问题描述
所以我制作了一个汽车控制器，它可以使用 Input.GetAxis() 从键盘获取输入，并且可以接收模拟 Input.GetAxis() 的数组。我的赛道被分成几个部分，在每个部分，汽车会读取速度的替代输入或转弯的输入。
在开始训练时，起始位置被保存，如果汽车撞墙或只是坐了 10 秒，然后会在起始位置用一组新的输入重新启动。
这是移动汽车的脚本
public class Movment : MonoBehavIoUr
{
[Serializefield]
private new Rigidbody rigidbody;
[Serializefield]
private float
speed,top_speed,turn_speed,gravity_multiplayer;
private bool isTurning = false;
private float turn_dir = 0,drive_dir = 0;
public Individual indv;
public int current_index;
// Start is called before the first frame update
void Start()
{
}
// Update is called once per frame
void FixedUpdate()
{
Drive(drive_dir);
Turn(turn_dir);
ExtraGravity();
//Debug.Log("Speed" + drive_dir.ToString());
//Debug.Log("Turn" + turn_dir.ToString());
}
private void Drive()
{
float drive_dir = Input.GetAxisRaw("Vertical");
rigidbody.AddRelativeForce(new Vector3(Vector3.forward.x,Vector3.forward.z) * speed * drive_dir);
Vector3 localVeLocity = transform.InverseTransformDirection(rigidbody.veLocity);
localVeLocity.x = 0;
rigidbody.veLocity = transform.TransformDirection(localVeLocity);
}
void Turn()
{
Vector3 update_rotation = Vector3.zero;
float turn_dir = Input.GetAxisRaw("Horizontal");
update_rotation = Vector3.up * turn_speed * turn_dir;
rigidbody.AddTorque(update_rotation);
}
private void Drive(float network_drive_dir)
{
rigidbody.AddRelativeForce(new Vector3(Vector3.forward.x,Vector3.forward.z) * speed * network_drive_dir);
Vector3 localVeLocity = transform.InverseTransformDirection(rigidbody.veLocity);
localVeLocity.x = 0;
rigidbody.veLocity = transform.TransformDirection(localVeLocity);
}
void Turn(float network_turn)
{
Vector3 update_rotation = Vector3.zero;
update_rotation = Vector3.up * turn_speed * network_turn;
rigidbody.AddTorque(update_rotation);
}
public void Swap(bool newInvd)
{
if (newInvd)
current_index = 0;
if (!isTurning)
{
turn_dir = indv.turn[current_index / 2];
//Debug.Log(current_index + "(t): " + turn_dir);
isTurning = true;
}
else
{
drive_dir = indv.acc[current_index / 2];
//Debug.Log(current_index + "(a): " + drive_dir);
isTurning = false;
}
current_index++;
}
private void ExtraGravity()
{
rigidbody.AddForce(Vector3.down * gravity_multiplayer);
}
public void Fresh()
{
turn_dir = 0f;
drive_dir = indv.acc[0];
}
}
此脚本检查碰撞、空闲或是否完成轨道重置，并为每个部分切换汽车的输入
public class EnvObserv : MonoBehavIoUr
{
[Serializefield]
private GameObject[] checkpoints;
private Movment player;
private Vector3
pos_start,rot_start;
private float time_start;
private float last_time_check = 0;
private int no_checkpoints = 0;
private int last_checkpoint = 0;
private bool forward = true;
private float best_time = 999999f;
// Start is called before the first frame update
void Awake()
{
player = GetComponent<Movment>();
pos_start = new Vector3(116.9f,4.29f,-96f);
rot_start = Vector3.zero;
time_start = Time.time;
}
// Update is called once per frame
void Update()
{
if(last_time_check > 10f)
CheckIdle();
last_time_check += Time.deltaTime;
}
private void OnCollisionEnter(Collision collision)
{
if(collision.collider.CompareTag("TrackWall"))
Reset(false);
}
private void OnTriggerEnter(Collider other)
{
if (other.CompareTag("Checkpoint"))
