diff --git a/Assets/Brains/BensonImitationV3.onnx b/Assets/Brains/BensonImitationV3.onnx new file mode 100644 index 0000000..d8d26fc Binary files /dev/null and b/Assets/Brains/BensonImitationV3.onnx differ diff --git a/Assets/Brains/BensonImitationV3.onnx.meta b/Assets/Brains/BensonImitationV3.onnx.meta new file mode 100644 index 0000000..24fcb34 --- /dev/null +++ b/Assets/Brains/BensonImitationV3.onnx.meta @@ -0,0 +1,16 @@ +fileFormatVersion: 2 +guid: d616899359e594c45a68f837475f54bb +ScriptedImporter: + internalIDToNameTable: [] + externalObjects: {} + serializedVersion: 2 + userData: + assetBundleName: + assetBundleVariant: + script: {fileID: 11500000, guid: 683b6cb6d0a474744822c888b46772c9, type: 3} + optimizeModel: 1 + forceArbitraryBatchSize: 1 + treatErrorsAsWarnings: 0 + importMode: 1 + weightsTypeMode: 0 + activationTypeMode: 0 diff --git a/Assets/Imported Assets/EmaceArt/Slavic World Free/Editor/WelcomeWindow.cs b/Assets/Imported Assets/EmaceArt/Slavic World Free/Editor/WelcomeWindow.cs deleted file mode 100644 index f638d17..0000000 --- a/Assets/Imported Assets/EmaceArt/Slavic World Free/Editor/WelcomeWindow.cs +++ /dev/null @@ -1,104 +0,0 @@ -using UnityEditor; -using UnityEngine; - -public class WelcomeWindow : EditorWindow -{ - private GUIStyle textureButton; - private GUIStyle headingText; - private GUIStyle commonText; - - private Texture2D top; - - private Texture2D image1; - - private Texture2D linkButton; - - private Texture2D logo; - - private Vector2 scrollIndex; - - [UnityEditor.Callbacks.DidReloadScripts] - private static void OpenWindowOnUnityStart() - { - if (EditorApplication.isPlayingOrWillChangePlaymode) - return; - - OpenWindow(); - } - - [MenuItem("Tools/EmaceArt/Welcome Window")] - private static void OpenWindow() - { - EditorWindow panel = GetWindow(); - panel.titleContent = new GUIContent("Hello Developer!", Resources.Load("Favi_top")); - // panel.minSize = new Vector2(600, Mathf.Min(Screen.currentResolution.height, 862)); - // panel.maxSize = new Vector2(600, Mathf.Min(Screen.currentResolution.height, 862)); - //panel.ShowUtility(); - } - - private void OnEnable() - { - var style = Resources.Load("GUISkin"); - textureButton = style.GetStyle("textureButton"); - headingText = style.GetStyle("headingText"); - commonText = style.GetStyle("commonText"); - - top = Resources.Load("EA_Top"); - - image1 = Resources.Load("Btn_01"); - - linkButton = Resources.Load("button_free_zone"); - - logo = Resources.Load("Logo"); - } - - private void OnGUI() - { - scrollIndex = GUILayout.BeginScrollView(scrollIndex); - GUILayout.BeginVertical(); - - DrawHeader(); - GUILayout.Space(20f); - DrawBody(); - GUILayout.Space(20f); - DrawFooter(); - - GUILayout.EndVertical(); - GUILayout.EndScrollView(); - } - - private void DrawHeader() - { - if (GUILayout.Button(top, textureButton)) - Application.OpenURL("https://assetstore.unity.com/packages/3d/environments/fantasy/slavic-medieval-village-town-interior-and-exterior-pack-environm-137794"); - } - - private void DrawBody() - { - GUILayout.Label("Thanks for checkin Slavica Lite", headingText); - GUILayout.Space(1f); - GUILayout.Label("This pack perfect match with the Medieval Slavica Town Full!", commonText); - GUILayout.Space(20f); - - if (GUILayout.Button(image1, textureButton)) - Application.OpenURL("https://assetstore.unity.com/packages/3d/environments/fantasy/slavic-medieval-village-town-interior-and-exterior-pack-environm-137794"); - } - - private void DrawFooter() - { - GUILayout.BeginHorizontal(); - if (GUILayout.Button(logo, textureButton)) - Application.OpenURL("https://www.emaceart.com"); - - GUILayout.BeginVertical(); - GUILayout.Space(10f); - GUILayout.Label("Visit my free zone. If you like this content, don't forget leave review :)", commonText); - GUILayout.Space(10f); - if (GUILayout.Button(linkButton, textureButton)) - Application.OpenURL("https://assetstore.unity.com/lists/free-zone-178789"); - - GUILayout.EndVertical(); - - GUILayout.EndHorizontal(); - } -} \ No newline at end of file diff --git a/Assets/Imported Assets/EmaceArt/Slavic World Free/Editor/WelcomeWindow.cs.meta b/Assets/Imported Assets/EmaceArt/Slavic World Free/Editor/WelcomeWindow.cs.meta deleted file mode 100644 index 815671e..0000000 --- a/Assets/Imported Assets/EmaceArt/Slavic World Free/Editor/WelcomeWindow.