载具测试修改
Liyizhen
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6816bd83f9
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35e937dbf5
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File diff suppressed because one or more lines are too long
|
|
@ -1,298 +1,298 @@
|
|||
using KartGame.KartSystems;
|
||||
using Unity.MLAgents;
|
||||
using Unity.MLAgents.Sensors;
|
||||
using Unity.MLAgents.Actuators;
|
||||
using UnityEngine;
|
||||
using Random = UnityEngine.Random;
|
||||
// using KartGame.KartSystems;
|
||||
// using Unity.MLAgents;
|
||||
// using Unity.MLAgents.Sensors;
|
||||
// using Unity.MLAgents.Actuators;
|
||||
// using UnityEngine;
|
||||
// using Random = UnityEngine.Random;
|
||||
|
||||
namespace KartGame.AI
|
||||
{
|
||||
/// <summary>
|
||||
/// Sensors hold information such as the position of rotation of the origin of the raycast and its hit threshold
|
||||
/// to consider a "crash".
|
||||
/// </summary>
|
||||
[System.Serializable]
|
||||
public struct Sensor
|
||||
{
|
||||
public Transform Transform;
|
||||
public float RayDistance;
|
||||
public float HitValidationDistance;
|
||||
}
|
||||
// namespace KartGame.AI
|
||||
// {
|
||||
// /// <summary>
|
||||
// /// Sensors hold information such as the position of rotation of the origin of the raycast and its hit threshold
|
||||
// /// to consider a "crash".
|
||||
// /// </summary>
|
||||
// [System.Serializable]
|
||||
// public struct Sensor
|
||||
// {
|
||||
// public Transform Transform;
|
||||
// public float RayDistance;
|
||||
// public float HitValidationDistance;
|
||||
// }
|
||||
|
||||
/// <summary>
|
||||
/// We only want certain behaviours when the agent runs.
|
||||
/// Training would allow certain functions such as OnAgentReset() be called and execute, while Inferencing will
|
||||
/// assume that the agent will continuously run and not reset.
|
||||
/// </summary>
|
||||
public enum AgentMode
|
||||
{
|
||||
Training,
|
||||
Inferencing
|
||||
}
|
||||
// /// <summary>
|
||||
// /// We only want certain behaviours when the agent runs.
|
||||
// /// Training would allow certain functions such as OnAgentReset() be called and execute, while Inferencing will
|
||||
// /// assume that the agent will continuously run and not reset.
|
||||
// /// </summary>
|
||||
// public enum AgentMode
|
||||
// {
|
||||
// Training,
|
||||
// Inferencing
|
||||
// }
|
||||
|
||||
/// <summary>
|
||||
/// The KartAgent will drive the inputs for the KartController.
|
||||
/// </summary>
|
||||
public class KartAgent : Agent, IInput
|
||||
{
|
||||
#region Training Modes
|
||||
[Tooltip("Are we training the agent or is the agent production ready?")]
|
||||
public AgentMode Mode = AgentMode.Training;
|
||||
[Tooltip("What is the initial checkpoint the agent will go to? This value is only for inferencing.")]
|
||||
public ushort InitCheckpointIndex;
|
||||
// /// <summary>
|
||||
// /// The KartAgent will drive the inputs for the KartController.
|
||||
// /// </summary>
|
||||
// public class KartAgent : Agent, IInput
|
||||
// {
|
||||
// #region Training Modes
|
||||
// [Tooltip("Are we training the agent or is the agent production ready?")]
|
||||
// public AgentMode Mode = AgentMode.Training;
|
||||
// [Tooltip("What is the initial checkpoint the agent will go to? This value is only for inferencing.")]
|
||||
// public ushort InitCheckpointIndex;
|
||||
|
||||
#endregion
|
||||
// #endregion
|
||||
|
||||
#region Senses
|
||||
[Header("Observation Params")]
|
||||
[Tooltip("What objects should the raycasts hit and detect?")]
|
||||
public LayerMask Mask;
|
||||
[Tooltip("Sensors contain ray information to sense out the world, you can have as many sensors as you need.")]
|
||||
public Sensor[] Sensors;
|
||||
[Header("Checkpoints"), Tooltip("What are the series of checkpoints for the agent to seek and pass through?")]
|
||||
public Collider[] Colliders;
|
||||
[Tooltip("What layer are the checkpoints on? This should be an exclusive layer for the agent to use.")]
|
||||
public LayerMask CheckpointMask;
|
||||
// #region Senses
|
||||
// [Header("Observation Params")]
|
||||
// [Tooltip("What objects should the raycasts hit and detect?")]
|
||||
// public LayerMask Mask;
|
||||
// [Tooltip("Sensors contain ray information to sense out the world, you can have as many sensors as you need.")]
