void OnTriggerEnter(Collider other)
{
if (destroyed == false)
{
ShotSphere shot = other.attachedRigidbody.GetComponent <ShotSphere>();
// did the rock get hit with a shot
if (shot)
{
// does the shot have the shooter set so we can reward them
if (shot.shooter)
{
// did a player shoot us, give them some points
RocketSphere rocketPlayer = shot.shooter.GetComponent <RocketSphere>();
if (rocketPlayer)
{
rocketPlayer.points += points;
}
// did an AI shoot us, give them some points
RocketSphereAI rocketAI = shot.shooter.GetComponent <RocketSphereAI>();
if (rocketAI)
{
rocketAI.points += points;
}
}
}
GameObject explosion = Instantiate(explosionPrefab, rock.transform.position, Quaternion.identity) as GameObject;
NetworkServer.Spawn(explosion);
destroyedRocks++;
currentRocks--;
// Debug.Log("OntriggerEnter Rocks " + currentRocks + " total " + totalRocks + " destoyed " + destroyedRocks);
// let all the clients know the current rock counts for music
// IMPORTANT!!!!, this must be called before the detroy or the rpc will never go out.
rpcSetRockStats(currentRocks, totalRocks, destroyedRocks);
destroyed = true;
NetworkServer.Destroy(transform.gameObject);
if (rockSpherePrefab)
{
for (int i = 0; i < pieces; i++)
{
GameObject newRock = Instantiate(rockSpherePrefab, rock.transform.position, rock.transform.rotation) as GameObject;
NetworkServer.Spawn(newRock);
}
}
}
}
void OnTriggerEnter(Collider other)
{
// Rocket is already destroyed, ignore
if (!rocket.activeSelf)
{
return;
}
ShotSphere shot = other.attachedRigidbody.GetComponent <ShotSphere>();
// did a shot hit us
if (shot)
{
if (shot.shooter)
{
if (shot.shooter == transform.gameObject)
{
// ignore getting hit with our own shots
return;
}
// did we get shot by another player, give them some points
RocketSphere rocketPlayer = shot.shooter.GetComponent <RocketSphere>();
if (rocketPlayer)
{
rocketPlayer.points++;
}
// did we get shot by an AI player, give them some points
RocketSphereAI rocketAI = shot.shooter.GetComponent <RocketSphereAI>();
if (rocketAI)
{
rocketAI.points++;
}
}
}
// Spawn an explosion at player position on all clients
GameObject explosion = Instantiate(explosionPrefab, rocket.transform.position, Quaternion.identity) as GameObject;
NetworkServer.Spawn(explosion);
// deactivate the ship on all clients
RpcMySetActive(false, Quaternion.identity, false);
// spawn a new ship, do this on the local player client and it will re-enable on all clients
rpcSpawnShipDelay();
}
void OnTriggerEnter(Collider other)
{
ShotSphere shot = other.attachedRigidbody.GetComponent <ShotSphere>();
// did a shot hit us
if (shot)
{
// make sure the shooter still exists
if (shot.shooter)
{
// ignore our own shots
if (shot.shooter == transform.gameObject)
{
return;
}
// did a player shoot us, give them some points
RocketSphere playerShooter = shot.shooter.GetComponent <RocketSphere>();
if (playerShooter)
{
playerShooter.points += 2;
}
// did a AI shoot us, give them some points
RocketSphereAI rocketShooterAI = shot.shooter.GetComponent <RocketSphereAI>();
if (rocketShooterAI)
{
rocketShooterAI.points += 2;
}
}
}
// Spawn an explosion at rocket position on all clients
GameObject explosion = Instantiate(explosionPrefab, rocket.transform.position, Quaternion.identity) as GameObject;
NetworkServer.Spawn(explosion);
// let the AI know we finished
transform.gameObject.GetComponent <RocketAIAgent>().EpisodeEndBad();
// destory the ship on all clients
destroyed = true;
NetworkServer.Destroy(transform.gameObject);
}
public override void OnEpisodeBegin()
{
base.OnEpisodeBegin();
// set the team ID to random so AI's don't avoid shooting each other to avoid a team loss,
// not sure if this can be done in the other function or not so I'll put in both places just to be sure
