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Krazerleo
2022-05-04 23:50:07 +07:00
parent 290f5515b7
commit c8af0e5284
39 changed files with 720 additions and 359 deletions
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178
Assets/Scripts/Character/NPC.cs
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@ -1,108 +1,170 @@
using System;
using UnityEngine;
using System.Collections.Generic;
using Unity.MLAgents;
using Unity.MLAgents.Sensors;
using Unity.MLAgents.Actuators;
using Unity.MLAgents.Sensors;
using UnityEngine;
[RequireComponent(typeof(MovementController))]
[RequireComponent(typeof(MovementController),typeof(BufferSensor))]
public class NPC : Agent, ICharacter
{
[HideInInspector]
public Character AgentCharacter;
private Character AgentCharacter;
public CharacterCondition Condition;
private FlagZone flagZone;
private FlagZone flagZone = null;
public NPC_BaseState NPC_State { get; private set; }
public INpcBaseState NpcState { get; private set; }
public INpcBaseBodyState NpcBodyState { get; private set; }
public Character GetCharacter => AgentCharacter;
private NPC_DirectPointState DirectState;
private NPC_InCoverState CoverState;
private NPC_RunningState RunningState;
private NpcDirectPointState DirectState;
private NpcInCoverState CoverState;
private NpcRunningState RunningState;
private NpcStandingState StandingState;
private NpcCrouchingState CrouchingState;
private MovementController moveController;
private BufferSensorComponent bufferSensor;
private Dictionary<int, NavPoint> navPointIdDict;
#region UnityEvents and ML
private void Awake()
{
DirectState = new NPC_DirectPointState();
CoverState = new NPC_InCoverState();
RunningState = new NPC_RunningState();
NPC_State = DirectState;
DirectState = new NpcDirectPointState();
CoverState = new NpcInCoverState();
RunningState = new NpcRunningState();
NpcState = DirectState;
CrouchingState = new NpcCrouchingState();
StandingState = new NpcStandingState();
NpcBodyState = StandingState;
AgentCharacter = new Character();
Condition = AgentCharacter.Condition;
moveController = gameObject.GetComponent<MovementController>();
bufferSensor = gameObject.GetComponent<BufferSensorComponent>();
}
public void ResetCharacter()
flagZone = GameObject.FindObjectOfType<FlagZone>();
if (flagZone == null)
Debug.LogError("Flag Is Not Setted");
navPointIdDict = MapManager.IDToNavPoint;
if (navPointIdDict is null)
Debug.LogError("Cant Find Nav Point Dictionary");
}
private void OnDestroy()
{
Condition = new CharacterCondition();
EndEpisode();
Debug.LogWarning("Pooled object was destroyed");
}
public override void OnEpisodeBegin()
{
NPC_State = DirectState;
{
NpcState = DirectState;
flagZone = GameObject.FindObjectOfType<FlagZone>();
}
public override void CollectObservations(VectorSensor sensor)
{
var candidates = moveController.getPointsCandidate();
var candidates = moveController.GetPointsCandidate();
sensor.AddObservation(Condition.HealthPoints);
sensor.AddObservation(Condition.ArmourPoints);
sensor.AddObservation(Condition.Ammunition);
sensor.AddObservation((int)NPC_State.State);
sensor.AddObservation((!flagZone.isNotOccup).ToInt());
//common sensors
sensor.AddObservation(GameManager.IsHaveSeenByEnemy(AgentCharacter.Team.GetOppositeTeam(),
NpcBodyState.GetPointToHit(gameObject)).ToInt());
sensor.AddObservation(AgentCharacter.LastTimeHit);
sensor.AddObservation((!flagZone.IsNotOccup).ToInt());
sensor.AddObservation(Condition.GetHealthPointsInQuantile());
sensor.AddObservation(Condition.GetArmourPointsInQuantile());
sensor.AddObservation(candidates.Count);
sensor.AddObservation(GameManager.IsEnemyNearby(gameObject.transform.position, AgentCharacter.Team));
sensor.AddObservation(moveController.PointStartID);
sensor.AddObservation(moveController.PointEndID);
//state sensors
sensor.AddObservation((int)NpcState.State);
