Added respawn for AI, Game manager keeps track of laps

Assets/Scripts/AgentControllerV7.cs

@@ -33,6 +33,8 @@ public class AgentController: Agent
     public int distanceBetweenCheckpoints = 5;
     public bool ignoreMentalPain = true;
     bool isEnabled = true;
+    public bool isPlaying = false;
+    [HideInInspector] public bool isFinished = false; // needed for gamemanager
 
     protected override void OnDisable()
     {  
@@ -56,9 +58,13 @@ public class AgentController: Agent
             return;
 
         stepsSinceCheckpoint = 0;
-        checkpointsCollected = 0;
         totalReward = 0;
         totalMentalPain = 0;
+        checkpointsCollected = 0;
+
+        // don't reset car unless in training
+        if (isPlaying)
+            return;
 
         // reset wheels
         foreach (var wheel in wheels)
@@ -92,6 +98,12 @@ public class AgentController: Agent
 
     public override void CollectObservations(VectorSensor sensor)
     {
+        if (!isEnabled)
+        {
+            for (int i = 0; i < 6; i++)
+                sensor.AddObservation(0);
+            return;
+        }
 
         Transform currentCheckpoint = checkpoints[checkpointsCollected].transform;
         
@@ -249,7 +261,16 @@ public class AgentController: Agent
             if (checkpointsCollected == checkpoints.Count - 1)
             {
                 AddReward(10f);
-                EndEpisode();           
+
+                if (isPlaying)
+                { 
+                    isFinished = true;
+                }
+
+                EndEpisode();         
+
+                
+
             }
 
             checkpointsCollected += 1;
@@ -268,7 +289,34 @@ public class AgentController: Agent
         if (stepsSinceCheckpoint >= maxStepsPerCheckpoint)
         {
             stepsSinceCheckpoint = 0;
-            EndEpisode();
+
+            if (isPlaying) // send back to previous checkpoint if stuck
+            {
+
+                if (checkpointsCollected == 0)
+                {
+                    transform.position = startPosition;
+                    transform.rotation = startRotation;
+                }
+                else
+                {
+                    transform.position = new Vector3(
+                    checkpoints[checkpointsCollected - 1].transform.position.x,
+                    transform.position.y + 3,
+                    checkpoints[checkpointsCollected - 1].transform.position.z
+                );
+
+                    transform.eulerAngles = new Vector3(
+                    transform.eulerAngles.x,
+                    checkpoints[checkpointsCollected - 1].transform.eulerAngles.y,
+                    transform.eulerAngles.z
+                );
+                }
+
+                rb.velocity = Vector3.zero;
+            }
+            else
+                EndEpisode();
         }
 
         // print(GetCumulativeReward());

Assets/Scripts/Car Customization/Car Loader.cs

@@ -15,8 +15,17 @@ public class CarLoader : MonoBehaviour
     public GameObject targetcar;
     void Start()
     {
-        carType = GameObject.Find("Car Data").GetComponent<CarData>().carType;
-        carColor = GameObject.Find("Car Data").GetComponent<CarData>().carColor;
+        try
+        {
+            carType = GameObject.Find("Car Data").GetComponent<CarData>().carType;
+            carColor = GameObject.Find("Car Data").GetComponent<CarData>().carColor;
+        }
+        catch (System.Exception)
+        {
+            carType = "Racecar";
+            carColor = "Default";
+            print("no loading");
+        }
 
         foreach (GameObject car in Cars)
         {

Assets/Scripts/GameManager.cs

@@ -24,16 +24,40 @@ public class GameManager : MonoBehaviour
     // Update is called once per frame
     void Update()
     {
-        foreach (GameObject player in players)
+        for (int i = 0; i < players.Count(); i++)
         {
-            try
+            GameObject player = players[i];
+
+            bool isAI = true;
+            if (player.GetComponent<PlayerController>().enabled)
+                isAI = false;
+
+            if (isAI)
+            {
+                bool isFinished = player.GetComponent<AgentController>().isFinished;
+
+                if (isFinished)
+                {
+                    player.GetComponent<AgentController>().isFinished = false;
+                    playerLaps[i] += 1;
+                }
+            }
+            else
             {
                 int checkpointsCollected = player.GetComponent<PlayerController>().checkpointsCollected;
+
+                if (checkpointsCollected == checkpoints.Count())
+                {
+                    player.GetComponent<PlayerController>().checkpointsCollected = 0;
+                    playerLaps[i] += 1;
+                }
             }
-            catch
+
+            if (playerLaps[i] > lapAmount)
             {
-                int checkpointsCollected = player.GetComponent<AgentController>().checkpointsCollected;
+                player.GetComponent<Rigidbody>().isKinematic = true;
             }
+
         }
     }
 }