Merge branch 'master' of git@ooftooft.net:Racesm.git
This commit is contained in:
PokingPines
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@@ -14,8 +14,6 @@ using System;
|
||||
public class AgentControllerV4 : Agent
|
||||
{
|
||||
public float motorForce = 300;
|
||||
public float brakeForce = 500;
|
||||
public float maxSpeed = 400;
|
||||
public float steeringRange = 9;
|
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Rigidbody rigidBody;
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public List<GameObject> checkpoints;
|
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@@ -24,14 +22,12 @@ public class AgentControllerV4 : Agent
|
||||
int currentStep = 0;
|
||||
int stepsSinceCheckpoint = 0;
|
||||
public int maxStepsPerCheckpoint = 300;
|
||||
public int distanceBetweenCheckpoints;
|
||||
|
||||
public int distanceBetweenCheckpoints = 5;
|
||||
|
||||
// Start is called before the first frame update
|
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void Start()
|
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{
|
||||
rigidBody = GetComponent<Rigidbody>();
|
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// Find all child GameObjects that have the WheelControl script attached
|
||||
startPosition = transform.localPosition;
|
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startRotation = transform.localRotation;
|
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}
|
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@@ -67,8 +63,8 @@ public class AgentControllerV4 : Agent
|
||||
}
|
||||
}
|
||||
|
||||
print(transform.rotation.y);
|
||||
sensor.AddObservation(transform.rotation.y);
|
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// Agent rotation
|
||||
sensor.AddObservation(transform.localRotation.y);
|
||||
|
||||
Vector3 position = transform.localPosition;
|
||||
Vector3 checkpointPosition = currentCheckpoint.localPosition;
|
||||
@@ -78,21 +74,15 @@ public class AgentControllerV4 : Agent
|
||||
checkpointPosition.z - position.z
|
||||
);
|
||||
|
||||
// Normalized vector in direction of checkpoint and distancce to checkpoint.
|
||||
sensor.AddObservation(toCheckpoint.normalized);
|
||||
sensor.AddObservation(toCheckpoint.magnitude);
|
||||
sensor.AddObservation(distanceToCheckpoint(currentCheckpoint));
|
||||
|
||||
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
|
||||
|
||||
if (forwardMagnitude >= 0.001)
|
||||
sensor.AddObservation(forwardMagnitude);
|
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else
|
||||
sensor.AddObservation(FullVelocityMagnitude);
|
||||
|
||||
sensor.AddObservation(angularMagnitude);
|
||||
Vector2 velocity = new Vector2(rigidBody.velocity.x, rigidBody.velocity.z);
|
||||
|
||||
// Velocity
|
||||
sensor.AddObservation(velocity);
|
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}
|
||||
|
||||
public override void OnActionReceived(ActionBuffers actions)
|
||||
@@ -111,13 +101,6 @@ public class AgentControllerV4 : Agent
|
||||
if (actions.DiscreteActions[1] == 1)
|
||||
hInput = 1f;
|
||||
|
||||
// reward for going forward
|
||||
|
||||
// if (vInput == 1f)
|
||||
// {
|
||||
// AddReward(0.02f);
|
||||
// }
|
||||
|
||||
// give benson mental pain for existing (punishment for maximizing first checkpoint by standing still)
|
||||
AddReward(-0.002f);
|
||||
|
||||
@@ -155,12 +138,13 @@ public class AgentControllerV4 : Agent
|
||||
currentCheckpoint.GetComponent<Checkpoint>().isCollected = true;
|
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stepsSinceCheckpoint = 0;
|
||||
|
||||
// If last checkpoint
|
||||
if (currentCheckpoint == checkpoints[checkpoints.Count - 1].transform)
|
||||
{
|
||||
AddReward(10f);
|
||||
EndEpisode();
|
||||
}
|
||||
AddReward(1.0f);
|
||||
AddReward(1f);
|
||||
}
|
||||
|
||||
currentStep += 1;
|
||||
@@ -208,19 +192,23 @@ public class AgentControllerV4 : Agent
|
||||
return angle;
|
||||
}
|
||||
|
||||
// punishment for hitting a wall
|
||||
private void OnCollisionEnter(Collision other) {
|
||||
if (other.gameObject.tag == "Wall")
|
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{
|
||||
AddReward(-0.05f);
|
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}
|
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private void OnTriggerEnter(Collider other) {
|
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|
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}
|
||||
|
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// punishment for staying at a wall
|
||||
private void OnCollisionStay(Collision other) {
|
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if (other.gameObject.tag == "Wall")
|
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{
|
||||
AddReward(-0.05f);
|
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}
|
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}
|
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// // punishment for hitting a wall
|
||||
// private void OnCollisionEnter(Collision other) {
|
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// if (other.gameObject.tag == "Wall")
|
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// {
|
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// AddReward(-0.05f);
|
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// }
|
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// }
|
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|
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// // punishment for staying at a wall
|
||||
// private void OnCollisionStay(Collision other) {
|
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// if (other.gameObject.tag == "Wall")
|
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// {
|
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// AddReward(-0.005f);
|
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// }
|
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// }
|
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}
|
||||
71
Assets/Scripts/NPC.cs
Normal file
71
Assets/Scripts/NPC.cs
Normal file
@@ -0,0 +1,71 @@
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using Unity.MLAgents.SideChannels;
|
||||
using UnityEngine;
|
||||
|
||||
public class NPC : MonoBehaviour
|
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{
|
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private Rigidbody[] RBchildren;
|
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// Start is called before the first frame update
|
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void Start()
|
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{
|
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|
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foreach (Transform g in transform.GetComponentsInChildren<Transform>())
|
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{
|
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try
|
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{
|
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var rb = g.GetComponent<Rigidbody>();
|
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rb.useGravity = false;
|
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}
|
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catch (System.Exception)
|
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{
|
||||
continue;
|
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}
|
||||
}
|
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|
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|
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// for (int i = 0; i < RBchildren.Length; i++)
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// {
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// RBchildren[i].useGravity = false;
|
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// }
|
||||
|
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}
|
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|
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// Update is called once per frame
|
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void Update()
|
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{
|
||||
|
||||
}
|
||||
|
||||
private void OnCollisionEnter(Collision collision)
|
||||
{
|
||||
|
||||
|
||||
if (collision.gameObject.tag == "Player")
|
||||
{
|
||||
foreach (Transform g in transform.GetComponentsInChildren<Transform>())
|
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{
|
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try
|
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{
|
||||
var rb = g.GetComponent<Rigidbody>();
|
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rb.useGravity = true;
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rb.isKinematic = false;
|
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|
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}
|
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catch (System.Exception)
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{
|
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continue;
|
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}
|
||||
}
|
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}
|
||||
|
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// for (int i = 0; i < RBchildren.Length; i++)
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// {
|
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// RBchildren[i].useGravity = true;
|
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// RBchildren[i].isKinematic = false;
|
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|
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// }
|
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}
|
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|
||||
}
|
||||
11
Assets/Scripts/NPC.cs.meta
Normal file
11
Assets/Scripts/NPC.cs.meta
Normal file
@@ -0,0 +1,11 @@
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Reference in New Issue
Block a user