|
||||
// public Sensor[] Sensors;
|
||||
// [Header("Checkpoints"), Tooltip("What are the series of checkpoints for the agent to seek and pass through?")]
|
||||
// public Collider[] Colliders;
|
||||
// [Tooltip("What layer are the checkpoints on? This should be an exclusive layer for the agent to use.")]
|
||||
// public LayerMask CheckpointMask;
|
||||
|
||||
[Space]
|
||||
[Tooltip("Would the agent need a custom transform to be able to raycast and hit the track? " +
|
||||
"If not assigned, then the root transform will be used.")]
|
||||
public Transform AgentSensorTransform;
|
||||
#endregion
|
||||
// [Space]
|
||||
// [Tooltip("Would the agent need a custom transform to be able to raycast and hit the track? " +
|
||||
// "If not assigned, then the root transform will be used.")]
|
||||
// public Transform AgentSensorTransform;
|
||||
// #endregion
|
||||
|
||||
#region Rewards
|
||||
[Header("Rewards"), Tooltip("What penatly is given when the agent crashes?")]
|
||||
public float HitPenalty = -1f;
|
||||
[Tooltip("How much reward is given when the agent successfully passes the checkpoints?")]
|
||||
public float PassCheckpointReward;
|
||||
[Tooltip("Should typically be a small value, but we reward the agent for moving in the right direction.")]
|
||||
public float TowardsCheckpointReward;
|
||||
[Tooltip("Typically if the agent moves faster, we want to reward it for finishing the track quickly.")]
|
||||
public float SpeedReward;
|
||||
[Tooltip("Reward the agent when it keeps accelerating")]
|
||||
public float AccelerationReward;
|
||||
#endregion
|
||||
// #region Rewards
|
||||
// [Header("Rewards"), Tooltip("What penatly is given when the agent crashes?")]
|
||||
// public float HitPenalty = -1f;
|
||||
// [Tooltip("How much reward is given when the agent successfully passes the checkpoints?")]
|
||||
// public float PassCheckpointReward;
|
||||
// [Tooltip("Should typically be a small value, but we reward the agent for moving in the right direction.")]
|
||||
// public float TowardsCheckpointReward;
|
||||
// [Tooltip("Typically if the agent moves faster, we want to reward it for finishing the track quickly.")]
|
||||
// public float SpeedReward;
|
||||
// [Tooltip("Reward the agent when it keeps accelerating")]
|
||||
// public float AccelerationReward;
|
||||
// #endregion
|
||||
|
||||
#region ResetParams
|
||||
[Header("Inference Reset Params")]
|
||||
[Tooltip("What is the unique mask that the agent should detect when it falls out of the track?")]
|
||||
public LayerMask OutOfBoundsMask;
|
||||
[Tooltip("What are the layers we want to detect for the track and the ground?")]
|
||||
public LayerMask TrackMask;
|
||||
[Tooltip("How far should the ray be when casted? For larger karts - this value should be larger too.")]
|
||||
public float GroundCastDistance;
|
||||
#endregion
|
||||
// #region ResetParams
|
||||
// [Header("Inference Reset Params")]
|
||||
// [Tooltip("What is the unique mask that the agent should detect when it falls out of the track?")]
|
||||
// public LayerMask OutOfBoundsMask;
|
||||
// [Tooltip("What are the layers we want to detect for the track and the ground?")]
|
||||
// public LayerMask TrackMask;
|
||||
// [Tooltip("How far should the ray be when casted? For larger karts - this value should be larger too.")]
|
||||
// public float GroundCastDistance;
|
||||
// #endregion
|
||||
|
||||
#region Debugging
|
||||
[Header("Debug Option")] [Tooltip("Should we visualize the rays that the agent draws?")]
|
||||
public bool ShowRaycasts;
|
||||
#endregion
|
||||
// #region Debugging
|
||||
// [Header("Debug Option")] [Tooltip("Should we visualize the rays that the agent draws?")]
|
||||
// public bool ShowRaycasts;
|
||||
// #endregion
|
||||
|
||||
ArcadeKart m_Kart;
|
||||
bool m_Acceleration;
|
||||
bool m_Brake;
|
||||
float m_Steering;
|
||||
int m_CheckpointIndex;
|
||||
// ArcadeKart m_Kart;
|
||||
// bool m_Acceleration;
|
||||
// bool m_Brake;
|
||||
// float m_Steering;
|
||||
// int m_CheckpointIndex;
|
||||
|
||||
bool m_EndEpisode;
|
||||
float m_LastAccumulatedReward;
|
||||
// bool m_EndEpisode;
|
||||
// float m_LastAccumulatedReward;
|
||||
|
||||
void Awake()
|
||||
{
|
||||
m_Kart = GetComponent<ArcadeKart>();
|
||||
if (AgentSensorTransform == null) AgentSensorTransform = transform;
|
||||
}
|
||||
// void Awake()
|
||||
// {
|
||||
// m_Kart = GetComponent<ArcadeKart>();
|
||||
// if (AgentSensorTransform == null) AgentSensorTransform = transform;
|
||||
// }
|
||||
|
||||
void Start()
|
||||
{
|
||||
// If the agent is training, then at the start of the simulation, pick a random checkpoint to train the agent.
