KiB
C#
654 lines
25 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using Unity.MLAgents;
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using Unity.MLAgents.Actuators;
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using Unity.MLAgents.Sensors;
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using UnityEngine;
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/*TODO:
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√tag 攻击排他
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√通用HP 系统
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环境tag修正？
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以tag重置环境修正
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Agent死亡时待机处理*/
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public class AgentWithGun : Agent
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{
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public GameObject parameterContainerObj;
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public GameObject environmentObj;
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public GameObject enemyContainerObj;
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public GameObject sceneBlockContainerObj;
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public GameObject environmentUIControlObj;
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public GameObject targetControllerObj;
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public GameObject HUDObj;
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public Camera thisCam;
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[Header("GetAxis() Simulate")]
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public float moveSpeed = 9.0f;
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public float vX = 0f;
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public float vZ = 0f;
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public Vector3 thisMovement;
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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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[Header("Env")]
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public bool oneHotRayTag = true;
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private List<float> spinRecord = new List<float>();
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private bool lockMouse;
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private float damage;
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private float fireRate;
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private int enemyNum;
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private bool lockCameraX;
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private bool lockCameraY;
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// environment
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private int shoot = 0;
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private float lastShootTime = 0.0f;
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private int enemyKillCount = 0;
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private Vector3 killEnemyPosition;
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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 string myTag = "";
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private float lastEnemyFacingDistance = 0f; // record last enemy facing minimum distance
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private float lastTargetFacingDistance = 0f; // record last target facing minimum distance
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// scripts
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private RaySensors raySensors;
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private CharacterController playerController;
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private EnvironmentUIControl envUICon;
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private ParameterContainer paramContainer;
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private SceneBlockContainer blockContainer;
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private EnemyContainer eneContainer;
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private TargetController targetCon;
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private HUDController hudController;
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private StartSeneData startSceneData;
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// observation
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private float[] myObserve = new float[4];
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private float[] rayTagResult;
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private float[] rayTagResultOnehot;
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private float[] rayDisResult;
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private float[] targetStates;
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private float remainTime;
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private float inAreaState;
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[System.NonSerialized] public int finishedState;
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// start scene datas 0=train 1=play
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private int gamemode;
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private void Start()
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{
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// initialize startSceneData & datas
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// while GameObject StartSceneDataTransfer is exist
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try
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{
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startSceneData = GameObject.Find("StartSceneDataTransfer").GetComponent<StartSeneData>();
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gamemode = startSceneData.gamemode;
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}
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// while GameObject StartSceneDataTransfer is not exist
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catch
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{
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Debug.LogError("Run WithOut StartScreen");
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gamemode = 1;
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}
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// initialize scripts
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paramContainer = parameterContainerObj.GetComponent<ParameterContainer>();
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eneContainer = enemyContainerObj.GetComponent<EnemyContainer>();
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blockContainer = sceneBlockContainerObj.GetComponent<SceneBlockContainer>();
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envUICon = environmentUIControlObj.GetComponent<EnvironmentUIControl>();
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targetCon = targetControllerObj.GetComponent<TargetController>();
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hudController = HUDObj.GetComponent<HUDController>();
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raySensors = GetComponent<RaySensors>();
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playerController = this.transform.GetComponent<CharacterController>();
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// initialize Environment parameters
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lockMouse = paramContainer.lockMouse;
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damage = paramContainer.damage;
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fireRate = paramContainer.fireRate;
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enemyNum = hudController.enemyNum;
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lockCameraX = paramContainer.lockCameraX;
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lockCameraY = paramContainer.lockCameraY;
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// initialize remainTime
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// this agent's tag
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myTag = gameObject.tag;
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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);
