bensonV3 preperation

Assets/Scripts/AgentController.cs

@@ -79,10 +79,9 @@ public class AgentController : Agent
                 break;
             }
         }
+        float checkpointAngle = angleToCheckpoint(currentCheckpoint);
 
-        float checkpointDistance = distanceToCheckpoint(currentCheckpoint);
-
-        sensor.AddObservation(checkpointDistance);
+        sensor.AddObservation(checkpointAngle);
 
         // Agent velocity
         var FullVelocityMagnitude = rigidBody.velocity.magnitude; // Velocity including angular velocity
@@ -218,14 +217,6 @@ public class AgentController : Agent
 
         float checkpintDistance = distanceToCheckpoint(currentCheckpoint);
 
-        print("forward " + transform.forward);
-
-        Vector3 checkpointDirection = currentCheckpoint.localPosition - transform.localPosition;
-
-        print("checkpoint direction " + checkpointDirection);
-
-        //print(angleToCheckpoint(currentCheckpoint));
-
         // float reward = (1 - Mathf.InverseLerp(0, 20, checkpintDistance)) / 1000;
 
         // AddReward(reward);
@@ -284,7 +275,7 @@ public class AgentController : Agent
     {
         Vector3 checkpointDirection = checkpoint.localPosition - transform.localPosition;
 
-        float angle = Vector3.Angle(transform.forward, checkpointDirection);
+        float angle = Vector3.SignedAngle(transform.forward, checkpointDirection, Vector3.up);
         return angle;
     }
 

Assets/Scripts/UI scripts.meta

@@ -0,0 +1,8 @@
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+guid: 2f9964f63204e9542ba0533f5ec31d3f
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Scripts/UI scripts/GameUI.cs

@@ -0,0 +1,31 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using TMPro;
+using UnityEngine.UI;
+using JetBrains.Annotations;
+using Unity.Mathematics;
+
+public class GameUI : MonoBehaviour
+{
+    
+    public GameObject car;
+    private float carVel;
+    public Rigidbody carRB;
+    // Start is called before the first frame update
+    void Start()
+    {
+        if (carRB == null)
+        {
+            carRB = GetComponent<Rigidbody>();
+        }
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        carVel = (math.abs(carRB.velocity.x) + math.abs(carRB.velocity.y) + math.abs(carRB.velocity.z))*5;
+        print(carVel);
+        
+    }
+}

Assets/Scripts/UI scripts/GameUI.cs.meta

@@ -0,0 +1,11 @@
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+guid: 0e08eb46613e9c34dbc9e95c80e40143
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
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