|
||||
OnEpisodeBegin();
|
||||
// void Start()
|
||||
// {
|
||||
// // If the agent is training, then at the start of the simulation, pick a random checkpoint to train the agent.
|
||||
// OnEpisodeBegin();
|
||||
|
||||
if (Mode == AgentMode.Inferencing) m_CheckpointIndex = InitCheckpointIndex;
|
||||
}
|
||||
// if (Mode == AgentMode.Inferencing) m_CheckpointIndex = InitCheckpointIndex;
|
||||
// }
|
||||
|
||||
void Update()
|
||||
{
|
||||
if (m_EndEpisode)
|
||||
{
|
||||
m_EndEpisode = false;
|
||||
AddReward(m_LastAccumulatedReward);
|
||||
EndEpisode();
|
||||
OnEpisodeBegin();
|
||||
}
|
||||
}
|
||||
// void Update()
|
||||
// {
|
||||
// if (m_EndEpisode)
|
||||
// {
|
||||
// m_EndEpisode = false;
|
||||
// AddReward(m_LastAccumulatedReward);
|
||||
// EndEpisode();
|
||||
// OnEpisodeBegin();
|
||||
// }
|
||||
// }
|
||||
|
||||
void LateUpdate()
|
||||
{
|
||||
switch (Mode)
|
||||
{
|
||||
case AgentMode.Inferencing:
|
||||
if (ShowRaycasts)
|
||||
Debug.DrawRay(transform.position, Vector3.down * GroundCastDistance, Color.cyan);
|
||||
// void LateUpdate()
|
||||
// {
|
||||
// switch (Mode)
|
||||
// {
|
||||
// case AgentMode.Inferencing:
|
||||
// if (ShowRaycasts)
|
||||
// Debug.DrawRay(transform.position, Vector3.down * GroundCastDistance, Color.cyan);
|
||||
|
||||
// We want to place the agent back on the track if the agent happens to launch itself outside of the track.
|
||||
if (Physics.Raycast(transform.position + Vector3.up, Vector3.down, out var hit, GroundCastDistance, TrackMask)
|
||||
&& ((1 << hit.collider.gameObject.layer) & OutOfBoundsMask) > 0)
|
||||
{
|
||||
// Reset the agent back to its last known agent checkpoint
|
||||
var checkpoint = Colliders[m_CheckpointIndex].transform;
|
||||
transform.localRotation = checkpoint.rotation;
|
||||
transform.position = checkpoint.position;
|
||||
m_Kart.Rigidbody.velocity = default;
|
||||
m_Steering = 0f;
|
||||
m_Acceleration = m_Brake = false;
|
||||
}
|
||||
// // We want to place the agent back on the track if the agent happens to launch itself outside of the track.
|
||||
// if (Physics.Raycast(transform.position + Vector3.up, Vector3.down, out var hit, GroundCastDistance, TrackMask)
|
||||
// && ((1 << hit.collider.gameObject.layer) & OutOfBoundsMask) > 0)
|
||||
// {
|
||||
// // Reset the agent back to its last known agent checkpoint
|
||||
// var checkpoint = Colliders[m_CheckpointIndex].transform;
|
||||
// transform.localRotation = checkpoint.rotation;
|
||||
// transform.position = checkpoint.position;
|
||||
// m_Kart.Rigidbody.velocity = default;
|
||||
// m_Steering = 0f;
|
||||
// m_Acceleration = m_Brake = false;
|
||||
// }
|
||||
|
||||
break;
|
||||
}
|
||||
}
|
||||
// break;
|
||||
// }
|
||||
// }
|
||||
|
||||
void OnTriggerEnter(Collider other)
|
||||
{
|
||||
var maskedValue = 1 << other.gameObject.layer;
|
||||
var triggered = maskedValue & CheckpointMask;
|
||||
// void OnTriggerEnter(Collider other)
|
||||
// {
|
||||
// var maskedValue = 1 << other.gameObject.layer;
|
||||
// var triggered = maskedValue & CheckpointMask;
|
||||
|
||||
FindCheckpointIndex(other, out var index);
|
||||
// FindCheckpointIndex(other, out var index);
|
||||
|
||||
// Ensure that the agent touched the checkpoint and the new index is greater than the m_CheckpointIndex.