GetComponent <BehaviorParameters>().TeamId = (int)Random.Range(0.0f, 100.0f);
raySensor = transform.gameObject.GetComponentInChildren <RayPerceptionSensorComponent3D>();
rocket = transform.gameObject.GetComponent <RocketSphereAI>();
rb = transform.gameObject.GetComponent <Rigidbody>();
if (rocket)
{
lastPoints = rocket.points;
}
else
{
lastPoints = 0;
}
}
public override void OnActionReceived(ActionBuffers actionBuffers)
{
float reward = 0.0f;
base.OnActionReceived(actionBuffers);
RocketSphereAI rocket = transform.gameObject.GetComponent <RocketSphereAI>();
if (rocket)
{
// I tried give little rewards for things I wanted the AI to do but ended up
// removing these as they did not help and could result in an AI doing things just
// for the little rewards
rocket.horizontalInput = Mathf.Clamp(actionBuffers.ContinuousActions[0], -1f, 1f);
// little reward turning
//SetReward(0.001f * Mathf.Abs(rocket.horizontalInput));
rocket.verticalInput = Mathf.Clamp(actionBuffers.ContinuousActions[1], 0f, 1f);
// little reward thrusting
//SetReward(0.001f * rocket.verticalInput);
if (actionBuffers.ContinuousActions[2] > 0.0f)
{
rocket.fireInput = true;
}
else
{
rocket.fireInput = false;
}
// this is the only reward that matters, and in fact I just want to indicate a hit for 1.0 and
// NOT scale this reward depending on what was hit.
if (rocket.points > lastPoints)
{
// big reward if we hit something
reward = 1.0f; // 3.0f * (rocket.points - lastPoints);
SetReward(reward);
Debug.Log("Reward for points " /* + rocket.points + " last points " + lastPoints + " reward " */ + reward);
lastPoints = rocket.points;
}
// More little rewards that weren't really helpful
/*
* if (rocket.fireInput)
* {
* // little reward for shooting
* reward = 0.01f;
* SetReward(reward);
* //Debug.Log("Reward for shooting " + reward);
* }
* else
* {
* // little negative reward for not shooting
* reward = -0.001f;
* SetReward(reward);
* //Debug.Log("little negative reward for not shooting " + reward);
* }
*/
}
// I tried to keep the AI from sitting and spinning which was an aretifact of feeding the AI
// too much info above. This seemed to result in depressed AI that would sit and spin even when I
// made this negative reward grow exponentially. Negative reward that was consitant seems to be
// desired by the AI than trying to figure out too much input and not getting enough positive rewards
/*
* if (rocket.countRotations != lastCountRotations)
* {
* // negative reward for excessive rotations
* reward = -0.01f * math.abs(rocket.countRotations);
* SetReward(reward);
* if (reward < -0.1f)
* {
* //Debug.Log("Negative reward for excessive rotations " + rocket.countRotations + " reward " + reward);
* }
*
* lastCountRotations = rocket.countRotations;
* }
*/
// This reward resulted in slower and more controllable rockets but is not adventagous when
// you need to move faster to get out of the way or find a new rock when there are not many left
/*
* if (rb)
* {
* if (rb.angularVelocity.magnitude < 0.02f)
* {
* // negative reward for not moving
* reward = -0.01f * (0.02f - rb.angularVelocity.magnitude);
* SetReward(reward);
* //Debug.Log("Negative Reward for not moving " + rb.angularVelocity.magnitude + " reward " + reward);
* }
*
* if ((rb.angularVelocity.magnitude >= 0.02f) && (rb.angularVelocity.magnitude <= 0.5f))
* {
* // reward for moving
* reward = 0.01f * (rb.angularVelocity.magnitude - 0.02f);
* SetReward(reward);
* //Debug.Log("Reward for moving " + rb.angularVelocity.magnitude + " reward " + reward);
* }
*
* if (rb.angularVelocity.magnitude > 0.5f)
* {
* // negative reward for moving too fast
* reward = 0.01f * 2.0f * (2.0f * 0.5f - rb.angularVelocity.magnitude);
* if (reward > 0.0f)