{
float time = Time.time - time_start;
Save(time);
//SaveFirstRun(forward);
Reset(true,time);
}
if (other.CompareTag("Swap"))
{
no_checkpoints++;
player.Swap(false);
other.gameObject.SetActive(false);
//SaveFirstRun(forward);
forward = !forward;
}
}
private void Reset(bool finished,float time = -1)
{
GetComponent<Rigidbody>().veLocity = Vector3.zero;
GetComponent<Rigidbody>().angularVeLocity = Vector3.zero;
if (!finished)
{
player.indv = FindobjectOfType<Population>().GetNext(no_checkpoints,time);
}
else
{
player.indv = FindobjectOfType<Population>().GetNext(no_checkpoints,time);
}
player.current_index = 0;
transform.position = pos_start;
transform.eulerAngles = rot_start;
no_checkpoints = 0;
last_time_check = 0;
time_start = Time.time;
GetComponent<Rigidbody>().veLocity = Vector3.zero;
GetComponent<Rigidbody>().angularVeLocity = Vector3.zero;
ResetCheckpoints();
player.Fresh();
}
void ResetCheckpoints()
{
foreach (var check in checkpoints)
{
check.SetActive(true);
}
}
void CheckIdle()
{
if(no_checkpoints - last_checkpoint < 2)
{
Reset(false);
}
last_checkpoint = no_checkpoints;
last_time_check = 0f;
}
这个脚本处理进化
public class Population : MonoBehavIoUr
{
[Serializefield]
private Movment car;
[Header("Population variables")]
public int pop_size = 20;
public int indv_lenght = 97;
//public float mutate_prob = 0.01f;
public int genes_to_mutate = 10;
public float genes_cross_prob = 0.05f;
public float deviation = 0.1f;
public int pos_to_mutate = 4;
[Header("View")]
public int current_indv = 0;
public int current_generation = 1;
public float best_time_all_generations = 9999f;
[HideInInspector]
public List<Individual> population = new List<Individual>();
// Start is called before the first frame update
void Awake()
{
Init();
best_time_all_generations = 9999f;
}
// Update is called once per frame
void Update()
{
}
void InitPop()
{
for (int i = 0; i < pop_size; i++)
{
Individual indv = new Individual();
indv.Randomize(indv_lenght);
population.Add(indv);
}
StartTrainning();
}
void Init()
{
Individual first = Readindv("E:/Unity/Projects/MiniRace Sectioned/Assets/Scripts/Initial data.txt");
population.Add(first.Getcopy());
population = FillWithMutations(first);
StartTrainning();
}
void StartTrainning()
{
car.indv = population[0];
car.Fresh();
}
public Individual GetNext(int fitness,float time)
{
if(current_indv == pop_size - 1)
{
Repopulate();
current_indv = 0;
current_generation++;
if (current_generation > 1000) Debug.Break();
}
else
{
population[current_indv].fitness = fitness;
population[current_indv].time = time;
current_indv++;
}
return population[current_indv];
}
void Repopulate()
{
List<Individual> new_pop = new List<Individual>();
new_pop.Add(Best());//CHECKED
while (new_pop.Count < pop_size / 2)
{
new_pop.Add(Turnir());
}//CHECKED
new_pop = Cross(new_pop);//CHECKED
new_pop = MutationManager(new_pop);//CHECKED
population.Clear();
for (int i = 0; i < new_pop.Count; i++)
{
population.Add(new_pop[i]);
population[i].fitness = 0;
population[i].time = -1;
}
}
Individual Best()
{
Individual best = new Individual();
float best_time = 999999f;
int best_value = 0;
for(int i = 0; i < pop_size; i++)