|
||||
if (triggered > 0 && index > m_CheckpointIndex || index == 0 && m_CheckpointIndex == Colliders.Length - 1)
|
||||
{
|
||||
AddReward(PassCheckpointReward);
|
||||
m_CheckpointIndex = index;
|
||||
}
|
||||
}
|
||||
// // Ensure that the agent touched the checkpoint and the new index is greater than the m_CheckpointIndex.
|
||||
// if (triggered > 0 && index > m_CheckpointIndex || index == 0 && m_CheckpointIndex == Colliders.Length - 1)
|
||||
// {
|
||||
// AddReward(PassCheckpointReward);
|
||||
// m_CheckpointIndex = index;
|
||||
// }
|
||||
// }
|
||||
|
||||
void FindCheckpointIndex(Collider checkPoint, out int index)
|
||||
{
|
||||
for (int i = 0; i < Colliders.Length; i++)
|
||||
{
|
||||
if (Colliders[i].GetInstanceID() == checkPoint.GetInstanceID())
|
||||
{
|
||||
index = i;
|
||||
return;
|
||||
}
|
||||
}
|
||||
index = -1;
|
||||
}
|
||||
// void FindCheckpointIndex(Collider checkPoint, out int index)
|
||||
// {
|
||||
// for (int i = 0; i < Colliders.Length; i++)
|
||||
// {
|
||||
// if (Colliders[i].GetInstanceID() == checkPoint.GetInstanceID())
|
||||
// {
|
||||
// index = i;
|
||||
// return;
|
||||
// }
|
||||
// }
|
||||
// index = -1;
|
||||
// }
|
||||
|
||||
float Sign(float value)
|
||||
{
|
||||
if (value > 0)
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
if (value < 0)
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
// float Sign(float value)
|
||||
// {
|
||||
// if (value > 0)
|
||||
// {
|
||||
// return 1;
|
||||
// }
|
||||
// if (value < 0)
|
||||
// {
|
||||
// return -1;
|
||||
// }
|
||||
// return 0;
|
||||
// }
|
||||
|
||||
public override void CollectObservations(VectorSensor sensor)
|
||||
{
|
||||
sensor.AddObservation(m_Kart.LocalSpeed());
|
||||
// public override void CollectObservations(VectorSensor sensor)
|
||||
// {
|
||||
// sensor.AddObservation(m_Kart.LocalSpeed());
|
||||
|
||||
// Add an observation for direction of the agent to the next checkpoint.
|
||||
var next = (m_CheckpointIndex + 1) % Colliders.Length;
|
||||
var nextCollider = Colliders[next];
|
||||
if (nextCollider == null)
|
||||
return;
|
||||
// // Add an observation for direction of the agent to the next checkpoint.
|
||||
// var next = (m_CheckpointIndex + 1) % Colliders.Length;
|
||||
// var nextCollider = Colliders[next];
|
||||
// if (nextCollider == null)
|
||||
// return;
|
||||
|
||||
var direction = (nextCollider.transform.position - m_Kart.transform.position).normalized;
|
||||
sensor.AddObservation(Vector3.Dot(m_Kart.Rigidbody.velocity.normalized, direction));
|
||||
// var direction = (nextCollider.transform.position - m_Kart.transform.position).normalized;
|
||||
// sensor.AddObservation(Vector3.Dot(m_Kart.Rigidbody.velocity.normalized, direction));
|
||||
|
||||
if (ShowRaycasts)
|
||||
Debug.DrawLine(AgentSensorTransform.position, nextCollider.transform.position, Color.magenta);
|
||||
// if (ShowRaycasts)
|
||||
// Debug.DrawLine(AgentSensorTransform.position, nextCollider.transform.position, Color.magenta);
|
||||
|
||||
m_LastAccumulatedReward = 0.0f;
|
||||
m_EndEpisode = false;
|
||||
for (var i = 0; i < Sensors.Length; i++)
|
||||
{
|
||||
var current = Sensors[i];
|
||||
var xform = current.Transform;
|
||||
var hit = Physics.Raycast(AgentSensorTransform.position, xform.forward, out var hitInfo,
|
||||
current.RayDistance, Mask, QueryTriggerInteraction.Ignore);
|
||||
// m_LastAccumulatedReward = 0.0f;
|
||||
// m_EndEpisode = false;
|
||||
// for (var i = 0; i < Sensors.Length; i++)
|
||||
// {
|
||||
// var current = Sensors[i];
|
||||
// var xform = current.Transform;
|
||||
// var hit = Physics.Raycast(AgentSensorTransform.position, xform.forward, out var hitInfo,
|
||||
// current.RayDistance, Mask, QueryTriggerInteraction.Ignore);
|
||||
|
||||
if (ShowRaycasts)
|
||||
{
|
||||
Debug.DrawRay(AgentSensorTransform.position, xform.forward * current.RayDistance, Color.green);
|
||||
Debug.DrawRay(AgentSensorTransform.position, xform.forward * current.HitValidationDistance,
|
||||
Color.red);
|
||||
// if (ShowRaycasts)
|
||||
// {
|
||||
