Merge branch 'master' of git@ooftooft.net:Racesm

# Conflicts:
#	Assets/Imported Assets/PolygonCity/Prefabs/Characters/Character_BusinessMan_Shirt_01.prefab
#	Assets/ML-Agents/Timers/Racetrack mini_timers.json
#	Assets/Scenes/Racetrack.unity
#	Assets/Scenes/mini_racetrack3.unity

.gitignore

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 venv
 .venv
+/MLAgents/Timers/
 
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 # They also could contain extremely sensitive data

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+    m_RemovedGameObjects: []
+    m_AddedGameObjects: []
+    m_AddedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: 8358fa575ee4f2e44946d6172e10c6d5, type: 3}
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Assets/Scenes/mini_racetrack3.unity

@@ -38,7 +38,7 @@ RenderSettings:
   m_ReflectionIntensity: 1
   m_CustomReflection: {fileID: 0}
   m_Sun: {fileID: 0}
-  m_IndirectSpecularColor: {r: 0.29684302, g: 0.6337671, b: 0.9937157, a: 1}
+  m_IndirectSpecularColor: {r: 0.29684305, g: 0.63376737, b: 0.9937157, a: 1}
   m_UseRadianceAmbientProbe: 0
 --- !u!157 &3
 LightmapSettings:
@@ -338,6 +338,46 @@ PrefabInstance:
       propertyPath: m_Name
       value: Camera
       objectReference: {fileID: 0}
+    - target: {fileID: 1742803291406415280, guid: 4d2790a368af4c4458fc4dc8130f8b19, type: 3}
+      propertyPath: Loader
+      value: 
+      objectReference: {fileID: 776505354}
+    - target: {fileID: 1742803291406415280, guid: 4d2790a368af4c4458fc4dc8130f8b19, type: 3}
+      propertyPath: TargetCar
+      value: 
+      objectReference: {fileID: 1852564513}
+    - target: {fileID: 5259896103893455903, guid: 4d2790a368af4c4458fc4dc8130f8b19, type: 3}
+      propertyPath: m_LocalPosition.x
+      value: 0.8158076
+      objectReference: {fileID: 0}
+    - target: {fileID: 5259896103893455903, guid: 4d2790a368af4c4458fc4dc8130f8b19, type: 3}
+      propertyPath: m_LocalPosition.y
+      value: -1.1205094
+      objectReference: {fileID: 0}
+    - target: {fileID: 5259896103893455903, guid: 4d2790a368af4c4458fc4dc8130f8b19, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 63.561188
+      objectReference: {fileID: 0}
+    - target: {fileID: 5259896103893455903, guid: 4d2790a368af4c4458fc4dc8130f8b19, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 5259896103893455903, guid: 4d2790a368af4c4458fc4dc8130f8b19, type: 3}
+      propertyPath: m_LocalRotation.x
+      value: -0
+      objectReference: {fileID: 0}
+    - target: {fileID: 5259896103893455903, guid: 4d2790a368af4c4458fc4dc8130f8b19, type: 3}
+      propertyPath: m_LocalRotation.y
+      value: 0.97014254
+      objectReference: {fileID: 0}
+    - target: {fileID: 5259896103893455903, guid: 4d2790a368af4c4458fc4dc8130f8b19, type: 3}
+      propertyPath: m_LocalRotation.z
+      value: -0.24253564
+      objectReference: {fileID: 0}
+    - target: {fileID: 5442577508303945574, guid: 4d2790a368af4c4458fc4dc8130f8b19, type: 3}
+      propertyPath: m_Name
+      value: Camera
+      objectReference: {fileID: 0}
     m_RemovedComponents: []
     m_RemovedGameObjects: []
     m_AddedGameObjects: []
@@ -15575,6 +15615,89 @@ PrefabInstance:
     m_AddedGameObjects: []
     m_AddedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: d5caff8338f793c4eb4490cc52546faf, type: 3}
+--- !u!1 &1852564513
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+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
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+  - component: {fileID: 1852564516}
+  - component: {fileID: 1852564515}
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+  m_Name: Bulldozer
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
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+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &1852564514
+Transform:
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+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1852564513}
+  serializedVersion: 2
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0.561, y: 0.1, z: 1.304}
+  m_LocalScale: {x: 0.25, y: 0.25, z: 0.25}
+  m_ConstrainProportionsScale: 0
+  m_Children:
+  - {fileID: 1691573825}
+  m_Father: {fileID: 0}
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!114 &1852564515
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+  m_EditorClassIdentifier: 
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+  brakeTorque: 700
+  maxSpeed: 85
+  steeringRange: 30
+  steeringRangeAtMaxSpeed: 25
+  autoBrake: 500
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+  checkpoints: []
+--- !u!54 &1852564516
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+  m_ExcludeLayers:
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Assets/Scripts/AgentControllerV7.cs

