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());