// Debug.DrawRay(AgentSensorTransform.position, xform.forward * current.RayDistance, Color.green);
|
||||
// Debug.DrawRay(AgentSensorTransform.position, xform.forward * current.HitValidationDistance,
|
||||
// Color.red);
|
||||
|
||||
if (hit && hitInfo.distance < current.HitValidationDistance)
|
||||
{
|
||||
Debug.DrawRay(hitInfo.point, Vector3.up * 3.0f, Color.blue);
|
||||
}
|
||||
}
|
||||
// if (hit && hitInfo.distance < current.HitValidationDistance)
|
||||
// {
|
||||
// Debug.DrawRay(hitInfo.point, Vector3.up * 3.0f, Color.blue);
|
||||
// }
|
||||
// }
|
||||
|
||||
if (hit)
|
||||
{
|
||||
if (hitInfo.distance < current.HitValidationDistance)
|
||||
{
|
||||
m_LastAccumulatedReward += HitPenalty;
|
||||
m_EndEpisode = true;
|
||||
}
|
||||
}
|
||||
// if (hit)
|
||||
// {
|
||||
// if (hitInfo.distance < current.HitValidationDistance)
|
||||
// {
|
||||
// m_LastAccumulatedReward += HitPenalty;
|
||||
// m_EndEpisode = true;
|
||||
// }
|
||||
// }
|
||||
|
||||
sensor.AddObservation(hit ? hitInfo.distance : current.RayDistance);
|
||||
}
|
||||
// sensor.AddObservation(hit ? hitInfo.distance : current.RayDistance);
|
||||
// }
|
||||
|
||||
sensor.AddObservation(m_Acceleration);
|
||||
}
|
||||
// sensor.AddObservation(m_Acceleration);
|
||||
// }
|
||||
|
||||
public override void OnActionReceived(ActionBuffers actions)
|
||||
{
|
||||
base.OnActionReceived(actions);
|
||||
InterpretDiscreteActions(actions);
|
||||
// public override void OnActionReceived(ActionBuffers actions)
|
||||
// {
|
||||
// base.OnActionReceived(actions);
|
||||
// InterpretDiscreteActions(actions);
|
||||
|
||||
// Find the next checkpoint when registering the current checkpoint that the agent has passed.
|
||||
var next = (m_CheckpointIndex + 1) % Colliders.Length;
|
||||
var nextCollider = Colliders[next];
|
||||
var direction = (nextCollider.transform.position - m_Kart.transform.position).normalized;
|
||||
var reward = Vector3.Dot(m_Kart.Rigidbody.velocity.normalized, direction);
|
||||
// // Find the next checkpoint when registering the current checkpoint that the agent has passed.
|
||||
// var next = (m_CheckpointIndex + 1) % Colliders.Length;
|
||||
// var nextCollider = Colliders[next];
|
||||
// var direction = (nextCollider.transform.position - m_Kart.transform.position).normalized;
|
||||
// var reward = Vector3.Dot(m_Kart.Rigidbody.velocity.normalized, direction);
|
||||
|
||||
if (ShowRaycasts) Debug.DrawRay(AgentSensorTransform.position, m_Kart.Rigidbody.velocity, Color.blue);
|
||||
// if (ShowRaycasts) Debug.DrawRay(AgentSensorTransform.position, m_Kart.Rigidbody.velocity, Color.blue);
|
||||
|
||||
// Add rewards if the agent is heading in the right direction
|
||||
AddReward(reward * TowardsCheckpointReward);
|
||||
AddReward((m_Acceleration && !m_Brake ? 1.0f : 0.0f) * AccelerationReward);
|
||||
AddReward(m_Kart.LocalSpeed() * SpeedReward);
|
||||
}
|
||||
// // Add rewards if the agent is heading in the right direction
|
||||
// AddReward(reward * TowardsCheckpointReward);
|
||||
// AddReward((m_Acceleration && !m_Brake ? 1.0f : 0.0f) * AccelerationReward);
|
||||
// AddReward(m_Kart.LocalSpeed() * SpeedReward);
|
||||
// }
|
||||
|
||||
public override void OnEpisodeBegin()
|
||||
{
|
||||
switch (Mode)
|
||||
{
|
||||
case AgentMode.Training:
|
||||
m_CheckpointIndex = Random.Range(0, Colliders.Length - 1);
|
||||
var collider = Colliders[m_CheckpointIndex];
|
||||
transform.localRotation = collider.transform.rotation;
|
||||
transform.position = collider.transform.position;
|
||||
m_Kart.Rigidbody.velocity = default;
|
||||
m_Acceleration = false;
|
||||
m_Brake = false;
|
||||
m_Steering = 0f;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
// public override void OnEpisodeBegin()
|
||||
// {
|
||||
// switch (Mode)
|
||||
// {
|
||||
// case AgentMode.Training:
|
||||
// m_CheckpointIndex = Random.Range(0, Colliders.Length - 1);
|
||||
// var collider = Colliders[m_CheckpointIndex];
|
||||
// transform.localRotation = collider.transform.rotation;
|
||||
// transform.position = collider.transform.position;
