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

Assets/AnimationController.controller

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Assets/Imported Assets/PolygonCity/Prefabs/Characters/Character_BusinessMan_Shirt_01.prefab

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Assets/ML-Agents/Timers/Racetrack mini_timers.json

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+>>>>>>> 2990a061aeca8ed1ac64145cadd8b499f1d65402

Assets/Prefabs/Cars/SchoolBus.prefab

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Assets/Prefabs/Cars/StreetRacist.prefab

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Assets/Scenes/Racetrack mini.unity

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   serializedVersion: 2
-  m_LocalRotation: {x: 0.16245987, y: 0.688191, z: -0.16245987, w: 0.688191}
+  m_LocalRotation: {x: 0.11473485, y: 0.6977363, z: -0.11473485, w: 0.6977363}
-  m_LocalPosition: {x: 10.6308975, y: -35.366627, z: 101.59595}
+  m_LocalPosition: {x: 9.25079, y: -35.426, z: 97.42711}
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@@ -17415,8 +17516,8 @@ MonoBehaviour:
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+  m_LookAt: {fileID: 440836397}
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@@ -24980,6 +25081,63 @@ MonoBehaviour:
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   npcPrefab: {fileID: 153506, guid: 5e488cfd825ce044395037d93a9d8eb6, type: 3}
   audio: {fileID: 0}
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@@ -25007,8 +25165,8 @@ Transform:
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   serializedVersion: 2
-  m_LocalRotation: {x: 0.16245987, y: 0.688191, z: -0.16245987, w: 0.688191}
+  m_LocalRotation: {x: 0.11473485, y: 0.6977363, z: -0.11473485, w: 0.6977363}
-  m_LocalPosition: {x: 10.6308975, y: -35.366627, z: 101.59595}
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@@ -26450,3 +26608,6 @@ SceneRoots:
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+  - {fileID: 556260504}
+  - {fileID: 1205272008}
+  - {fileID: 2047826617}

Assets/Scripts/AgentControllerV6.cs

@@ -266,7 +266,6 @@ public class AgentControllerV6 : Agent
 
             totalReward = 0;
 
-            print("checkpoint");
         }
 
         currentStep += 1;

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);
+        }
+    }
+}

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: 

Assets/Scripts/Car 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);

Assets/Scripts/Car Loader.cs

@@ -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;
+    }
+}

Assets/Scripts/Car Loader.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7750762847caa7b4bbc035455344adf9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Scripts/Game Manager.cs

@@ -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);
+    }
+}

Assets/Scripts/Game Manager.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: eb30df1407c4e1348a03c058cb70c8ff
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Towers.controller

@@ -10,8 +10,7 @@ AnimatorState:
   m_Name: Fall
   m_Speed: 1
   m_CycleOffset: 0
-  m_Transitions:
+  m_Transitions: []
-  - {fileID: 6812994496983608102}
   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
-  m_HasFixedDuration: 1
-  m_InterruptionSource: 0
-  m_OrderedInterruption: 1
-  m_CanTransitionToSelf: 1
 --- !u!1102 &7207422066676919104
 AnimatorState:
   serializedVersion: 6

MLAgents/config/BensonV7.yaml

@@ -0,0 +1,72 @@
+behaviors:
+  BensonV7:
+    trainer_type: ppo
+
+    hyperparameters:
+      # Hyperparameters common to PPO and SAC
+      batch_size: 50
+      buffer_size: 10240
+      learning_rate: 3.0e-4
+      learning_rate_schedule: linear
+
+      # PPO-specific hyperparameters
+      # Replaces the "PPO-specific hyperparameters" section above
+      beta: 5.0e-2
+      epsilon: 0.2
+      lambd: 0.95
+      num_epoch: 3
+
+    # Configuration of the neural network (common to PPO/SAC)
+    network_settings:
+      vis_encoder_type: simple
+      normalize: false
+      hidden_units: 128
+      num_layers: 2
+
+    # Trainer configurations common to all trainers
+    max_steps: 2.0e7
+    time_horizon: 64
+    summary_freq: 10000
+    keep_checkpoints: 5
+    checkpoint_interval : 500000
+    threaded: false
+    init_path: null
+
+    # # behavior cloning
+    # behavioral_cloning:
+    #   demo_path: 'c:\Users\noahk\Documents\Unity projects\Racesm\Assets\Demonstrations\BensonV3M.demo'
+    #   strength: 0.5
+    #   # steps: 150000
+    #   # batch_size: 512
+    #   # num_epoch: 3
+    #   # samples_per_update: 0
+
+    reward_signals:
+      # environment reward (default)
+      extrinsic:
+        strength: 1.0
+        gamma: 0.99
+
+    self_play:
+      window: 10
+      play_against_latest_model_ratio: 0.5
+      save_steps: 20000
+      swap_steps: 10000
+      team_change: 100000
+
+      # # curiosity module
+      # curiosity:
+      #   strength: 0.02
+      #   gamma: 0.99
+      #   encoding_size: 256
+      #   learning_rate: 3.0e-4
+
+      # # GAIL
+      # gail:
+      #   strength: 0.5
+      #   # gamma: 0.99
+      #   # encoding_size: 128
+      #   demo_path: 'c:\Users\noahk\Documents\Unity projects\Racesm\Assets\Demonstrations\BensonV3M.demo'
+      #   # learning_rate: 3.0e-4
+      #   # use_actions: false
+      #   # use_vail: false