@@ -11,7 +11,7 @@ using Unity.VisualScripting;
 using System.Reflection;
 using System;
 
-public class AgentControllerV7 : Agent
+public class AgentController: Agent
 {
     public float motorTorque = 300;
     public float brakeTorque = 500;
@@ -32,8 +32,15 @@ public class AgentControllerV7 : Agent
     public int maxStepsPerCheckpoint = 300;
     public int distanceBetweenCheckpoints = 5;
     public bool ignoreMentalPain = true;
+    bool isEnabled = true;
+    public bool isPlaying = false;
+    [HideInInspector] public bool isFinished = false; // needed for gamemanager
 
-    // Start is called before the first frame update
+    protected override void OnDisable()
+    {  
+        isEnabled = false;
+        return;
+    }
     void Start()
     {
         rb = GetComponent<Rigidbody>();
@@ -47,10 +54,17 @@ public class AgentControllerV7 : Agent
 
     public override void OnEpisodeBegin()
     {
+        if (!isEnabled)
+            return;
+
         stepsSinceCheckpoint = 0;
-        checkpointsCollected = 0;
         totalReward = 0;
         totalMentalPain = 0;
+        checkpointsCollected = 0;
+
+        // don't reset car unless in training
+        if (isPlaying)
+            return;
 
         // reset wheels
         foreach (var wheel in wheels)
@@ -84,6 +98,13 @@ public class AgentControllerV7 : Agent
 
     public override void CollectObservations(VectorSensor sensor)
     {
+        if (!isEnabled)
+        {
+            for (int i = 0; i < 6; i++)
+                sensor.AddObservation(0);
+            return;
+        }
+
         Transform currentCheckpoint = checkpoints[checkpointsCollected].transform;
         
         // distance to next checkpoint
@@ -125,6 +146,8 @@ public class AgentControllerV7 : Agent
 
     public override void OnActionReceived(ActionBuffers actions)
     {  
+        if (!isEnabled)
+            return;
         // 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;
@@ -238,7 +261,16 @@ public class AgentControllerV7 : Agent
             if (checkpointsCollected == checkpoints.Count - 1)
             {
                 AddReward(10f);
+
+                if (isPlaying)
+                { 
+                    isFinished = true;
+                }
+
                 EndEpisode();         
+
+                
+
             }
 
             checkpointsCollected += 1;
@@ -257,6 +289,33 @@ public class AgentControllerV7 : Agent
         if (stepsSinceCheckpoint >= maxStepsPerCheckpoint)
         {
             stepsSinceCheckpoint = 0;
+
+            if (isPlaying) // send back to previous checkpoint if stuck
+            {
+
+                if (checkpointsCollected == 0)
+                {
+                    transform.position = startPosition;
+                    transform.rotation = startRotation;
+                }
+                else
+                {
+                    transform.position = new Vector3(
+                    checkpoints[checkpointsCollected - 1].transform.position.x,
+                    transform.position.y + 3,
+                    checkpoints[checkpointsCollected - 1].transform.position.z
+                );
+
+                    transform.eulerAngles = new Vector3(
+                    transform.eulerAngles.x,
+                    checkpoints[checkpointsCollected - 1].transform.eulerAngles.y,
+                    transform.eulerAngles.z
+                );
+                }
+
+                rb.velocity = Vector3.zero;
+            }
+            else
                 EndEpisode();
         }
 
@@ -265,6 +324,9 @@ public class AgentControllerV7 : Agent
 
     public override void Heuristic(in ActionBuffers actionsOut)
     {
+        if (!isEnabled)
+            return;
+
         var discreteActionsOut = actionsOut.DiscreteActions;
 
         discreteActionsOut[0] = 2;
@@ -298,6 +360,9 @@ public class AgentControllerV7 : Agent
     }
 
     private void OnCollisionEnter(Collision other) {
+        if (!isEnabled)
+            return;
+
         // if (other.gameObject.tag == "NPC")
         // {
         //     AddReward(0.1f);

Assets/Scripts/Car Customization/Car Loader.cs

@@ -14,9 +14,18 @@ public class CarLoader : MonoBehaviour
 
     public GameObject targetcar;
     void Start()
+    {
+        try
         {
             carType = GameObject.Find("Car Data").GetComponent<CarData>().carType;
             carColor = GameObject.Find("Car Data").GetComponent<CarData>().carColor;
+        }
+        catch (System.Exception)
+        {
+            carType = "Racecar";
+            carColor = "Default";
+            print("no loading");
+        }
 
         foreach (GameObject car in Cars)
         {
@@ -30,7 +39,7 @@ public class CarLoader : MonoBehaviour
     void replaceCar(GameObject car, string color)
     {
         car.GetComponent<PlayerController>().enabled = true;
-        car.GetComponent<AgentControllerV6>().enabled = false;
+        car.GetComponent<AgentController>().enabled = false;
 
         cam.GetComponent<CameraControl>().getCar(car);
         //LookAt = car.transform;