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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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if (thisMovement.magnitude > moveSpeed)
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{
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thisMovement = thisMovement.normalized * moveSpeed;
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}
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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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transform.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 KillRecord(Vector3 thiskillEnemyPosition)
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{
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enemyKillCount += 1;
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killEnemyPosition = thiskillEnemyPosition;
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}
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// check gun is ready to shoot
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private 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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private 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 != myTag && hit.collider.tag != "Wall")
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{
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// kill enemy
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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<States>().ReactToHit(damage, gameObject);
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shoot = 0;
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return targetCon.HitEnemyReward(gotHitObj.transform.position);
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}
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}
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if (targetCon.targetTypeInt == (int)SceneBlockContainer.Targets.Attack)
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{
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// while if attack mode
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float targetDis = Vector3.Distance(blockContainer.thisBlock.transform.position, transform.position);
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if (targetDis <= raySensors.viewDistance)
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{
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// Debug.DrawRay(new Vector3(0,0,0), viewPoint, Color.red);
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if (Vector3.Distance(ray.origin + (ray.direction * targetDis), blockContainer.thisBlock.transform.position) <= blockContainer.thisBlock.firebasesAreaDiameter / 2)
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{
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// im shooting at target but didn't hit enemy
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// Debug.DrawRay(ray.origin, viewPoint-ray.origin, Color.blue);
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return paramContainer.shootTargetAreaReward;
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}
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}
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}
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shoot = 0;
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return paramContainer.shootReward;
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}
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else if (shoot != 0 && gunReadyToggle == false)
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{
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// shoot without ready
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shoot = 0;
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return paramContainer.shootWithoutReadyReward;
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}
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else
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{
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// do not shoot
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shoot = 0;
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return paramContainer.nonReward;
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}
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}
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private float FacingReward()
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{
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float thisReward = 0;
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bool isFacingtoEnemy = false;
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float enemyFacingDistance = 0f;
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Ray ray = thisCam.ScreenPointToRay(new Vector3(thisCam.pixelWidth / 2, thisCam.pixelHeight / 2, 0));
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if (targetCon.targetTypeInt == (int)SceneBlockContainer.Targets.Free)
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{
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//free mode
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RaycastHit hit;
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if (Physics.Raycast(ray, out hit, 100))
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{
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// facing to an enemy
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if (hit.collider.tag != myTag && hit.collider.tag != "Wall")
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{
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thisReward = paramContainer.facingReward;
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isFacingtoEnemy = true;
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}
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}
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if (raySensors.inViewEnemies.Count > 0 && !isFacingtoEnemy)
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{
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// have enemy in view
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List<float> projectionDis = new List<float>();
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foreach (GameObject thisEnemy in raySensors.inViewEnemies)
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{
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// for each enemy in view
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Vector3 projection = Vector3.Project(thisEnemy.transform.position - transform.position, (ray.direction * 10));
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Vector3 verticalToRay = transform.position + projection - thisEnemy.transform.position;
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projectionDis.Add(verticalToRay.magnitude);
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// Debug.Log("enemy!" + verticalToRay.magnitude);
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// Debug.DrawRay(transform.position, (ray.direction * 100), Color.cyan);
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// Debug.DrawRay(transform.position, thisEnemy.transform.position - transform.position, Color.yellow);
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// Debug.DrawRay(transform.position, projection, Color.blue);
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// Debug.DrawRay(thisEnemy.transform.position, verticalToRay, Color.magenta);
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}
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enemyFacingDistance = projectionDis.Min();
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if (enemyFacingDistance <= lastEnemyFacingDistance)
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{
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// closing to enemy
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thisReward = 1 / MathF.Sqrt(paramContainer.facingInviewEnemyDisCOEF * enemyFacingDistance + 0.00001f);
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}
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else
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{
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thisReward = 0;
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}
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// enemy in view Reward
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lastEnemyFacingDistance = enemyFacingDistance;