MLAgents/results/BensonV7/configuration.yaml

@@ -0,0 +1,82 @@
+default_settings: null
+behaviors:
+  BensonV7:
+    trainer_type: ppo
+    hyperparameters:
+      batch_size: 50
+      buffer_size: 10240
+      learning_rate: 0.0003
+      beta: 0.05
+      epsilon: 0.2
+      lambd: 0.95
+      num_epoch: 3
+      shared_critic: false
+      learning_rate_schedule: linear
+      beta_schedule: linear
+      epsilon_schedule: linear
+    network_settings:
+      normalize: false
+      hidden_units: 128
+      num_layers: 2
+      vis_encode_type: simple
+      memory: null
+      goal_conditioning_type: hyper
+      deterministic: false
+    reward_signals:
+      extrinsic:
+        gamma: 0.99
+        strength: 1.0
+        network_settings:
+          normalize: false
+          hidden_units: 128
+          num_layers: 2
+          vis_encode_type: simple
+          memory: null
+          goal_conditioning_type: hyper
+          deterministic: false
+    init_path: null
+    keep_checkpoints: 5
+    checkpoint_interval: 500000
+    max_steps: 20000000
+    time_horizon: 64
+    summary_freq: 10000
+    threaded: false
+    self_play:
+      save_steps: 20000
+      team_change: 100000
+      swap_steps: 10000
+      window: 10
+      play_against_latest_model_ratio: 0.5
+      initial_elo: 1200.0
+    behavioral_cloning: null
+env_settings:
+  env_path: null
+  env_args: null
+  base_port: 5005
+  num_envs: 1
+  num_areas: 1
+  seed: -1
+  max_lifetime_restarts: 10
+  restarts_rate_limit_n: 1
+  restarts_rate_limit_period_s: 60
+engine_settings:
+  width: 84
+  height: 84
+  quality_level: 5
+  time_scale: 20
+  target_frame_rate: -1
+  capture_frame_rate: 60
+  no_graphics: false
+environment_parameters: null
+checkpoint_settings:
+  run_id: BensonV7
+  initialize_from: null
+  load_model: false
+  resume: false
+  force: true
+  train_model: false
+  inference: false
+  results_dir: results
+torch_settings:
+  device: null
+debug: false

MLAgents/results/BensonV7/run_logs/timers.json

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MLAgents/results/BensonV7/run_logs/training_status.json

@@ -0,0 +1,30 @@
+{
+    "BensonV7": {
+        "elo": 75.87741801617501,
+        "checkpoints": [
+            {
+                "steps": 249156,
+                "file_path": "results\\BensonV7\\BensonV7\\BensonV7-249156.onnx",
+                "reward": null,
+                "creation_time": 1713855170.9470267,
+                "auxillary_file_paths": [
+                    "results\\BensonV7\\BensonV7\\BensonV7-249156.pt"
+                ]
+            }
+        ],
+        "final_checkpoint": {
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+            "file_path": "results\\BensonV7\\BensonV7.onnx",
+            "reward": null,
+            "creation_time": 1713855170.9470267,
+            "auxillary_file_paths": [
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+    },
+    "metadata": {
+        "stats_format_version": "0.3.0",
+        "mlagents_version": "0.30.0",
+        "torch_version": "2.2.2+cu118"
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+}

MLAgents/train.bat

@@ -1,2 +1,2 @@
-mlagents-learn config/BensonV6.1.yaml --run-id=BensonV6.1 --force
+mlagents-learn config/BensonV7.yaml --run-id=BensonV7 --force
 @REM mlagents-learn config/BensonV5.yaml --run-id=BensonV5 --resume --env="C:\Users\noahk\Desktop\BensonV5\Racesm_L.exe" --no-graphics --num-envs=1

ProjectSettings/EditorBuildSettings.asset

@@ -4,5 +4,11 @@
 EditorBuildSettings:
   m_ObjectHideFlags: 0
   serializedVersion: 2
-  m_Scenes: []
+  m_Scenes:
+  - enabled: 1
+    path: Assets/Scenes/Car Customization.unity
+    guid: 46fb4d69ffddef24abd332313bb5f4d8
+  - enabled: 1
+    path: Assets/Scenes/Racetrack mini.unity
+    guid: 9b5f77be9dfb7c14cba3af351597ec83
   m_configObjects: {}

ProjectSettings/TagManager.asset

@@ -5,6 +5,7 @@ TagManager:
   serializedVersion: 2
   tags:
   - Wall
+  - NPC
   layers:
   - Default
   - TransparentFX