Koha9
f9b806de02
add new reward function in attack mode calculate distance between closest enemy and facing center line. let agent could spawn in whole map area. add penalty while mouseX is moving.
593 lines
22 KiB
C#
593 lines
22 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 System.Linq;
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using System.Drawing;
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using Color = UnityEngine.Color;
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using static TargetController;
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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 Camera thisCam;
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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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[Header("Env")]
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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 nowEnemyNum = 0;
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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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// scripts
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private RaySensors rayScript;
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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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[System.NonSerialized] public int finishedState;
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private void Start()
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{
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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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rayScript = GetComponent<RaySensors>();
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PlayerController = this.transform.GetComponent<CharacterController>();
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// 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 = paramContainer.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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/* ----------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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// ------------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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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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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 != 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)TargetController.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 <= rayScript.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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float facingReward()
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{
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float thisReward = 0;
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bool isFacingtoEnemy = false;
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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)TargetController.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 (rayScript.inViewEnemies.Count > 0 && !isFacingtoEnemy) {
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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 rayScript.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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// enemy in view Reward
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thisReward = 1 / MathF.Sqrt(paramContainer.facingInviewEnemyDisCOEF* projectionDis.Min()+0.00001f);
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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)TargetController.Targets.Attack)
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{
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// attack mode
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float targetDis = Vector3.Distance(blockContainer.thisBlock.transform.position, transform.position);
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if(targetDis <= rayScript.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 watching target
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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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}
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}
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return thisReward;
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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 = transform.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(float sceneReward,float mouseX)
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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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// 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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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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//thisAgentObj.name = thisAgentObj.GetInstanceID().ToString();
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targetCon.rollNewScene();
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paramContainer.resetTimeBonusReward();
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nowEnemyNum = getEnemyNum(); // Reset Enemy number
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// give default Reward to Reward value will be used.
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if (paramContainer.chartOn)
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{
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EnvUICon.initChart();
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}
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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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float[] myObserve = { transform.localPosition.x, transform.localPosition.y, transform.localPosition.z, transform.eulerAngles.y };
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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[] targetStates = targetCon.targetState; // (6) targettype, target x,y,z, firebasesAreaDiameter
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float remainTime = targetCon.leftTime;
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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(targetStates);// (6) targettype, target x,y,z, firebasesAreaDiameter
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sensor.AddObservation(targetCon.getInAreaState()); // (1)
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sensor.AddObservation(remainTime); // (1)
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sensor.AddObservation(gunReadyToggle); //(1) save gun is ready?
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sensor.AddObservation(myObserve); // (4)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
|
||
//sensor.AddObservation(raySensorNum); // raySensor数量 int
|
||
gunReadyToggle = gunReady();
|
||
//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);
|
||
rayScript.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);
|
||
if (paramContainer.chartOn)
|
||
{
|
||
EnvUICon.updateChart(thisRoundReward);
|
||
}
|
||
//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(TargetController.Targets), targetCon.targetTypeInt);
|
||
switch (finishedState)
|
||
{
|
||
case (int)TargetController.EndType.Win:
|
||
Debug.LogWarning(targetString+"|Win");
|
||
break;
|
||
case (int)TargetController.EndType.Lose:
|
||
Debug.LogWarning(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^^^^^^^^^^^^^^^^^^^^^^
|
||
|
||
}
|
||
} |