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if (thisReward >= paramContainer.facingReward) thisReward = paramContainer.facingReward; // limit
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if (thisReward <= -paramContainer.facingReward) thisReward = -paramContainer.facingReward; // limit
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// Debug.Log("ninimum = " + thisReward);
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}
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}
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else if (targetCon.targetTypeInt == (int)SceneBlockContainer.Targets.Attack)
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{
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// attack mode
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// Target to Agent distance
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float targetDis = Vector3.Distance(blockContainer.thisBlock.transform.position, transform.position);
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// center of screen between target's distance
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float camCenterToTarget = Vector3.Distance(ray.origin + (ray.direction * targetDis), blockContainer.thisBlock.transform.position);
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if (targetDis <= raySensors.viewDistance)
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{
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// Debug.DrawRay(new Vector3(0,0,0), viewPoint, Color.red);
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// while center of screen between target's distance is lower than firebasesAreaDiameter
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// while facing to target
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if (camCenterToTarget <= blockContainer.thisBlock.firebasesAreaDiameter / 2)
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{
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// Debug.DrawRay(ray.origin, viewPoint-ray.origin, Color.blue);
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thisReward = paramContainer.facingReward;
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}
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else
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{
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// while not facing to target
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thisReward = (lastTargetFacingDistance - camCenterToTarget) * paramContainer.facingTargetReward;
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}
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}
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// update lastTargetFacingDistance
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lastTargetFacingDistance = camCenterToTarget;
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}
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return thisReward;
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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(float sceneReward, float mouseX, float movement)
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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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// get
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epreward += targetCon.KillReward(killEnemyPosition);
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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() + sceneReward;
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// facing reward
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epreward += FacingReward();
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// Penalty
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// spin penalty
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spinRecord.Add(mouseX);
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if (spinRecord.Count >= paramContainer.spinRecordMax)
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{
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spinRecord.RemoveAt(0);
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}
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float spinPenaltyReward = Math.Abs(spinRecord.ToArray().Sum() * paramContainer.spinPenalty);
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if (spinPenaltyReward >= paramContainer.spinPenaltyThreshold)
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{
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epreward -= spinPenaltyReward;
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}
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else
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{
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epreward -= Math.Abs(mouseX) * paramContainer.mousePenalty;
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}
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// move penalty
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if (movement != 0)
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{
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epreward -= paramContainer.movePenalty;
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}
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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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Debug.LogWarning("GameState|START TEST!");
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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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paramContainer.ResetTimeBonusReward();
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//thisAgentObj.name = thisAgentObj.GetInstanceID().ToString();
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if (gamemode == 0)
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{
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// train mode
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targetCon.RollNewScene();
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}
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else
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{
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// play mode
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targetCon.PlayInitialize();
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}
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// give default Reward to Reward value will be used.
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if (hudController.chartOn)
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{
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envUICon.InitChart();
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}
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raySensors.UpdateRayInfo(); // update raycast
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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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/**myObserve[0] = transform.localPosition.x / raySensors.viewDistance;
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myObserve[1] = transform.localPosition.y / raySensors.viewDistance;
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myObserve[2] = transform.localPosition.z / raySensors.viewDistance;
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myObserve[3] = transform.eulerAngles.y / 360f;**/
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myObserve[0] = transform.localPosition.x;
|
||
myObserve[1] = transform.localPosition.y;
|
||
myObserve[2] = transform.localPosition.z;
|
||
myObserve[3] = transform.eulerAngles.y / 36f;
|
||
rayTagResult = raySensors.rayTagResult;// 探测用RayTag结果 float[](raySensorNum,1)
|
||
rayTagResultOnehot = raySensors.rayTagResultOneHot.ToArray(); // 探测用RayTagonehot结果 List<int>[](raySensorNum*Tags,1)
|
||
rayDisResult = raySensors.rayDisResult; // 探测用RayDis结果 float[](raySensorNum,1)
|
||
targetStates = targetCon.targetState; // (6) targettype, target x,y,z, firebasesAreaDiameter
|
||
remainTime = targetCon.leftTime;
|
||
inAreaState = targetCon.GetInAreaState();
|
||
gunReadyToggle = GunReady();
|
||
//float[] focusEnemyObserve = RaySensors.focusEnemyInfo;// 最近的Enemy情报 float[](3,1) MinEnemyIndex,x,z
|
||
|
||
//sensor.AddObservation(allEnemyNum); // 敌人数量 int
|
||
sensor.AddObservation(targetStates);// (6) targettype, target x,y,z, firebasesAreaDiameter
|
||
sensor.AddObservation(inAreaState); // (1)
|
||
sensor.AddObservation(remainTime); // (1)
|
||
sensor.AddObservation(gunReadyToggle); // (1) save gun is ready?
