AI before training

Assets/AgentController.cs

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+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Unity.MLAgents; 
+using Unity.MLAgents.Sensors; 
+using Unity.MLAgents.Actuators;
+using UnityEngine.UIElements;
+using System.Linq;
+using Unity.Mathematics;
+using Unity.VisualScripting;
+
+public class AgentController : Agent
+{
+    public float motorTorque = 300;
+    public float brakeTorque = 500;
+    public float maxSpeed = 400;
+    public float steeringRange = 9;
+    public float steeringRangeAtMaxSpeed = 7;
+    public float autoBrake = 100;
+    WheelControl[] wheels;
+    Rigidbody rigidBody;
+    public Transform Target; //(35..39, 0.25, -20..-30)
+    Vector3 startPosition;
+    Quaternion startRotation;
+
+    // Start is called before the first frame update
+    void Start()
+    {
+        rigidBody = GetComponent<Rigidbody>();
+        // Find all child GameObjects that have the WheelControl script attached
+        wheels = GetComponentsInChildren<WheelControl>();
+        startPosition = transform.localPosition;
+        startRotation = transform.localRotation;
+    }
+
+    public override void OnEpisodeBegin()
+    {
+        // reset wheels
+        foreach (var wheel in wheels)
+        {
+            wheel.WheelCollider.brakeTorque = 0;
+            wheel.WheelCollider.motorTorque = 0;
+            wheel.WheelCollider.steerAngle = 0;
+        }
+
+        transform.localPosition = startPosition;
+        transform.localRotation = startRotation;
+        rigidBody.velocity = Vector3.zero;
+        rigidBody.angularVelocity = Vector3.zero;
+
+        Target.localPosition = new Vector3(UnityEngine.Random.Range(35f, 39f),
+                                           0.25f,
+                                           UnityEngine.Random.Range(-30f, -20f));
+    }
+
+    public override void CollectObservations(VectorSensor sensor)
+    {
+        // Target and Agent positions
+        sensor.AddObservation(Target.localPosition.x);
+        sensor.AddObservation(Target.localPosition.z);
+        sensor.AddObservation(transform.localPosition.x);
+        sensor.AddObservation(transform.localPosition.z);
+
+        // Agent velocity
+
+        // calculate forward velocity
+        var FullVelocityMagnitude = rigidBody.velocity.magnitude; // Velocity including angular velocity
+        var angularMagnitude = rigidBody.angularVelocity.magnitude;
+
+        var forwardMagnitude = Mathf.Sqrt( Mathf.Pow(FullVelocityMagnitude, 2) - Mathf.Pow(angularMagnitude, 2)); // Agent velocity in forward direction
+
+        // add obserevations
+        if (forwardMagnitude >= 0.001)
+            sensor.AddObservation(forwardMagnitude);
+        else
+            sensor.AddObservation(FullVelocityMagnitude);
+
+        sensor.AddObservation(angularMagnitude);
+
+    }
+
+    void Update()
+    {
+        if (Input.GetKeyDown("space"))
+            {
+                foreach (var wheel in wheels)
+                    {
+                        wheel.WheelCollider.brakeTorque = 0;
+                        wheel.WheelCollider.motorTorque = 0;
+                        wheel.WheelCollider.steerAngle = 0;
+                    }
+                transform.localPosition = startPosition;
+                transform.localRotation = startRotation;
+                rigidBody.velocity = Vector3.zero;
+                rigidBody.angularVelocity = Vector3.zero;
+
+                Target.localPosition = new Vector3(UnityEngine.Random.Range(35f, 39f),
+                                           0.25f,
+                                           UnityEngine.Random.Range(-30f, -20f));
+            }
+    }
+
+    public override void OnActionReceived(ActionBuffers actions)
+    {
+        // Actions size = 2 [vertical speed, horizontal speed] = [-1..1, -1..1] // discrete = [{0, 1, 2}, {0, 1, 2}] = [{-1, 0, 1}...]
+        float vInput = 0;
+        float hInput = 0;
+
+        if (actions.DiscreteActions[0] == 0)
+            vInput = -1f;
+        if (actions.DiscreteActions[0] == 1)
+            vInput = 1f;
+
+        if (actions.DiscreteActions[1] == 0)
+            hInput = -1f;
+        if (actions.DiscreteActions[1] == 1)
+            hInput = 1f;
+
+        float forwardSpeed = Vector3.Dot(transform.forward, rigidBody.velocity);
+
+
+        // Calculate how close the car is to top speed
+        // as a number from zero to one
+        float speedFactor = Mathf.InverseLerp(0, maxSpeed / 4, forwardSpeed);
+
+        // Use that to calculate how much torque is available 
+        // (zero torque at top speed)
+        float currentMotorTorque = Mathf.Lerp(motorTorque, 0, speedFactor);
+
+        // …and to calculate how much to steer 
+        // (the car steers more gently at top speed)
+
+        float currentSteerRange = Mathf.Lerp(steeringRange, steeringRangeAtMaxSpeed, speedFactor);
+
+        // Check whether the user input is in the same direction 
+        // as the car's velocity
+        bool isAccelerating = Mathf.Sign(vInput) == Mathf.Sign(forwardSpeed);
+
+        bool isStopping = vInput == 0; // range
+
+        bool isBraking = (vInput < 0 && forwardSpeed > 0) || (vInput > 0 && forwardSpeed < 0);
+
+        if (vInput > 0 && forwardSpeed < 0)
+        {
+            isAccelerating = false;
+        }
+
+        foreach (var wheel in wheels)
+        {
+            // Apply steering to Wheel colliders that have "Steerable" enabled
+            if (wheel.steerable)
+            {
+                wheel.WheelCollider.steerAngle = hInput * currentSteerRange;
+            }
