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+  - {fileID: 5664739312409415817}

Assets/Scripts/AgentControllerV4.cs

@@ -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;
     Rigidbody rigidBody;
     public List<GameObject> checkpoints;
@@ -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
     void Start()
     {
         rigidBody = GetComponent<Rigidbody>();
-        // Find all child GameObjects that have the WheelControl script attached
         startPosition = transform.localPosition;
         startRotation = transform.localRotation;
     }
@@ -67,8 +63,8 @@ public class AgentControllerV4 : Agent
             }
         }
 
-        print(transform.rotation.y);
+        // Agent rotation
-        sensor.AddObservation(transform.rotation.y);
+        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
+        Vector2 velocity = new Vector2(rigidBody.velocity.x, rigidBody.velocity.z);
-
-        if (forwardMagnitude >= 0.001)
-            sensor.AddObservation(forwardMagnitude);
-        else
-            sensor.AddObservation(FullVelocityMagnitude);
-            
-        sensor.AddObservation(angularMagnitude);
 
+        // Velocity
+        sensor.AddObservation(velocity);
     }
 
     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;
             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 OnTriggerEnter(Collider other) {
-    private void OnCollisionEnter(Collision other) {
+        
-        if (other.gameObject.tag == "Wall")
-        {
-            AddReward(-0.05f);
-        }
     }
 
-    // punishment for staying at a wall
+    // // punishment for hitting a wall
-    private void OnCollisionStay(Collision other) {
+    // private void OnCollisionEnter(Collision other) {
-        if (other.gameObject.tag == "Wall")
+    //     if (other.gameObject.tag == "Wall")
-        {
+    //     {
-            AddReward(-0.05f);
+    //         AddReward(-0.05f);
-        }
+    //     }
-    }
+    // }
+
+    // // punishment for staying at a wall
+    // private void OnCollisionStay(Collision other) {
+    //     if (other.gameObject.tag == "Wall")
+    //     {
+    //         AddReward(-0.005f);
+    //     }
+    // }
 }

Assets/Scripts/NPC.cs

@@ -0,0 +1,71 @@
+using System.Collections;
+using System.Collections.Generic;
+using Unity.MLAgents.SideChannels;
+using UnityEngine;
+
+public class NPC : MonoBehaviour
+{
+    private Rigidbody[] RBchildren;
+    // Start is called before the first frame update
+    void Start()
+    {
+        
+        foreach (Transform g in transform.GetComponentsInChildren<Transform>())
+        {
+            try
+            {
+                var rb = g.GetComponent<Rigidbody>();
+                rb.useGravity = false;
+            }
+            catch (System.Exception)
+            {
+                continue;
+            }
+        }
+        
+
+
+        // for (int i = 0; i < RBchildren.Length; i++)
+        // {
+        //     RBchildren[i].useGravity = false;
+        // }
+        
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        
+    }
+
+    private void OnCollisionEnter(Collision collision)
+    {
+        
+
+        if (collision.gameObject.tag == "Player")
+        {
+            foreach (Transform g in transform.GetComponentsInChildren<Transform>())
+            {
+                try
+                {
+                    var rb = g.GetComponent<Rigidbody>();
+                    rb.useGravity = true;
+                    rb.isKinematic = false;
+                    
+                }
+                catch (System.Exception)
+                {
+                    continue;
+                }
+            }
+        }
+
+        // for (int i = 0; i < RBchildren.Length; i++)
+        // {
+        //     RBchildren[i].useGravity = true;
+        //     RBchildren[i].isKinematic = false;
+            
+        // }
+    }
+    
+}

Assets/Scripts/NPC.cs.meta

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