sensor.AddObservation((int)NpcBodyState.State);
sensor.AddObservation(GameManager.IsEnemyNearby(gameObject.transform.position, AgentCharacter.Team));
sensor.AddObservation(navPointIdDict[moveController.PointStartID].DeathAttr);
sensor.AddObservation(navPointIdDict[moveController.PointEndID].DeathAttr);
sensor.AddObservation(moveController.FlagDistance);
//point sensors
foreach (var point in candidates)
{
Debug.Log((float)moveController.CurrentNavPoint.PointId);
bufferSensor.AppendObservation(new float[] {
//1 position in navpointId
(float)moveController.CurrentNavPoint.PointId,
//2 distance to flag
moveController.FlagDistance,
//3 death count in point
moveController.CurrentNavPoint.DeathAttr,
point.DeathAttr,
(int)point.navType,
//4 flagEnemyDistance
GameManager.IsCloserToFlagFromNextNavPoint(point, transform.position).ToInt(),
//5 EnemyVsNavPointDistance
GameManager.IsCloserToEnemyThanToNextNavPoint(point,transform.position, AgentCharacter.Team).ToInt()
});
}
}
public override void Heuristic(in ActionBuffers actionsOut)
{
var discreteActionsOut = actionsOut.DiscreteActions;
if (Input.GetKeyDown(KeyCode.W))
{
discreteActionsOut[0] = 1;
GameManager.IsCloserToEnemyThanToNextNavPoint(point,transform.position, AgentCharacter.Team.GetOppositeTeam()).ToInt(),
//6 Have been seen by enemy in this point
GameManager.IsHaveSeenByEnemy(AgentCharacter.Team.GetOppositeTeam(),
point.Position).ToInt()
});
}
}
public override void OnActionReceived(ActionBuffers actions)
{
if (actions.DiscreteActions[0] == 1)
var result = actions.DiscreteActions;
if (result[0] == 0)
{
moveController.MoveToRandomPoint();
NPC_State = RunningState;
if (navPointIdDict[moveController.PointStartID].navType != NavPointType.Cover)
return;
NpcState = CoverState;
switch (result[1])
{
case 0: Peek(); break;
case 1: Cover(); break;
case 3: Peek(); moveController.GoToNextNavPoint(navPointIdDict[result[2]]); break;
case 4: NpcState = DirectState; break;
default: throw new ArgumentException("Undefined Action recieved");
}
}
if (result[0] == 1)
{
if (navPointIdDict[moveController.PointStartID].navType != NavPointType.Direction)
return;
switch (result[1])
{
case 0: moveController.GoToNextNavPoint(navPointIdDict[result[2]]);
NpcState = RunningState; break;
case 1: NpcState = DirectState; break;
default: throw new ArgumentException("Undefined Action recieved");
}
}
if (result[0] == 2)
{
if (moveController.PointStartID == moveController.PointEndID && moveController.PointEndID != -1)
return;
switch (result[1])
{
case 0: moveController.StopOnPath(); NpcState = DirectState; break;
case 1: moveController.ReturnToStartPoint(); NpcState = RunningState; break;
default: throw new ArgumentException("Undefined Action recieved");
}
}
}
#endregion
public event Action<object> OnKilledEvent;
public event Action<NpcBodyState> OnChangePosition;
private void Peek()
{
OnChangePosition?.Invoke(global::NpcBodyState.Standing);
NpcBodyState = StandingState;
}
private void Cover()
{
OnChangePosition?.Invoke(global::NpcBodyState.Crouching);
NpcBodyState = CrouchingState;
}
public event Action<int, Team> OnDamageRecieved;
public void GetDamage(float damage)
{
AgentCharacter.LastTimeHit = TimeManager.Instance.CurrentTime;
@ -111,13 +173,17 @@ public class NPC : Agent, ICharacter
if (Condition.HealthPoints < 0)
{
OnKilledEvent?.Invoke(this);
moveController.CurrentNavPoint.DeathAttr += 1;
MapManager.AddDeathAttributeToPoints(moveController.PointStartID, moveController.PointEndID,
moveController.DistanceToGo, moveController.RemainingDistance);
var pos = gameObject.transform.position;
var id = moveController.PointStartID;
CharacterFactory.Instance.ReSpawn(this, ref pos, ref id);
}
}
private void OnDestroy()
public void ResetCharacter()
{
Debug.LogWarning("Pooled object was destroyed");
Condition.Reset();
EndEpisode();
}
}