+
+            if (isBraking)
+            {
+                wheel.WheelCollider.brakeTorque = Mathf.Abs(vInput) * brakeTorque;
+                //wheel.WheelCollider.motorTorque = 0;
+            }
+            
+            if (isAccelerating)
+            {
+                // Apply torque to Wheel colliders that have "Motorized" enabled
+                if (wheel.motorized)
+                {
+                    wheel.WheelCollider.motorTorque = vInput * currentMotorTorque;
+                }
+                wheel.WheelCollider.brakeTorque = 0;
+            }
+
+            
+
+            if (isStopping)
+            {
+                // If the user is trying to go in the opposite direction
+                // apply brakes to all wheels
+                wheel.WheelCollider.brakeTorque = Mathf.Abs(vInput) * brakeTorque + autoBrake;
+
+                if (forwardSpeed < 0)
+                {
+                    wheel.WheelCollider.brakeTorque = (Mathf.Abs(vInput) * brakeTorque + autoBrake) * 5;
+                }
+
+                // wheel.WheelCollider.motorTorque = 0;
+            }
+        }
+
+        // rewards
+        float distanceToTarget = Vector3.Distance(transform.localPosition, Target.localPosition);
+
+        if (distanceToTarget < 0.5f)
+        {
+            SetReward(1.0f);
+            EndEpisode();
+        }
+    }
+
+    public override void Heuristic(in ActionBuffers actionsOut)
+    {
+        var discreteActionsOut = actionsOut.DiscreteActions;
+
+        Debug.Log(Input.GetAxis("Vertical"));
+
+        discreteActionsOut[0] = 2;
+        discreteActionsOut[1] = 2;
+
+        if (Input.GetAxis("Vertical") < -0.5)
+            discreteActionsOut[0] = 0;
+        if (Input.GetAxis("Vertical") > 0.5)
+            discreteActionsOut[0] = 1;
+
+        if (Input.GetAxis("Horizontal") < -0.5)
+            discreteActionsOut[1] = 0;
+        if (Input.GetAxis("Horizontal") > 0.5)
+            discreteActionsOut[1] = 1;
+    }
+
+//     // Update is called once per frame
+//     void FixedUpdate()
+//     {
+//         float vInput = Input.GetAxis("Vertical");
+//         float hInput = Input.GetAxis("Horizontal");
+
+//         // Calculate current speed in relation to the forward direction of the car
+//         // (this returns a negative number when traveling backwards)
+//         float forwardSpeed = Vector3.Dot(transform.forward, rigidBody.velocity);
+
+
+//         // Calculate how close the car is to top speed
+//         // as a number from zero to one
+//         float speedFactor = Mathf.InverseLerp(0, maxSpeed / 4, forwardSpeed);
+
+//         // Use that to calculate how much torque is available 
+//         // (zero torque at top speed)
+//         float currentMotorTorque = Mathf.Lerp(motorTorque, 0, speedFactor);
+
+//         // …and to calculate how much to steer 
+//         // (the car steers more gently at top speed)
+
+//         float currentSteerRange = Mathf.Lerp(steeringRange, steeringRangeAtMaxSpeed, speedFactor);
+
+//         // Check whether the user input is in the same direction 
+//         // as the car's velocity
+//         bool isAccelerating = Mathf.Sign(vInput) == Mathf.Sign(forwardSpeed);
+
+//         bool isStopping = vInput == 0; // range
+
+//         bool isBraking = (vInput < 0 && forwardSpeed > 0) || (vInput > 0 && forwardSpeed < 0);
+
+//         if (vInput > 0 && forwardSpeed < 0)
+//         {
+//             isAccelerating = false;
+//         }
+
+//         foreach (var wheel in wheels)
+//         {
+//             // Apply steering to Wheel colliders that have "Steerable" enabled
+//             if (wheel.steerable)
+//             {
+//                 wheel.WheelCollider.steerAngle = hInput * currentSteerRange;
+//             }
+
+//             if (isBraking)
+//             {
+//                 wheel.WheelCollider.brakeTorque = Mathf.Abs(vInput) * brakeTorque;
+//                 //wheel.WheelCollider.motorTorque = 0;
+//             }
+            
+//             if (isAccelerating)
+//             {
+//                 // Apply torque to Wheel colliders that have "Motorized" enabled
+//                 if (wheel.motorized)
+//                 {
+//                     wheel.WheelCollider.motorTorque = vInput * currentMotorTorque;
+//                 }
+//                 wheel.WheelCollider.brakeTorque = 0;
+//             }
+
+            
+
+//             if (isStopping)
+//             {
+//                 // If the user is trying to go in the opposite direction
+//                 // apply brakes to all wheels
+//                 wheel.WheelCollider.brakeTorque = Mathf.Abs(vInput) * brakeTorque + autoBrake;
+
+//                 if (forwardSpeed < 0)
+//                 {
+//                     wheel.WheelCollider.brakeTorque = (Mathf.Abs(vInput) * brakeTorque + autoBrake) * 5;
+//                 }
+
+//                 // wheel.WheelCollider.motorTorque = 0;
+//             }
+//         }
+//     }
+}

Assets/AgentController.cs.meta

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Assets/ML-Agents.meta

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Assets/ML-Agents/Timers/AI training_timers.json

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Assets/ML-Agents/Timers/AI training_timers.json.meta

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Assets/Scenes/AI Training.unity.meta

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Packages/manifest.json

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Packages/packages-lock.json

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