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bensonV3 preperation

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Ciakon
2024-04-12 13:06:03 +02:00
parent aad2340c37 6d95696418
commit 691a1d32e6
113 changed files with 14394 additions and 62 deletions
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15
Assets/Scripts/AgentController.cs
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@@ -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;
}