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 15e5888e5fc5cbe4cbe94ecca9240790 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/Imported Assets/EmaceArt/Slavic World Free/Thanks and checkout this/Info.txt b/Assets/Imported Assets/EmaceArt/Slavic World Free/Thanks and checkout this/Info.txt deleted file mode 100644 index 327b80b..0000000 --- a/Assets/Imported Assets/EmaceArt/Slavic World Free/Thanks and checkout this/Info.txt +++ /dev/null @@ -1,6 +0,0 @@ -Thanks for download! -This pack of assets belongs to my other huge pack, which I encourage to buy! - 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AddReward(0.001f); + AddReward(0.02f); } // give benson mental pain for existing (punishment for maximizing first checkpoint by standing still) diff --git a/Assets/Scripts/AgentController.cs.meta b/Assets/Scripts/AgentController (old).cs.meta similarity index 100% rename from Assets/Scripts/AgentController.cs.meta rename to Assets/Scripts/AgentController (old).cs.meta diff --git a/Assets/Scripts/AgentControllerV4.cs b/Assets/Scripts/AgentControllerV4.cs new file mode 100644 index 0000000..2000baa --- /dev/null +++ b/Assets/Scripts/AgentControllerV4.cs @@ -0,0 +1,226 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using Unity.MLAgents; +using Unity.MLAgents.Sensors; +using Unity.MLAgents.Actuators; +using UnityEngine.UIElements; +using System.Linq; +using Unity.Mathematics; +using Unity.VisualScripting; +using System.Reflection; +using System; + +public class AgentControllerV4 : Agent +{ + public float motorForce = 300; + public float brakeForce = 500; + public float maxSpeed = 400; + public float steeringRange = 9; + Rigidbody rigidBody; + public List checkpoints; + Vector3 startPosition; + Quaternion startRotation; + int currentStep = 0; + int stepsSinceCheckpoint = 0; + public int maxStepsPerCheckpoint = 300; + public int distanceBetweenCheckpoints; + + + // Start is called before the first frame update + void Start() + { + rigidBody = GetComponent(); + // Find all child GameObjects that have the WheelControl script attached + startPosition = transform.localPosition; + startRotation = transform.localRotation; + } + + public override void OnEpisodeBegin() + { + stepsSinceCheckpoint = 0; + + // reset car + transform.localPosition = startPosition; + transform.localRotation = startRotation; + rigidBody.velocity = Vector3.zero; + rigidBody.angularVelocity = Vector3.zero; + + // reset checkpoints + foreach (GameObject checkpoint in checkpoints) + { + checkpoint.GetComponent().isCollected = false; + } + } + + public override void CollectObservations(VectorSensor sensor) + { + Transform currentCheckpoint = checkpoints[0].transform; + foreach (GameObject checkpoint in checkpoints) + { + bool isCollected = checkpoint.GetComponent().isCollected; + + if (!isCollected) + { + currentCheckpoint = checkpoint.transform; + break; + } + } + + print(transform.rotation.y); + sensor.AddObservation(transform.rotation.y); + + Vector3 position = transform.localPosition; + Vector3 checkpointPosition = currentCheckpoint.localPosition; + + Vector2 toCheckpoint = new Vector2( + checkpointPosition.x - position.x, + checkpointPosition.z - position.z + ); + + sensor.AddObservation(toCheckpoint.normalized); + sensor.AddObservation(toCheckpoint.magnitude); + + var FullVelocityMagnitude = rigidBody.velocity.magnitude; // Velocity including angular velocity + var angularMagnitude = rigidBody.angularVelocity.magnitude; + + var forwardMagnitude = Mathf.Sqrt( Mathf.Pow(FullVelocityMagnitude, 2) - Mathf.Pow(angularMagnitude, 2)); // Agent velocity in forward direction + + if (forwardMagnitude >= 0.001) + sensor.AddObservation(forwardMagnitude); + else + sensor.AddObservation(FullVelocityMagnitude); + + sensor.AddObservation(angularMagnitude); + + } + + public override void OnActionReceived(ActionBuffers actions) + { + // Actions size = 2 [vertical speed, horizontal speed] = [-1..1, -1..1] // discrete = [{0, 1, 2}, {0, 1, 2}] = [{-1, 0, 1}...] + float vInput = 0; + float hInput = 0; + + if (actions.DiscreteActions[0] == 0) + vInput = -1f; + if (actions.DiscreteActions[0] == 1) + vInput = 1f; + + if (actions.DiscreteActions[1] == 0) + hInput = -1f; + if (actions.DiscreteActions[1] == 1) + hInput = 1f; + + // reward for going forward + + // if (vInput == 1f) + // { + // AddReward(0.02f); + // } + + // give benson mental pain for existing (punishment for maximizing first checkpoint by standing still) + AddReward(-0.002f); + + Vector3 movementForce = vInput * motorForce * transform.forward; + float carAngle = transform.rotation.eulerAngles.y + steeringRange * hInput; + + float x = transform.rotation.eulerAngles.x; + float z = transform.rotation.eulerAngles.z; + + transform.rotation = Quaternion.Euler(x, carAngle, z); + + rigidBody.AddForce(movementForce, ForceMode.Impulse); + + // rewards + Transform currentCheckpoint = checkpoints[0].transform; + foreach (GameObject checkpoint in checkpoints) + { + bool isCollected = checkpoint.GetComponent().isCollected; + + if (!isCollected) + { + currentCheckpoint = checkpoint.transform; + break; + } + } + + float checkpintDistance = distanceToCheckpoint(currentCheckpoint); + + float reward = (1 - Mathf.InverseLerp(0, distanceBetweenCheckpoints, checkpintDistance)) / 1000; + + AddReward(reward); + + if (checkpintDistance < 0.1f) + { + currentCheckpoint.GetComponent().isCollected = true; + stepsSinceCheckpoint = 0; + + if (currentCheckpoint == checkpoints[checkpoints.Count - 1].transform) + { + AddReward(10f); + EndEpisode(); + } + AddReward(1.0f); + } + + currentStep += 1; + stepsSinceCheckpoint += 1; + + if (stepsSinceCheckpoint >= maxStepsPerCheckpoint) + { + stepsSinceCheckpoint = 0; + EndEpisode(); + } + } + + public override void Heuristic(in ActionBuffers actionsOut) + { + var discreteActionsOut = actionsOut.DiscreteActions; + + discreteActionsOut[0] = 2; + discreteActionsOut[1] = 2; + + if (Input.GetAxis("Vertical") < -0.5) + discreteActionsOut[0] = 0; + if (Input.GetAxis("Vertical") > 0.5) + discreteActionsOut[0] = 1; + + if (Input.GetAxis("Horizontal") < -0.5) + discreteActionsOut[1] = 0; + if (Input.GetAxis("Horizontal") > 0.5) + discreteActionsOut[1] = 1; + } + + // finds distance from agent to closest point on the checkpoint line + float distanceToCheckpoint(Transform checkpoint) + { + var closestPoint = checkpoint.GetComponent().ClosestPointOnBounds(transform.position); + var distanceToCheckpoint = Vector3.Distance(transform.position, closestPoint); + return distanceToCheckpoint; + } + + // find angle from agent to middle of checkpoint line. + float angleToCheckpoint(Transform checkpoint) + { + Vector3 checkpointDirection = checkpoint.localPosition - transform.localPosition; + + float angle = Vector3.SignedAngle(transform.forward, checkpointDirection, Vector3.up); + return angle; + } + + // punishment for hitting a wall + private void OnCollisionEnter(Collision other) { + if (other.gameObject.tag == "Wall") + { + AddReward(-0.05f); + } + } + + // punishment for staying at a wall + private void OnCollisionStay(Collision other) { + if (other.gameObject.tag == "Wall") + { + AddReward(-0.05f); + } + } +} \ No newline at end of file diff --git a/Assets/Scripts/CarControl.cs.meta b/Assets/Scripts/AgentControllerV4.cs.meta similarity index 83% rename from Assets/Scripts/CarControl.cs.meta rename to Assets/Scripts/AgentControllerV4.cs.meta index bc6da8b..4b6922d 100644 --- a/Assets/Scripts/CarControl.cs.meta +++ b/Assets/Scripts/AgentControllerV4.cs.