Assets/Scripts/GameManager.cs

@@ -1,5 +1,6 @@
 using System.Collections;
 using System.Collections.Generic;
+using System.Linq;
 using UnityEngine;
 
 public class GameManager : MonoBehaviour
@@ -8,17 +9,54 @@ public class GameManager : MonoBehaviour
     public GameObject[] checkpoints;
     public GameObject[] players;
 
-    int currentLap = 1;
+    int[] playerLaps;
     void Start()
     {
+        // reset laps
+        playerLaps = new int[players.Count()];
 
+        for (int i = 0; i < playerLaps.Count(); i++)
+        {
+            playerLaps[i] = 1;
+        }
     }
 
     // Update is called once per frame
     void Update()
     {
-        foreach (GameObject player in players)
+        for (int i = 0; i < players.Count(); i++)
         {
+            GameObject player = players[i];
+
+            bool isAI = true;
+            if (player.GetComponent<PlayerController>().enabled)
+                isAI = false;
+
+            if (isAI)
+            {
+                bool isFinished = player.GetComponent<AgentController>().isFinished;
+
+                if (isFinished)
+                {
+                    player.GetComponent<AgentController>().isFinished = false;
+                    playerLaps[i] += 1;
+                }
+            }
+            else
+            {
+                int checkpointsCollected = player.GetComponent<PlayerController>().checkpointsCollected;
+
+                if (checkpointsCollected == checkpoints.Count())
+                {
+                    player.GetComponent<PlayerController>().checkpointsCollected = 0;
+                    playerLaps[i] += 1;
+                }
+            }
+
+            if (playerLaps[i] > lapAmount)
+            {
+                player.GetComponent<Rigidbody>().isKinematic = true;
+            }
 
         }
     }

Assets/Scripts/PlayerController.cs

@@ -121,21 +121,27 @@ public class PlayerController : MonoBehaviour
 
     }
 
-    private void OnCollisionEnter(Collision other) {
+    private void Update() {
+        Transform currentCheckpoint = checkpoints[checkpointsCollected].transform;
+        float checkpintDistance = distanceToCheckpoint(currentCheckpoint);
 
+        if (checkpintDistance < 0.1f)
+        {
+            checkpointsCollected += 1;
+        }
+    }
+
+    private void OnCollisionEnter(Collision other) {
         if (other.gameObject.tag == "Wall")
         {
             // audio.Play();
         }
     }
 
-    private void OnTriggerEnter(Collider other) {
+    float distanceToCheckpoint(Transform checkpoint)
-        print(checkpointsCollected);
-        Transform currentCheckpoint = checkpoints[checkpointsCollected].transform;
-        if (other.gameObject == currentCheckpoint)
     {
-            checkpointsCollected += 1;
+        var closestPoint = checkpoint.GetComponent<Collider>().ClosestPointOnBounds(transform.position);
-            print(checkpointsCollected);
+        var distanceToCheckpoint = Vector3.Distance(transform.position, closestPoint);
-        }
+        return distanceToCheckpoint;
     }
 }

Assets/Scripts/Unused/AgentController (old).cs

@@ -11,7 +11,7 @@ using Unity.VisualScripting;
 using System.Reflection;
 using System;
 
-public class AgentController : Agent
+public class AgentControllerOld : Agent
 {
     public float motorTorque = 300;
     public float brakeTorque = 500;

Assets/Scripts/Unused/AgentControllerV6 (old).cs

@@ -32,6 +32,7 @@ public class AgentControllerV6 : Agent
     public int maxStepsPerCheckpoint = 300;
     public int distanceBetweenCheckpoints = 5;
     public bool ignoreMentalPain = false;
+    bool isEnabled = true;
 
     void Awake()
     {
@@ -45,11 +46,15 @@ public class AgentControllerV6 : Agent
 
     protected override void OnDisable()
     {  
+        isEnabled = false;
         return;
     }
 
     public override void OnEpisodeBegin()
     {
+        if (!isEnabled)
+            return;
+
         stepsSinceCheckpoint = 0;
         checkpointsReached = 0;
         totalReward = 0;
@@ -130,6 +135,9 @@ public class AgentControllerV6 : Agent
 
     public override void OnActionReceived(ActionBuffers actions)
     {
+        if (!isEnabled)
+            return;
+
         // 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;
@@ -285,6 +293,9 @@ public class AgentControllerV6 : Agent
 
     public override void Heuristic(in ActionBuffers actionsOut)
     {
+        if (!isEnabled)
+            return;
+
         var discreteActionsOut = actionsOut.DiscreteActions;
 
         discreteActionsOut[0] = 2;