L

2024-04-12 12:45:34 +02:00
parent 0b9d3b4950
commit aad2340c37
3 changed files with 58 additions and 12 deletions
--- a/Assets/ML-Agents/Timers/AI
+++ b/Assets/ML-Agents/Timers/AI
@@ -1 +1 @@
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--- a/Assets/Scenes/AI
+++ b/Assets/Scenes/AI
@@ -522,7 +522,7 @@ PrefabInstance:
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      propertyPath: CameraSide
@@ -919,6 +919,10 @@ PrefabInstance:
      propertyPath: m_Name
      value: Player
      objectReference: {fileID: 0}
+    - target: {fileID: 5711380006811689493, guid: 5851f609a58dc884a99030da0105c6db, type: 3}
+      propertyPath: m_IsActive
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+      objectReference: {fileID: 0}
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@@ -1316,6 +1336,18 @@ PrefabInstance:
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      value: 
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@@ -1435,14 +1467,14 @@ PrefabInstance:
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      value: 
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--- a/Assets/Scripts/AgentController.cs
+++ b/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")