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: a23c7d66d3ff94847a946cf7b30ca1b7 +guid: f5cda3de98f45464999f00bdd795f2a0 MonoImporter: externalObjects: {} serializedVersion: 2 diff --git a/Assets/Scripts/CarControl.cs b/Assets/Scripts/CarControl.cs deleted file mode 100644 index df62644..0000000 --- a/Assets/Scripts/CarControl.cs +++ /dev/null @@ -1,44 +0,0 @@ -using System.Collections; -using System.Collections.Generic; -using UnityEngine; - -public class CarControl : MonoBehaviour -{ - - public float motorTorque = 2000; - public float maxSpeed = 20; - public float steeringRange = 30; - //public float steeringRangeAtMaxSpeed = 10; - WheelControl[] wheels; - Rigidbody rigidBody; - // Start is called before the first frame update - void Start() - { - rigidBody = GetComponent(); - - // Find all child GameObjects that have the WheelControl script attached - wheels = GetComponentsInChildren(); - } - - // Update is called once per frame - void FixedUpdate() - { - float vInput = Input.GetAxis("Vertical"); - float hInput = Input.GetAxis("Horizontal"); - - foreach (var wheel in wheels) - { - // Apply steering to Wheel colliders that have "Steerable" enabled - if (wheel.steerable) - { - wheel.WheelCollider.steerAngle = hInput * steeringRange; - } - - // Apply torque to Wheel colliders that have "Motorized" enabled - if (wheel.motorized) - { - wheel.WheelCollider.motorTorque = vInput * motorTorque; - } - } - } -} diff --git a/Assets/Scripts/Checkpoint.cs b/Assets/Scripts/Checkpoint.cs index 2fdce11..4bfd281 100644 --- a/Assets/Scripts/Checkpoint.cs +++ b/Assets/Scripts/Checkpoint.cs @@ -5,4 +5,20 @@ using UnityEngine; public class Checkpoint : MonoBehaviour { public bool isCollected = false; + MeshRenderer meshRenderer; + + private void Start() { + meshRenderer = GetComponent(); + } + + private void Update() { + if (isCollected) + { + meshRenderer.enabled = false; + } + else + { + meshRenderer.enabled = true; + } + } } \ No newline at end of file diff --git a/Assets/Scripts/VehichleControl.cs b/Assets/Scripts/VehichleControl.cs deleted file mode 100644 index 9837d7d..0000000 --- a/Assets/Scripts/VehichleControl.cs +++ /dev/null @@ -1,59 +0,0 @@ -using System.Collections; -using System.Collections.Generic; -using UnityEngine; - -public class VehichleControl : MonoBehaviour -{ - public InputController InputCtrl; - [Tooltip("Set ref in order of FL, FR, RL, RR")] - public WheelCollider[] WheelColliders; - - [Tooltip("Set ref of wheel meshes in order of FL, FR, RL, RR")] - public Transform[] Wheels; - - public Transform CenterOfMass; - - public int Force; - public int Angle; - public int BrakeForce; - - private void Drive() - { - WheelColliders[0].motorTorque = WheelColliders[1].motorTorque = InputCtrl.Vertical * Force; - } - - private void Steer() - { - WheelColliders[0].steerAngle = WheelColliders[1].steerAngle = InputCtrl.Horizontal * Angle; - } - - private void Brake() - { - WheelColliders[0].brakeTorque = WheelColliders[1].brakeTorque = InputCtrl.Brake * BrakeForce; - } - - private void UpdateWheelMovements() - { - for (var i = 0; i < Wheels.Length; i++) - { - Vector3 pos; - Quaternion rot; - WheelColliders[i].GetWorldPose(out pos, out rot); - Wheels[i].transform.position = pos; - Wheels[i].transform.rotation = rot; - } - } - - private void FixedUpdate() - { - Steer(); - Drive(); - Brake(); - UpdateWheelMovements(); - } - - private void Start() - { - GetComponent().centerOfMass = CenterOfMass.localPosition; - } -} diff --git a/Assets/Scripts/VehichleControl.cs.meta b/Assets/Scripts/VehichleControl.cs.meta deleted file mode 100644 index 75b851f..0000000 --- a/Assets/Scripts/VehichleControl.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 8c9672ffa7e21bf41b27f35da94be659 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: