Added respawn for AI, Game manager keeps track of laps
This commit is contained in:
@@ -1758,7 +1758,7 @@ Transform:
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m_GameObject: {fileID: 153506}
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serializedVersion: 2
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m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
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m_LocalPosition: {x: -926.3537, y: 0, z: 100.35948}
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m_LocalPosition: {x: -1439.9213, y: 0, z: 100.35948}
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m_LocalScale: {x: 1, y: 1, z: 1}
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m_ConstrainProportionsScale: 0
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m_Children:
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@@ -1,9 +1 @@
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<<<<<<< HEAD
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<<<<<<< HEAD
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=======
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>>>>>>> e5ca63e64be4e6649cff2239dddc8b93f8132a10
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=======
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>>>>>>> 6da99da8c2f8207a43f20c59211df05003d51cb1
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{"count":1,"self":86.7022016,"total":87.2017959,"children":{"InitializeActuators":{"count":2,"self":0.0020012999999999997,"total":0.0020012999999999997,"children":null},"InitializeSensors":{"count":2,"self":0.0025069999999999997,"total":0.0025069999999999997,"children":null},"AgentSendState":{"count":2392,"self":0.0591224,"total":0.07723809999999999,"children":{"CollectObservations":{"count":958,"self":0.0045191,"total":0.0045191,"children":null},"WriteActionMask":{"count":958,"self":0.0005076,"total":0.0005076,"children":null},"RequestDecision":{"count":958,"self":0.0095655,"total":0.013089,"children":{"RayPerceptionSensor.Perceive":{"count":958,"self":0.0035234999999999997,"total":0.0035234999999999997,"children":null}}}}},"DecideAction":{"count":2392,"self":0.35492989999999996,"total":0.3589999,"children":{"RayPerceptionSensor.Perceive":{"count":1916,"self":0.00407,"total":0.00407,"children":null}}},"AgentAct":{"count":2392,"self":0.0588493,"total":0.0588493,"children":null}},"gauges":{},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1713942564","unity_version":"2022.3.11f1","command_line_arguments":"C:\\Program Files\\Unity\\Hub\\Editor\\2022.3.11f1\\Editor\\Unity.exe -projectpath C:\\Users\\noahk\\Documents\\Unity projects\\Racesm -useHub -hubIPC -cloudEnvironment production -licensingIpc LicenseClient-noahk -hubSessionId 985081e8-b814-4bc7-8736-608aea67ce7e -accessToken fMKSu_LeJtSMMwbIluJ0HvaiatLXHDxWic8X4MA6BEQ005f","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"Car Customization","end_time_seconds":"1713942651"}}
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@@ -1,9 +1 @@
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<<<<<<< HEAD
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<<<<<<< HEAD
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=======
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>>>>>>> e5ca63e64be4e6649cff2239dddc8b93f8132a10
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=======
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>>>>>>> 6da99da8c2f8207a43f20c59211df05003d51cb1
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File diff suppressed because it is too large
Load Diff
@@ -33,6 +33,8 @@ public class AgentController: Agent
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public int distanceBetweenCheckpoints = 5;
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public bool ignoreMentalPain = true;
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bool isEnabled = true;
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public bool isPlaying = false;
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[HideInInspector] public bool isFinished = false; // needed for gamemanager
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protected override void OnDisable()
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{
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@@ -56,9 +58,13 @@ public class AgentController: Agent
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return;
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stepsSinceCheckpoint = 0;
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checkpointsCollected = 0;
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totalReward = 0;
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totalMentalPain = 0;
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checkpointsCollected = 0;
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// don't reset car unless in training
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if (isPlaying)
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return;
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// reset wheels
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foreach (var wheel in wheels)
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@@ -92,6 +98,12 @@ public class AgentController: Agent
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public override void CollectObservations(VectorSensor sensor)
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{
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if (!isEnabled)
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{
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for (int i = 0; i < 6; i++)
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sensor.AddObservation(0);
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return;
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}
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Transform currentCheckpoint = checkpoints[checkpointsCollected].transform;
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@@ -249,7 +261,16 @@ public class AgentController: Agent
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if (checkpointsCollected == checkpoints.Count - 1)
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{
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AddReward(10f);
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if (isPlaying)
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{
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isFinished = true;
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}
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EndEpisode();
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}
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checkpointsCollected += 1;
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@@ -268,7 +289,34 @@ public class AgentController: Agent
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if (stepsSinceCheckpoint >= maxStepsPerCheckpoint)
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{
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stepsSinceCheckpoint = 0;
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EndEpisode();
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if (isPlaying) // send back to previous checkpoint if stuck
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{
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if (checkpointsCollected == 0)
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{
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transform.position = startPosition;
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transform.rotation = startRotation;
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}
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else
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{
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transform.position = new Vector3(
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checkpoints[checkpointsCollected - 1].transform.position.x,
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transform.position.y + 3,
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checkpoints[checkpointsCollected - 1].transform.position.z
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);
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transform.eulerAngles = new Vector3(
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transform.eulerAngles.x,
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checkpoints[checkpointsCollected - 1].transform.eulerAngles.y,
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transform.eulerAngles.z
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);
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}
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rb.velocity = Vector3.zero;
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}
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else
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EndEpisode();
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}
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// print(GetCumulativeReward());
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@@ -15,8 +15,17 @@ public class CarLoader : MonoBehaviour
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public GameObject targetcar;
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void Start()
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{
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carType = GameObject.Find("Car Data").GetComponent<CarData>().carType;
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carColor = GameObject.Find("Car Data").GetComponent<CarData>().carColor;
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try
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{
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carType = GameObject.Find("Car Data").GetComponent<CarData>().carType;
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carColor = GameObject.Find("Car Data").GetComponent<CarData>().carColor;
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}
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catch (System.Exception)
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{
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carType = "Racecar";
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carColor = "Default";
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print("no loading");
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}
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foreach (GameObject car in Cars)
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{
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@@ -24,16 +24,40 @@ public class GameManager : MonoBehaviour
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// Update is called once per frame
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void Update()
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{
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foreach (GameObject player in players)
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for (int i = 0; i < players.Count(); i++)
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{
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try
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GameObject player = players[i];
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bool isAI = true;
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if (player.GetComponent<PlayerController>().enabled)
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isAI = false;
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if (isAI)
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{
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bool isFinished = player.GetComponent<AgentController>().isFinished;
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if (isFinished)
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{
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player.GetComponent<AgentController>().isFinished = false;
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playerLaps[i] += 1;
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}
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}
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else
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{
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int checkpointsCollected = player.GetComponent<PlayerController>().checkpointsCollected;
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if (checkpointsCollected == checkpoints.Count())
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{
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player.GetComponent<PlayerController>().checkpointsCollected = 0;
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playerLaps[i] += 1;
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}
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}
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catch
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if (playerLaps[i] > lapAmount)
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{
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int checkpointsCollected = player.GetComponent<AgentController>().checkpointsCollected;
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player.GetComponent<Rigidbody>().isKinematic = true;
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}
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}
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}
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}
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