L

Assets/Scripts/AgentController.cs

@@ -218,23 +218,27 @@ public class AgentController : Agent
 
         float checkpintDistance = distanceToCheckpoint(currentCheckpoint);
 
+        print("forward " + transform.forward);
+
+        Vector3 checkpointDirection = currentCheckpoint.localPosition - transform.localPosition;
+
+        print("checkpoint direction " + checkpointDirection);
+
+        //print(angleToCheckpoint(currentCheckpoint));
+
         // float reward = (1 - Mathf.InverseLerp(0, 20, checkpintDistance)) / 1000;
 
         // AddReward(reward);
 
         if (checkpintDistance < 0.1f)
         {
-            Debug.Log(currentCheckpoint.name);
-
             currentCheckpoint.GetComponent<Checkpoint>().isCollected = true;
             stepsSinceCheckpoint = 0;
 
             if (currentCheckpoint == checkpoints[checkpoints.Count - 1].transform)
             {
                 AddReward(10f);
-                EndEpisode();
-
-                Debug.Log("END");                
+                EndEpisode();           
             }
             AddReward(1.0f);
         }
@@ -267,6 +271,7 @@ public class AgentController : Agent
             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);
@@ -274,6 +279,15 @@ public class AgentController : Agent
         return distanceToCheckpoint;
     }
 
+    // find angle from agent to middle of checkpoint line.
+    float angleToCheckpoint(Transform checkpoint)
+    {
+        Vector3 checkpointDirection = checkpoint.localPosition - transform.localPosition;
+
+        float angle = Vector3.Angle(transform.forward, checkpointDirection);
+        return angle;
+    }
+
     // punishment for hitting a wall
     private void OnCollisionEnter(Collision other) {
         if (other.gameObject.tag == "Wall")