Merge branch 'master' of git@ooftooft.net:Racesm.git

2024-04-23 10:46:53 +02:00
parent 7b24b32475 5eb69aaa38
commit 57dea41488
47 changed files with 156603 additions and 5701 deletions
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@@ -17415,8 +17516,8 @@ MonoBehaviour:
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-  m_Follow: {fileID: 1427960685}
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+  m_Follow: {fileID: 440836397}
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@@ -24980,6 +25081,63 @@ MonoBehaviour:
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  npcPrefab: {fileID: 153506, guid: 5e488cfd825ce044395037d93a9d8eb6, type: 3}
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@@ -26450,3 +26608,6 @@ SceneRoots:
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  - {fileID: 998358590}
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+  - {fileID: 556260504}
+  - {fileID: 1205272008}
+  - {fileID: 2047826617}
--- a/Assets/Scenes/SampleScene.unity
+++ b/Assets/Scenes/SampleScene.unity
--- a/Assets/Scenes/mini_racetrack3.unity
+++ b/Assets/Scenes/mini_racetrack3.unity
--- a/Assets/Scripts/AgentControllerV6.cs
+++ b/Assets/Scripts/AgentControllerV6.cs
@@ -266,7 +266,6 @@ public class AgentControllerV6 : Agent

            totalReward = 0;