|
||||
// m_Kart.Rigidbody.velocity = default;
|
||||
// m_Acceleration = false;
|
||||
// m_Brake = false;
|
||||
// m_Steering = 0f;
|
||||
// break;
|
||||
// default:
|
||||
// break;
|
||||
// }
|
||||
// }
|
||||
|
||||
void InterpretDiscreteActions(ActionBuffers actions)
|
||||
{
|
||||
m_Steering = actions.DiscreteActions[0] - 1f;
|
||||
m_Acceleration = actions.DiscreteActions[1] >= 1.0f;
|
||||
m_Brake = actions.DiscreteActions[1] < 1.0f;
|
||||
}
|
||||
// void InterpretDiscreteActions(ActionBuffers actions)
|
||||
// {
|
||||
// m_Steering = actions.DiscreteActions[0] - 1f;
|
||||
// m_Acceleration = actions.DiscreteActions[1] >= 1.0f;
|
||||
// m_Brake = actions.DiscreteActions[1] < 1.0f;
|
||||
// }
|
||||
|
||||
public InputData GenerateInput()
|
||||
{
|
||||
return new InputData
|
||||
{
|
||||
Accelerate = m_Acceleration,
|
||||
Brake = m_Brake,
|
||||
TurnInput = m_Steering
|
||||
};
|
||||
}
|
||||
}
|
||||
}
|
||||
// public InputData GenerateInput()
|
||||
// {
|
||||
// return new InputData
|
||||
// {
|
||||
// Accelerate = m_Acceleration,
|
||||
// Brake = m_Brake,
|
||||
// TurnInput = m_Steering
|
||||
// };
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
|
|
|
|||
|
|
@ -381,7 +381,7 @@ namespace KartGame.KartSystems
|
|||
}
|
||||
else
|
||||
{
|
||||
return Input.Accelerate ? 1.0f : 0.0f;
|
||||
return Input.Accelerate;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -402,10 +402,10 @@ namespace KartGame.KartSystems
|
|||
}
|
||||
|
||||
// 车辆移动核心逻辑
|
||||
void MoveVehicle(bool accelerate, bool brake, float turnInput)
|
||||
void MoveVehicle(float accelerate, bool brake, float turnInput)
|
||||
{
|
||||
// 合并加速和刹车输入
|
||||
float accelInput = (accelerate ? 1.0f : 0.0f) - (brake ? 1.0f : 0.0f);
|
||||
float accelInput = accelerate - (brake ? 1.0f : 0.0f);
|
||||
|
||||
float accelerationCurveCoeff = 5;
|
||||
Vector3 localVel = transform.InverseTransformVector(Rigidbody.velocity);
|
||||
|
|
@ -424,7 +424,7 @@ namespace KartGame.KartSystems
|
|||
float accelRamp = Mathf.Lerp(multipliedAccelerationCurve, 1, accelRampT * accelRampT);
|
||||
|
||||
// 判定是否正在通过反向输入进行刹车
|
||||
bool isBraking = (localVelDirectionIsFwd && brake) || (!localVelDirectionIsFwd && accelerate);
|
||||
bool isBraking = (localVelDirectionIsFwd && brake) || (!localVelDirectionIsFwd && Mathf.Abs(accelerate) > 0.01f);
|
||||
|
||||
float finalAccelPower = isBraking ? m_FinalStats.Braking : accelPower;
|
||||
float finalAcceleration = finalAccelPower * accelRamp;
|
||||
|
|
|
|||
|
|
@ -0,0 +1,21 @@
|
|||
using UnityEngine;
|
||||
|
||||
namespace KartGame.KartSystems
|
||||
{
|
||||
public class BTInput : BaseInput
|
||||
{
|
||||
public override InputData GenerateInput()
|
||||
{
|
||||
return new InputData
|
||||
{
|
||||
Accelerate = this.Accelerate,
|
||||
TurnInput = this.Turn,
|
||||
Brake = this.Brake,
|
||||
CurrentGear = this.Gear,
|
||||
CurrentDrive = this.DriveTrain,
|
||||
LightsOn = this.Lights,
|
||||
EngineOn = this.EngineActive
|
||||
};
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: df73947ef73728b4ebb6a0a5c0ef6e7f
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -2,11 +2,19 @@
|
|||
|
||||
namespace KartGame.KartSystems
|
||||
{
|
||||
public enum GearMode { Automatic, Manual, Neutral, Reverse }
|
||||
public enum DriveTrainMode { ForwardWheelDrive, RearWheelDrive, AllWheelDrive }
|
||||
|
||||
[System.Serializable]
|
||||
public struct InputData
|
||||
{
|
||||
public bool Accelerate;
|
||||
public bool Brake;
|
||||
public float Accelerate;
|
||||
public float TurnInput;
|
||||
public bool Brake;
|
||||
public GearMode CurrentGear;
|
||||
public DriveTrainMode CurrentDrive;
|
||||
public bool LightsOn; //灯光状态
|
||||
public bool EngineOn; //引擎状态
|
||||
}
|
||||
|
||||
public interface IInput
|
||||
|
|
@ -16,9 +24,49 @@ namespace KartGame.KartSystems
|
|||
|
||||
public abstract class BaseInput : MonoBehaviour, IInput
|
||||
{
|
||||
/// <summary>
|
||||
/// Override this function to generate an XY input that can be used to steer and control the car.
|
||||
/// </summary>