|
||
sensor.AddObservation(myObserve); // (4)自机位置xyz+朝向 float[](4,1)
|
||
if (oneHotRayTag)
|
||
{
|
||
sensor.AddObservation(rayTagResultOnehot); // 探测用RayTag结果 float[](raySensorNum,1)
|
||
}
|
||
else
|
||
{
|
||
sensor.AddObservation(rayTagResult);
|
||
}
|
||
sensor.AddObservation(rayDisResult); // 探测用RayDis结果 float[](raySensorNum,1)
|
||
envUICon.UpdateStateText(targetStates, inAreaState, remainTime, gunReadyToggle, myObserve, rayTagResultOnehot, rayDisResult);
|
||
/*foreach(float aaa in rayDisResult)
|
||
{
|
||
Debug.Log(aaa);
|
||
}
|
||
Debug.LogWarning("------------");*/
|
||
//sensor.AddObservation(focusEnemyObserve); // 最近的Enemy情报 float[](3,1) MinEnemyIndex,x,z
|
||
//sensor.AddObservation(raySensorNum); // raySensor数量 int
|
||
//sensor.AddObservation(remainTime); // RemainTime int
|
||
}
|
||
|
||
// ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
|
||
// agent 输入处理
|
||
public override void OnActionReceived(ActionBuffers actionBuffers)
|
||
{
|
||
//获取输入
|
||
int vertical = actionBuffers.DiscreteActions[0];
|
||
int horizontal = actionBuffers.DiscreteActions[1];
|
||
int mouseShoot = actionBuffers.DiscreteActions[2];
|
||
float Mouse_X = actionBuffers.ContinuousActions[0];
|
||
if (vertical == 2) vertical = -1;
|
||
if (horizontal == 2) horizontal = -1;
|
||
|
||
//应用输入
|
||
shoot = mouseShoot;
|
||
CameraControl(Mouse_X, 0);
|
||
MoveAgent(vertical, horizontal);
|
||
raySensors.UpdateRayInfo(); // update raycast
|
||
|
||
//判断结束
|
||
float sceneReward = 0f;
|
||
float endReward = 0f;
|
||
(finishedState, sceneReward, endReward) = targetCon.CheckOverAndRewards();
|
||
float thisRoundReward = RewardCalculate(sceneReward + endReward, Mouse_X, Math.Abs(vertical) + Math.Abs(horizontal));
|
||
if (hudController.chartOn)
|
||
{
|
||
envUICon.UpdateChart(thisRoundReward);
|
||
}
|
||
else
|
||
{
|
||
envUICon.RemoveChart();
|
||
}
|
||
//Debug.Log("reward = " + thisRoundReward);
|
||
if (finishedState != (int)TargetController.EndType.Running)
|
||
{
|
||
// Win or lose Finished
|
||
Debug.Log("Finish reward = " + thisRoundReward);
|
||
EP += 1;
|
||
string targetString = Enum.GetName(typeof(SceneBlockContainer.Targets), targetCon.targetTypeInt);
|
||
switch (finishedState)
|
||
{
|
||
case (int)TargetController.EndType.Win:
|
||
Debug.LogWarning("Result|" + targetString + "|Win");
|
||
break;
|
||
|
||
case (int)TargetController.EndType.Lose:
|
||
Debug.LogWarning("Result|" + targetString + "|Lose");
|
||
break;
|
||
|
||
default:
|
||
Debug.LogWarning("TypeError");
|
||
break;
|
||
}
|
||
SetReward(thisRoundReward);
|
||
EndEpisode();
|
||
}
|
||
else
|
||
{
|
||
// game not over yet
|
||
step += 1;
|
||
}
|
||
SetReward(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^^^^^^^^^^^^^^^^^^^^^^
|
||
}
|
||
} |