-            print("checkpoint");
        }

        currentStep += 1;
--- a/Assets/Scripts/AgentControllerV7.cs
+++ b/Assets/Scripts/AgentControllerV7.cs
@@ -0,0 +1,295 @@
+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;
+using System.Reflection;
+using System;
+
+public class AgentControllerV7 : 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;
+    public List<GameObject> checkpoints;
+    Rigidbody rb;
+    Vector3 startPosition;
+    Quaternion startRotation;
+    int currentStep = 0;
+    float totalReward = 0;
+    float totalMentalPain = 0;
+    int stepsSinceCheckpoint = 0;
+    int checkpointsReached = 0;
+    public int maxStepsPerCheckpoint = 300;
+    public int distanceBetweenCheckpoints = 5;
+    public bool ignoreMentalPain = true;
+
+    // Start is called before the first frame update
+    void Start()
+    {
+        rb = 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()
+    {
+        stepsSinceCheckpoint = 0;
+        checkpointsReached = 0;
+        totalReward = 0;
+        totalMentalPain = 0;
+
+        // reset wheels
+        foreach (var wheel in wheels)
+        {
+            wheel.WheelCollider.brakeTorque = 0;
+            wheel.WheelCollider.motorTorque = 0;
+            wheel.WheelCollider.steerAngle = 0;
+        }
+
+
+        // reset car
+        transform.localPosition = startPosition;
+        transform.localRotation = startRotation;
+        rb.velocity = Vector3.zero;
+        rb.angularVelocity = Vector3.zero;
+    }
+
+    public override void CollectObservations(VectorSensor sensor)
+    {
+        Transform currentCheckpoint = checkpoints[checkpointsReached].transform;
+        
+        // distance to next checkpoint
+        sensor.AddObservation(distanceToCheckpoint(currentCheckpoint));
+
+        // relative angle to checkpoint
+        sensor.AddObservation(angleToCheckpoint(currentCheckpoint));
+
+        // relative vector pointing to checkpoint
+        Vector3 position = transform.localPosition;
+        Vector3 checkpointPosition = currentCheckpoint.localPosition;
+
+        Vector3 toCheckpoint = new Vector3(
+            checkpointPosition.x - position.x,
+            0,
+            checkpointPosition.z - position.z
+        );
+
+        float carAngle = transform.localEulerAngles.y;
+
+        toCheckpoint = Quaternion.Euler(0, -carAngle, 0) * toCheckpoint.normalized;
+
+        sensor.AddObservation(toCheckpoint.x);
+        sensor.AddObservation(toCheckpoint.z);
+
+    
+        // relative Velocity
+        Vector3 velocity = new Vector3(
+            rb.velocity.x,
+            0,
+            rb.velocity.z
+        );
+
+        Vector3 relativeVelocity = Quaternion.Euler(0, -carAngle, 0) * velocity;
+
+        sensor.AddObservation(relativeVelocity.x);
+        sensor.AddObservation(relativeVelocity.z);
+    }
+
+    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;
+
+        // give benson mental pain for existing (punishment for maximizing first checkpoint by standing still)
+        // AddReward(-0.002f);
+        AddReward(-0.0018f); // less pain because of V4
+        totalMentalPain -= 0.0018f;
+
+        if (ignoreMentalPain)
+            totalReward -= 0.0018f;
+
+        float forwardSpeed = Vector3.Dot(transform.forward, rb.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;
+                }
+
+            }
+        }
+
+        // rewards
+        Transform currentCheckpoint = checkpoints[checkpointsReached].transform;
+
+        float checkpintDistance = distanceToCheckpoint(currentCheckpoint);
+        float reward = (1 - Mathf.InverseLerp(0, distanceBetweenCheckpoints, checkpintDistance)) / 500;
+
+        totalReward += reward;
+        AddReward(reward);
+
+        float checkpointAngle = angleToCheckpoint(currentCheckpoint);
+
+        if (checkpointAngle > 0)
+            reward = (1 - Mathf.InverseLerp(0, 60, checkpointAngle)) / 2000;
+        else
+            reward = Mathf.InverseLerp(-60, 0, checkpointAngle) / 2000;
+
+        AddReward(reward);
+
+        if (checkpintDistance < 0.1f)
+        {
+            stepsSinceCheckpoint = 0;
+            checkpointsReached += 1;
+
+            // If last checkpoint
+            if (checkpointsReached == checkpoints.Count - 1)
+            {
+                AddReward(10f);
+                EndEpisode();           
+            }
+
+            //TODO fix variable names
+
+            AddReward(1f);
+            AddReward(-totalReward);
+
+            totalReward = 0;
+        }
+
+        currentStep += 1;
+        stepsSinceCheckpoint += 1;
+
+        if (stepsSinceCheckpoint >= maxStepsPerCheckpoint)
+        {
+            stepsSinceCheckpoint = 0;
+            EndEpisode();
+        }
+
+        // print(GetCumulativeReward());
+    }
+
+    public override void Heuristic(in ActionBuffers actionsOut)
+    {
+        var discreteActionsOut = actionsOut.DiscreteActions;
+
+        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;
+    }
+
+    // finds distance from agent to closest point on the checkpoint line
+    float distanceToCheckpoint(Transform checkpoint)
+    {
+        var closestPoint = checkpoint.GetComponent<Collider>().ClosestPointOnBounds(transform.position);
+        var distanceToCheckpoint = Vector3.Distance(transform.position, closestPoint);
+        return distanceToCheckpoint;
+    }
+
+    float angleToCheckpoint(Transform checkpoint)
+    {
+        Vector3 checkpointDirection = checkpoint.localPosition - transform.localPosition;
+
+        float angle = Vector3.SignedAngle(transform.forward, checkpointDirection, Vector3.up);
+        return angle;
+    }
+
+    private void OnCollisionEnter(Collision other) {
+        // if (other.gameObject.tag == "NPC")
+        // {
+        //     AddReward(0.1f);
+        // }
+        if (other.gameObject.tag == "Player")
+        {
+            AddReward(-0.1f);
+        }
+    }
+}
--- a/Assets/Scripts/AgentControllerV7.cs.meta
+++ b/Assets/Scripts/AgentControllerV7.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 2eeab89a9b8a5f04291ce55ceb722904
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
--- a/Customization/Garage.cs
+++ b/Customization/Garage.cs
@@ -2,6 +2,7 @@ using System.Collections;
 using System.Collections.Generic;
 using Unity.Mathematics;
 using UnityEngine;
+using UnityEngine.SceneManagement;
 using UnityEngine.UI;

 public class Garage : MonoBehaviour
@@ -13,6 +14,7 @@ public class Garage : MonoBehaviour
    public Button[] ColorButtons;
    public Material[] Colors;
    quaternion currentRotation;
+    public Button startButton;
    void Start()
    {
        CarButtons[0].onClick.AddListener(SelectHotrod);
@@ -37,6 +39,8 @@ public class Garage : MonoBehaviour
        ColorButtons[10].onClick.AddListener(SelectWhite);
        ColorButtons[11].onClick.AddListener(SelectYellow);