{
if (population[i].fitness > best_value)
{
best = population[i].Getcopy();
best_time = population[i].time;
best_value = population[i].fitness;
}
else if (population[i].time > 0) {
if (population[i].fitness == best_value && population[i].time <= best_time)
{
best = population[i].Getcopy();
best_time = population[i].time;
best_value = population[i].fitness;
}
}
}
if (best_time < best_time_all_generations && best_time > 0)
best_time_all_generations = best_time;
Debug.Log(current_generation.ToString() + " : " + best_time);
return best;
}
//PICKS 3 RANDOM INDIVIDUALS FROM POPULATION AND RETURNS THE BEST ONE
Individual Turnir()
{
Individual indv1 = new Individual();
Individual indv2 = new Individual();
Individual indv3 = new Individual();
int val1 = Random.Range(0,pop_size - 1);
int val2 = Random.Range(0,pop_size - 1);
int val3 = Random.Range(0,pop_size - 1);
indv1 = population[val1];
indv2 = population[val2];
indv3 = population[val3];
List<Individual> turnir = new List<Individual>();
turnir.Add(indv1);
turnir.Add(indv2);
turnir.Add(indv3);
int best_val = 0;
int best_ind = -1;
float best_time = 99999f;
for(int i = 0; i < 3; i++)
{
if(turnir[i].fitness > best_val)
{
best_val = turnir[i].fitness;
best_ind = i;
best_time = turnir[i].time;
}
else if(turnir[i].fitness == best_val && turnir[i].time <= best_time)
{
best_val = turnir[i].fitness;
best_ind = i;
best_time = turnir[i].time;
}
}
return turnir[best_ind];
}
List<Individual> Cross(List<Individual> pop)
{
List<Individual> new_pop = new List<Individual>();
for(int i = 0; i < pop.Count; i++)
{
Individual indv1 = new Individual();
Individual indv2 = new Individual();
Individual kid = new Individual();
indv1 = pop[i].Getcopy();
indv2 = pop[Random.Range(0,pop.Count - 1)].Getcopy();
kid.fitness = indv1.fitness;
kid.time = indv1.time;
for (int j = 0; j < indv1.acc.Count; j++)
{
if (Random.Range(0f,1f) < genes_cross_prob)
{
kid.acc.Add(indv2.acc[j]);
kid.turn.Add(indv2.turn[j]);
}
else
{
kid.acc.Add(indv1.acc[j]);
kid.turn.Add(indv1.turn[j]);
}
}
new_pop.Add(kid);
}
for(int i = 0; i < new_pop.Count; i++)
{
pop.Add(new_pop[i]);
}
return pop;
}
//CHECKS IF AN INDIVIDUAL FINISHED OR NOT THE RACE
//IF IT DIDN'T THEN IT MUTATES LAST 6 GEnes THAT WERE ACTIVE BEFOARE CRASH
//AND IF IT DID FINISHED THE RACE THEN IT MUTATES 10 RANDOM GEnes IN HOPE THAT IT
//WILL LEAD TO BETTER TIME
List<Individual> MutationManager(List<Individual> pop)
{
List<Individual> new_pop = new List<Individual>();
for(int i = 0; i < pop.Count; i++)
{
if (i > 0)
{
if (pop[i].time == -1)
{
new_pop.Add(MutateLastPos(pop[i].Getcopy()));
}
else
{
new_pop.Add(MutateOne(pop[i].Getcopy()));
}
}
else
new_pop.Add(pop[i].Getcopy());
}
return new_pop;
}
//The function mutates last x number of genes that were active before crash
Individual MutateLastPos(Individual indv)
{
int last_checkpoint = indv.fitness;
int local_pos_to_mutate = pos_to_mutate;
if(last_checkpoint < local_pos_to_mutate)
{
local_pos_to_mutate = last_checkpoint;
}
last_checkpoint--;
last_checkpoint /= 2;
for (int j = 1; j <= local_pos_to_mutate / 2; j++)
{
float new_val_acc = indv.acc[last_checkpoint - j] + Random.Range(0,deviation);
