real-shooter/Assets/Scripts/Character/NPC.cs

using System;
using System.Collections.Generic;
using Unity.MLAgents;
using Unity.MLAgents.Actuators;
using Unity.MLAgents.Sensors;
using UnityEngine;

[RequireComponent(typeof(MovementController),typeof(BufferSensor))]
public class NPC : Agent, ICharacter
{
    [HideInInspector]
    private Character AgentCharacter;
    public CharacterCondition Condition;
    private FlagZone flagZone = null;

    public INpcBaseState NpcState { get; private set; }
    public INpcBaseBodyState NpcBodyState { get; private set; }

    public Character GetCharacter => AgentCharacter;

    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 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>();

        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()
    {
        Debug.LogWarning("Pooled object was destroyed");
    }

    public override void OnEpisodeBegin()
    {
        NpcState = DirectState;
        flagZone = GameObject.FindObjectOfType<FlagZone>();
    }

    public override void CollectObservations(VectorSensor sensor)
    {
        var candidates = moveController.GetPointsCandidate();

        //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(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)
        {
            bufferSensor.AppendObservation(new float[] {
                point.DeathAttr,
                (int)point.navType,
                //4 flagEnemyDistance
                GameManager.IsCloserToFlagFromNextNavPoint(point, transform.position).ToInt(),
                //5 EnemyVsNavPointDistance
                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)
    {
        var result = actions.DiscreteActions;
        if (result[0] == 0)
        {
            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<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;
        Condition.GiveHealth(-Mathf.RoundToInt(damage * (1 - Condition.ArmourPoints * 0.5f)));
        Condition.GiveArmour(-Mathf.RoundToInt(Mathf.Sqrt(damage) * 5));

        if (Condition.HealthPoints < 0)
        {
            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);
        }
    }

    public void ResetCharacter()
    {
        Condition.Reset();
        EndEpisode();
    }
}