+        startButton.onClick.AddListener(startGame);
+
        disable();
        SelectHotrod();
    }
@@ -62,6 +66,11 @@ public class Garage : MonoBehaviour
        CurrentCar.transform.rotation = currentRotation;
    }

+    void startGame()
+    {
+        SceneManager.LoadScene("Racetrack mini");
+    }
+
    void SelectHotrod()
    {
        SelectCar(0);
--- a/Assets/Scripts/Car
+++ b/Assets/Scripts/Car
@@ -0,0 +1,25 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class CarLoader : MonoBehaviour
+{
+    public GameObject Hotrod;
+    GameObject playerCar;
+    void Start()
+    {
+        playerCar = GameObject.Find("Car Data").GetComponent<CarData>().playerCar;
+
+        replaceCar(Hotrod);
+
+    }
+
+    void replaceCar(GameObject car)
+    {
+        Transform carTransform = car.transform;
+
+        playerCar.transform.position = carTransform.position;
+        playerCar.transform.rotation = carTransform.rotation;
+        playerCar.transform.localScale = carTransform.localScale;
+    }
+}
--- a/Assets/Scripts/Car
+++ b/Assets/Scripts/Car
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7750762847caa7b4bbc035455344adf9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
--- a/Assets/Scripts/Game
+++ b/Assets/Scripts/Game
@@ -0,0 +1,11 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class CarData : MonoBehaviour
+{
+    public GameObject playerCar;
+    private void Awake() {
+        DontDestroyOnLoad(gameObject);
+    }
+}
--- a/Assets/Scripts/Game
+++ b/Assets/Scripts/Game
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: eb30df1407c4e1348a03c058cb70c8ff
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
--- a/Assets/Tower_Fall.anim
+++ b/Assets/Tower_Fall.anim
--- a/Assets/Towers.controller
+++ b/Assets/Towers.controller
@@ -10,8 +10,7 @@ AnimatorState:
  m_Name: Fall
  m_Speed: 1
  m_CycleOffset: 0
-  m_Transitions:
-  - {fileID: 6812994496983608102}
+  m_Transitions: []
  m_StateMachineBehaviours: []
  m_Position: {x: 50, y: 50, z: 0}
  m_IKOnFeet: 0
@@ -65,7 +64,7 @@ AnimatorController:
    m_Type: 9
    m_DefaultFloat: 0
    m_DefaultInt: 0
-    m_DefaultBool: 0
+    m_DefaultBool: 1
    m_Controller: {fileID: 0}
  m_AnimatorLayers:
  - serializedVersion: 5
@@ -105,28 +104,6 @@ AnimatorStateMachine:
  m_ExitPosition: {x: 800, y: 120, z: 0}
  m_ParentStateMachinePosition: {x: 800, y: 20, z: 0}
  m_DefaultState: {fileID: 7207422066676919104}
--- !u!1101 &6812994496983608102
-AnimatorStateTransition:
-  m_ObjectHideFlags: 1
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_Name: 
-  m_Conditions: []
-  m_DstStateMachine: {fileID: 0}
-  m_DstState: {fileID: 0}
-  m_Solo: 0
-  m_Mute: 0
-  m_IsExit: 1
-  serializedVersion: 3
-  m_TransitionDuration: 0.25
-  m_TransitionOffset: 0
-  m_ExitTime: 0.93775934
-  m_HasExitTime: 1
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