float new_val_turn = indv.turn[last_checkpoint - j] + Random.Range(-deviation,deviation);
new_val_acc = Mathf.Clamp(new_val_acc,0f,1f);
new_val_turn = Mathf.Clamp(new_val_turn,-1f,1f);
indv.acc[last_checkpoint - j] = new_val_acc;
indv.turn[last_checkpoint - j] = new_val_turn;
}
return indv;
}
//REFACTORED
List<Individual> FillWithMutations(Individual indv)
{
List<Individual> new_pop = new List<Individual>();
new_pop.Add(indv.Getcopy());
while(new_pop.Count < pop_size)
{
var mutation = MutateOne(indv.Getcopy());
new_pop.Add(mutation);
}
return new_pop;
}
//REFACTORED
//MUTATES A NUMBER OF GEnes FOR THE INDIVIDUAL SENT AS ParaMATER
Individual MutateOne(Individual indv)
{
List<int> genes_to_mutate_acc = new List<int>();
List<int> genes_to_mutate_turn = new List<int>();
for(int i = 0; i < genes_to_mutate / 2; i++)
{
int val_acc = Random.Range(0,(indv_lenght - 1) / 2);
int val_turn = Random.Range(0,(indv_lenght - 1) / 2);
while (genes_to_mutate_acc.Contains(val_acc))
{
val_acc = Random.Range(0,(indv_lenght - 1) / 2);
}
while (genes_to_mutate_turn.Contains(val_turn))
{
val_turn = Random.Range(0,(indv_lenght - 1) / 2);
}
genes_to_mutate_acc.Add(val_acc);
genes_to_mutate_turn.Add(val_turn);
}
for(int i = 0; i < genes_to_mutate / 2; i++)
{
float acc = indv.acc[genes_to_mutate_acc[i]];
float turn = indv.turn[genes_to_mutate_turn[i]];
acc += Random.Range(0,deviation);
turn += Random.Range(-deviation,deviation);
acc = Mathf.Clamp(acc,1f);
turn = Mathf.Clamp(turn,1f);
indv.acc[genes_to_mutate_acc[i]] = acc;
indv.turn[genes_to_mutate_turn[i]] = turn;
}
indv.fitness = 0;
indv.time = -1;
return indv;
}
//READ AN INDIVIDUAL FROM A FILE
// !!!IMPORTATNT!!! THIS GUYS WILL FINISH THE RACE 100% IN THE FirsT GENERATION
Individual Readindv(string path)
{
List<string> lines = new List<string>();
lines = File.ReadAllLines(path).ToList();
Individual good_indv = new Individual();
for(int i = 0; i < lines.Count; i += 2)
{
good_indv.acc.Add(float.Parse(lines[i].Substring(2)));
good_indv.turn.Add(float.Parse(lines[i + 1].Substring(2)));
}
return good_indv;
}
我制作了进化部分，以便第一辆车的信息（如果我第一次玩的话，女巫100％完成赛道）永远不会丢失。确实我检查了它并且所有值都相同但是出于某种奇怪的原因，当脚本达到第 2 代并且第一辆车播放时，即使它的“大脑”中没有更改的值并且来自 EnvObserv 类的重置功能重置，它也会崩溃汽车在零速度/角速度的起始位置。
这是我存储汽车动作的个人类
public class Individual
{
public List<float> acc;
public List<float> turn;
public int fitness;
public float time;
public Individual()
{
acc = new List<float>();
turn = new List<float>();
fitness = 0;
time = 0;
}
public void Randomize(int size)
{
for (int i = 0; i < (size + 1) / 2; i++)
{
acc.Add(Random.Range(0f,1f));
turn.Add(Random.Range(-1f,1f));
}
}
public Individual Getcopy()
{
Individual new_indv = new Individual();
for(int i = 0; i < acc.Count; i++)
{
new_indv.acc.Add(acc[i]);
new_indv.turn.Add(turn[i]);
new_indv.fitness = fitness;
new_indv.time = time;
}
return new_indv;
}
}
我 100% 确定问题出在重置功能的某个地方。可能不是从零速度开始，也可能是开始位置有点错误。
顺便说一句，我对起始位置进行了硬编码，因为我认为 Unity 可能会以某种方式对其进行舍入，并且我在开始游戏之前对检查器的值进行了硬编码
---------->编辑更新
保存功能是 EnvObserv.Save()，当一个人完成轨道时调用。
也许第 0 代和其他代之间有一些小的变化。我无法解释发生这种情况的原因、方式或原因... :/
这是为了更好的视野的地图
解决方法
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