* {
* //Debug.Log("Decreasing reward for moving " + rb.angularVelocity.magnitude + " reward " + reward);
* }
* else
* {
* //Debug.Log("Increasing negative Reward for moving too fast " + rb.angularVelocity.magnitude + " reward " + reward);
* }
* SetReward(reward);
* }
* }
*/
// This set of rewards was actually my first glimpse of something that looked resonable but
// ultimately removing all this resulted in an even more impressive AI
if (raySensor)
{
if (raySensor.RaySensor != null)
{
if (raySensor.RaySensor.RayPerceptionOutput != null)
{
if (raySensor.RaySensor.RayPerceptionOutput.RayOutputs != null)
{
if (raySensor.RaySensor.RayPerceptionOutput.RayOutputs.Length > 0)
{
/*
* if (raySensor.DetectableTags.Count > 0)
* {
* // reward being near something
* reward = 0.001f * raySensor.DetectableTags.Count;
* SetReward(reward);
* //Debug.Log("Reward for being near something " + raySensor.DetectableTags.Count + " reward " + reward);
* }
*/
/*
* if (raySensor.RaySensor.RayPerceptionOutput.RayOutputs[8].HasHit)
* {
* if (rocket.fireInput)
* {
* // reward pointing the ship right at something and shooting
* reward = 0.2f;
* SetReward(reward);
* //Debug.Log("reward pointing the ship right at something and shooting " + reward);
* }
* else
* {
* // negative reward for pointing the ship right at something and not shooting
* reward = -0.05f;
* SetReward(reward);
* //Debug.Log("negative reward for pointing the ship right at something and not shooting " + reward);
* }
* }
* else if (raySensor.RaySensor.RayPerceptionOutput.RayOutputs[6].HasHit || raySensor.RaySensor.RayPerceptionOutput.RayOutputs[10].HasHit)
* {
* if (rocket.fireInput)
* {
* // reward pointing the ship at something and shooting
* reward = 0.1f;
* SetReward(reward);
* //Debug.Log("reward pointing the ship at something and shooting " + reward);
* }
* else
* {
* // negative reward for pointing the ship at something and not shooting
* reward = -0.025f;
* SetReward(reward);
* //Debug.Log("negative reward for pointing the ship at something and not shooting " + reward);
* }
* }
*
* if (raySensor.RaySensor.RayPerceptionOutput.RayOutputs[7].HasHit
|| raySensor.RaySensor.RayPerceptionOutput.RayOutputs[9].HasHit
|| raySensor.RaySensor.RayPerceptionOutput.RayOutputs[11].HasHit)
||{
|| if (rocket.verticalInput > 0.2f)
|| {
|| // reward for thrusting away from something
|| reward = 0.01f;
|| SetReward(reward);
|| //Debug.Log("reward thrusting away from something " + reward);
|| }
|| else
|| {
|| // negative reward for not thrusting away from something
|| reward = -0.01f;
|| SetReward(reward);
|| //Debug.Log("reward thrusting away from something " + reward);
|| }
||}
*/
// this reward was not as good as I had hoped and did not use it much
/*
* if (raySensor.RaySensor.RayPerceptionOutput.RayOutputs[0].HasHit
|| raySensor.RaySensor.RayPerceptionOutput.RayOutputs[1].HasHit
|| raySensor.RaySensor.RayPerceptionOutput.RayOutputs[2].HasHit
|| raySensor.RaySensor.RayPerceptionOutput.RayOutputs[3].HasHit
|| raySensor.RaySensor.RayPerceptionOutput.RayOutputs[13].HasHit
|| raySensor.RaySensor.RayPerceptionOutput.RayOutputs[14].HasHit
|| raySensor.RaySensor.RayPerceptionOutput.RayOutputs[15].HasHit
|| raySensor.RaySensor.RayPerceptionOutput.RayOutputs[16].HasHit)
||{
|| if (rocket.horizontalInput > 0.2f)
|| {
|| // reward turning either away from or towards something on the side
|| reward = 0.01f;
|| SetReward(reward);
|| //Debug.Log("reward turning either away from or towards something " + reward);
|| }
|| else
|| {
|| // negative reward for not turning when something is on the side
|| reward = -0.01f;
|| SetReward(reward);
|| //Debug.Log("negative reward for not turning when something is on the side " + reward);
|| }
||}
*/
}
}
}
}
}
}
