made environment for BensonV4

Assets/Brains/BensonImitationV3.onnx.meta

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Assets/Imported Assets/EmaceArt/Slavic World Free/Editor/WelcomeWindow.cs

@@ -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<WelcomeWindow>();
-        panel.titleContent = new GUIContent("Hello Developer!", Resources.Load<Texture2D>("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>("GUISkin");
-        textureButton = style.GetStyle("textureButton");
-        headingText = style.GetStyle("headingText");
-        commonText = style.GetStyle("commonText");
-
-        top = Resources.Load<Texture2D>("EA_Top");
-
-        image1 = Resources.Load<Texture2D>("Btn_01");
-
-        linkButton = Resources.Load<Texture2D>("button_free_zone");
-
-        logo = Resources.Load<Texture2D>("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();
-    }
-}

Assets/Imported Assets/EmaceArt/Slavic World Free/Editor/WelcomeWindow.cs.meta

@@ -1,11 +0,0 @@
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Assets/Imported Assets/EmaceArt/Slavic World Free/Thanks and checkout this/Info.txt

@@ -1,6 +0,0 @@
-Thanks for download!
-This pack of assets belongs to my other huge pack, which I encourage to buy! 
-
-https://assetstore.unity.com/packages/3d/environments/fantasy/slavic-medieval-village-town-interior-and-exterior-pack-environm-137794
-
-If you have any questions, or request of additional models, fell free to email me at CONTACT@EMACEART.COM

Assets/Imported Assets/EmaceArt/Slavic World Free/Thanks and checkout this/Info.txt.meta

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Assets/Imported Assets/EmaceArt/Slavic World Free/Thanks and checkout this/checkout my asset.pdf.meta

@@ -1,7 +0,0 @@
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-guid: 4fa517224fb5c15469ddaafdf4a94068
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Assets/Imported Assets/EmaceArt/Slavic World Free/URP_Support/URP/URP_Standard.unitypackage.meta

@@ -1,7 +0,0 @@
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Assets/ML-Agents/Timers/AI training_timers.json

@@ -1 +1 @@
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+{"count":1,"self":24.879729599999997,"total":25.3807673,"children":{"InitializeActuators":{"count":1,"self":0.0015030999999999998,"total":0.0015030999999999998,"children":null},"InitializeSensors":{"count":1,"self":0.002506,"total":0.002506,"children":null},"AgentSendState":{"count":1033,"self":0.052233499999999995,"total":0.46367749999999996,"children":{"CollectObservations":{"count":1033,"self":0.39369149999999997,"total":0.39369149999999997,"children":null},"WriteActionMask":{"count":1033,"self":0.0035231,"total":0.0035231,"children":null},"RequestDecision":{"count":1033,"self":0.0105981,"total":0.0142294,"children":{"RayPerceptionSensor.Perceive":{"count":2066,"self":0.0036312999999999996,"total":0.0036312999999999996,"children":null}}}}},"DecideAction":{"count":1033,"self":0.0070783999999999994,"total":0.0070783999999999994,"children":null},"AgentAct":{"count":1033,"self":0.0257575,"total":0.0257575,"children":{"RayPerceptionSensor.Perceive":{"count":2,"self":0,"total":0,"children":null}}}},"gauges":{"BensonV4.CumulativeReward":{"count":1,"max":23.1291828,"min":23.1291828,"runningAverage":23.1291828,"value":23.1291828,"weightedAverage":23.1291828}},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1713518767","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 4068a663-bd5e-4526-907d-88111baad304 -accessToken lEnHrjqkaCSQA7MdFiPPC8yoqdYZh4_FAtRTqZKLQPI005f","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"AI training","end_time_seconds":"1713518792"}}

Assets/Prefabs/CheckPoint.prefab

@@ -1,6 +1,6 @@
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Assets/Prefabs/Training Areas.meta

@@ -1,5 +1,5 @@
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Assets/Scripts/AgentController (old).cs

@@ -115,6 +115,9 @@ public class AgentController : Agent
 
     public override void OnActionReceived(ActionBuffers actions)
     {
+        
+        print("L");
+
         // 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;
@@ -133,7 +136,7 @@ public class AgentController : Agent
 
         if (vInput == 1f)
         {
-            AddReward(0.001f);
+            AddReward(0.02f);
         }
 
         // give benson mental pain for existing (punishment for maximizing first checkpoint by standing still)

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<GameObject> 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<Rigidbody>();
+        // 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<Checkpoint>().isCollected = false;
+        }
+    }
+
+    public override void CollectObservations(VectorSensor sensor)
+    {
+        Transform currentCheckpoint = checkpoints[0].transform;
+        foreach (GameObject checkpoint in checkpoints)
+        {
+            bool isCollected = checkpoint.GetComponent<Checkpoint>().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<Checkpoint>().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<Checkpoint>().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<Collider>().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);
+        }
+    }
+}

Assets/Scripts/AgentControllerV4.cs.meta

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Assets/Scripts/CarControl.cs

@@ -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<Rigidbody>();
-
-        // Find all child GameObjects that have the WheelControl script attached
-        wheels = GetComponentsInChildren<WheelControl>();
-    }
-
-    // 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;
-            }
-        }
-    }
-}

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<MeshRenderer>();
+    }
+
+    private void Update() {
+        if (isCollected)
+        {
+            meshRenderer.enabled = false;
+        }
+        else
+        {
+            meshRenderer.enabled = true;
+        }
+    }
 }

Assets/Scripts/VehichleControl.cs

@@ -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<Rigidbody>().centerOfMass = CenterOfMass.localPosition;
-    }
-}

Assets/Scripts/VehichleControl.cs.meta

@@ -1,11 +0,0 @@
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-guid: 8c9672ffa7e21bf41b27f35da94be659
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
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