|
||||
[Header("Basic Controls")]
|
||||
public float Accelerate;
|
||||
public float Turn;
|
||||
public bool Brake;
|
||||
|
||||
[Header("Advanced Simulation")]
|
||||
public GearMode Gear = GearMode.Automatic;
|
||||
public DriveTrainMode DriveTrain = DriveTrainMode.AllWheelDrive;
|
||||
public bool Lights;
|
||||
public bool EngineActive = true;
|
||||
|
||||
// --- 基础移动控制 ---
|
||||
public void SetMovement(float accel, float turn, bool brake)
|
||||
{
|
||||
this.Accelerate = accel;
|
||||
this.Turn = turn;
|
||||
this.Brake = brake;
|
||||
}
|
||||
|
||||
// --- 档位控制 ---
|
||||
public void SetGear(GearMode newGear)
|
||||
{
|
||||
this.Gear = newGear;
|
||||
}
|
||||
|
||||
// --- 驱动模式控制 ---
|
||||
public void SetDriveMode(DriveTrainMode newMode)
|
||||
{
|
||||
this.DriveTrain = newMode;
|
||||
}
|
||||
|
||||
// --- 灯光控制 ---
|
||||
public void SetLights(bool state)
|
||||
{
|
||||
this.Lights = state;
|
||||
}
|
||||
|
||||
// --- 引擎状态控制 ---
|
||||
public void SetEngineStatus(bool state)
|
||||
{
|
||||
this.EngineActive = state;
|
||||
}
|
||||
|
||||
public abstract InputData GenerateInput();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1,20 +1,20 @@
|
|||
using UnityEngine;
|
||||
// using UnityEngine;
|
||||
|
||||
namespace KartGame.KartSystems {
|
||||
// namespace KartGame.KartSystems {
|
||||
|
||||
public class KeyboardInput : BaseInput
|
||||
{
|
||||
public string TurnInputName = "Horizontal";
|
||||
public string AccelerateButtonName = "Accelerate";
|
||||
public string BrakeButtonName = "Brake";
|
||||
// public class KeyboardInput : BaseInput
|
||||
// {
|
||||
// public string TurnInputName = "Horizontal";
|
||||
// public string AccelerateButtonName = "Accelerate";
|
||||
// public string BrakeButtonName = "Brake";
|
||||
|
||||
public override InputData GenerateInput() {
|
||||
return new InputData
|
||||
{
|
||||
Accelerate = Input.GetButton(AccelerateButtonName),
|
||||
Brake = Input.GetButton(BrakeButtonName),
|
||||
TurnInput = Input.GetAxis("Horizontal")
|
||||
};
|
||||
}
|
||||
}
|
||||
}
|
||||
// public override InputData GenerateInput() {
|
||||
// return new InputData
|
||||
// {
|
||||
// Accelerate = Input.GetButton(AccelerateButtonName),
|
||||
// Brake = Input.GetButton(BrakeButtonName),
|
||||
// TurnInput = Input.GetAxis("Horizontal")
|
||||
// };
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
|
|
|
|||
|
|
@ -1,7 +1,11 @@
|
|||
{
|
||||
"name": "NodeCanvas",
|
||||
"rootNamespace": "",
|
||||
"references": [
|
||||
"GUID:66c2eb417c67ad849907d0769db96dbf"
|
||||
"GUID:66c2eb417c67ad849907d0769db96dbf",
|
||||
"GUID:a54b96d5ddd2c488aadb7e2cb0921b9b",
|
||||
"GUID:75469ad4d38634e559750d17036d5f7c",
|
||||
"GUID:09dcc9c0126b6b34ab2a877b8f2277f5"
|
||||
],
|
||||
"includePlatforms": [],
|
||||
"excludePlatforms": [],
|
||||
|
|
|
|||
|
|
@ -0,0 +1,8 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 30e0fd23302094445aea750c6b3b486c
|
||||
folderAsset: yes
|
||||
DefaultImporter:
|
||||
externalObjects: {}
|
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@ -0,0 +1,19 @@
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|||
using NodeCanvas.Framework;
|
||||
using ParadoxNotion.Design;
|
||||
using UnityEngine;
|
||||
|
||||
namespace NLD.Nodes
|
||||
{
|
||||
[Category("Math")] // 出现在右键菜单的 Math 分类下
|
||||
[Description("取变量A的绝对值输出变量B")]
|
||||
public class FloatAbs : ActionTask {
|
||||
public BBParameter<float> input;
|
||||
[BlackboardOnly]
|
||||
public BBParameter<float> result;
|
||||
|
||||
protected override void OnExecute() {
|
||||
result.value = Mathf.Abs(input.value);
|
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EndAction(true);
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}
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}
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@ -0,0 +1,20 @@
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|||
using NodeCanvas.Framework;
|
||||
using ParadoxNotion.Design;
|
||||
|
||||
namespace NLD.Nodes
|
||||
{
|
||||
[Category("Math")] // 出现在右键菜单的 Math 分类下
|
||||
[Description("变量A+变量B输出变量C")]
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public class FloatAdd : ActionTask {
|
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public BBParameter<float> A;
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public BBParameter<float> B;
|
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|
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[BlackboardOnly]
|
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|
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protected override void OnExecute() {
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EndAction(true); // 瞬间执行完
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@ -0,0 +1,34 @@
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|||
using NodeCanvas.Framework;
|
||||
using ParadoxNotion.Design;
|
||||
using UnityEngine;
|
||||
using UnityEngine.InputSystem;
|
||||
using KartGame.KartSystems;
|
||||
|
||||
namespace NLD.Nodes
|
||||
{
|
||||
[Category("VehicleControl")]
|
||||
[Name("Get Joystick Context")]
|
||||
[Description("实时提取摇杆 Vector2 并拆分为 X(转向) 和 Y(油门) 输出")]
|
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public class GetJoystickContext : ActionTask
|
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{
|
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[RequiredField]
|
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public BBParameter<InputActionReference> joystickAction;
|
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|
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[BlackboardOnly]
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|
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|
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[BlackboardOnly]
|
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public BBParameter<float> outputY; // 对应油门 (Vertical)
|
||||
|
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protected override void OnUpdate() {
|
||||
if (joystickAction.value == null) return;
|
||||
|
||||
// 获取当前上下文的 Vector2 坐标
|
||||
Vector2 pos = joystickAction.value.action.ReadValue<Vector2>();
|
||||
|
||||
// 拆分并存入黑板变量
|
||||
outputX.value = pos.x;
|
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outputY.value = pos.y;
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@ -0,0 +1,41 @@
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using NodeCanvas.Framework;
|
||||
using ParadoxNotion.Design;
|
||||
using KartGame.KartSystems; // 确保指向你的载具命名空间
|
||||
|
||||
|
||||
namespace NLD.Nodes
|
||||
{
|
||||
[Category("VehicleControl")]
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||||
[Description("将 NodeCanvas 黑板中的数据实时同步到 BaseInput 抽象层")]
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|
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{
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public BBParameter<float> turn;
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public BBParameter<bool> brake;
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[Header("档位和传动")]
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public BBParameter<GearMode> gear;
|
||||
public BBParameter<DriveTrainMode> driveMode;
|
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public BBParameter<bool> engineOn;
|
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// OnUpdate 会在行为树运行到该节点时每帧执行
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protected override void OnUpdate() {
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|
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// 1. 同步基础移动
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agent.SetMovement(accelerate.value, turn.value, brake.value);
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|
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|
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// 3. 同步其他系统
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agent.SetLights(headlights.value);
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agent.SetEngineStatus(engineOn.value);
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