Training Area is ready

Assets/AgentController.cs

@@ -8,6 +8,7 @@ using UnityEngine.UIElements;
 using System.Linq;
 using Unity.Mathematics;
 using Unity.VisualScripting;
+using System.Reflection;
 
 public class AgentController : Agent
 {
@@ -19,11 +20,16 @@ public class AgentController : Agent
     public float autoBrake = 100;
     WheelControl[] wheels;
     Rigidbody rigidBody;
-    public Transform Target; //(35..39, 0.25, -20..-30)
+    public List<GameObject> checkpoints;
     Vector3 startPosition;
     Quaternion startRotation;
+    int currentStep = 0;
+    int stepsSinceCheckpoint = 0;
+    public int maxStepsPerCheckpoint = 300;
+
 
     // Start is called before the first frame update
+    [System.Obsolete]
     void Start()
     {
         rigidBody = GetComponent<Rigidbody>();
@@ -35,6 +41,7 @@ public class AgentController : Agent
 
     public override void OnEpisodeBegin()
     {
+        int stepsSinceCheckpoint = 0;
         // reset wheels
         foreach (var wheel in wheels)
         {
@@ -43,61 +50,68 @@ public class AgentController : Agent
             wheel.WheelCollider.steerAngle = 0;
         }
 
+        // reset car
+
         transform.localPosition = startPosition;
         transform.localRotation = startRotation;
         rigidBody.velocity = Vector3.zero;
         rigidBody.angularVelocity = Vector3.zero;
 
-        Target.localPosition = new Vector3(UnityEngine.Random.Range(35f, 39f),
+        // reset checkpoints
-                                           0.25f,
+
-                                           UnityEngine.Random.Range(-30f, -20f));
+        foreach (GameObject checkpoint in checkpoints)
+        {
+            checkpoint.GetComponent<Checkpoint>().isCollected = false;
+        }
     }
 
     public override void CollectObservations(VectorSensor sensor)
     {
-        // Target and Agent positions
+        Transform currentCheckpoint = checkpoints[0].transform;
-        sensor.AddObservation(Target.localPosition.x);
+        foreach (GameObject checkpoint in checkpoints)
-        sensor.AddObservation(Target.localPosition.z);
+        {
+            bool isCollected = checkpoint.GetComponent<Checkpoint>().isCollected;
+
+            if (!isCollected)
+            {
+                currentCheckpoint = checkpoint.transform;
+                break;
+            }
+        }
+
+        sensor.AddObservation(currentCheckpoint.localPosition.x);
+        sensor.AddObservation(currentCheckpoint.localPosition.z);
+
+
+        // agent
         sensor.AddObservation(transform.localPosition.x);
         sensor.AddObservation(transform.localPosition.z);
+        sensor.AddObservation(transform.rotation.eulerAngles.y);
 
         // Agent velocity
-
-        // calculate forward velocity
         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
-
-        // add obserevations
-        if (forwardMagnitude >= 0.001)
-            sensor.AddObservation(forwardMagnitude);
-        else
         sensor.AddObservation(FullVelocityMagnitude);
 
-        sensor.AddObservation(angularMagnitude);
         
-    }
+        // sensor.AddObservation(wheels[0].WheelCollider.motorTorque);
+        // sensor.AddObservation(wheels[0].WheelCollider.brakeTorque);
+        // sensor.AddObservation(wheels[0].WheelCollider.steerAngle);
 
-    void Update()
+        // // calculate forward velocity
-    {
+        // var FullVelocityMagnitude = rigidBody.velocity.magnitude; // Velocity including angular velocity
-        if (Input.GetKeyDown("space"))
+        // var angularMagnitude = rigidBody.angularVelocity.magnitude;
-            {
+
-                foreach (var wheel in wheels)
+        // var forwardMagnitude = Mathf.Sqrt( Mathf.Pow(FullVelocityMagnitude, 2) - Mathf.Pow(angularMagnitude, 2)); // Agent velocity in forward direction
-                    {
+
-                        wheel.WheelCollider.brakeTorque = 0;
+        // // add obserevations
-                        wheel.WheelCollider.motorTorque = 0;
+        // if (forwardMagnitude >= 0.001)
-                        wheel.WheelCollider.steerAngle = 0;
+        //     sensor.AddObservation(forwardMagnitude);
-                    }
+        // else
-                transform.localPosition = startPosition;
+        //     sensor.AddObservation(FullVelocityMagnitude);
-                transform.localRotation = startRotation;
+
-                rigidBody.velocity = Vector3.zero;
+        // sensor.AddObservation(angularMagnitude);
-                rigidBody.angularVelocity = Vector3.zero;
 
-                Target.localPosition = new Vector3(UnityEngine.Random.Range(35f, 39f),
-                                           0.25f,
-                                           UnityEngine.Random.Range(-30f, -20f));
-            }
     }
 
     public override void OnActionReceived(ActionBuffers actions)
@@ -169,8 +183,6 @@ public class AgentController : Agent
                 wheel.WheelCollider.brakeTorque = 0;
             }
 
-            
-
             if (isStopping)
             {
                 // If the user is trying to go in the opposite direction
@@ -182,16 +194,50 @@ public class AgentController : Agent
                     wheel.WheelCollider.brakeTorque = (Mathf.Abs(vInput) * brakeTorque + autoBrake) * 5;
                 }
 
-                // wheel.WheelCollider.motorTorque = 0;
             }
         }
-
         // rewards
-        float distanceToTarget = Vector3.Distance(transform.localPosition, Target.localPosition);
 
-        if (distanceToTarget < 0.5f)
+        Transform currentCheckpoint = checkpoints[0].transform;
+        foreach (GameObject checkpoint in checkpoints)
         {
+            bool isCollected = checkpoint.GetComponent<Checkpoint>().isCollected;
+
+            if (!isCollected)
+            {
+                currentCheckpoint = checkpoint.transform;
+                break;
+            }
+        }
+
+        var closestPoint = currentCheckpoint.GetComponent<Collider>().ClosestPointOnBounds(transform.localPosition);
+        var distanceToCheckpoint = Vector3.Distance(transform.localPosition, closestPoint);
+
+        if (distanceToCheckpoint < 0.3f)
+        {
+
+            Debug.Log(currentCheckpoint.name);
+
+            currentCheckpoint.GetComponent<Checkpoint>().isCollected = true;
+            stepsSinceCheckpoint = 0;
+
+            if (currentCheckpoint == checkpoints[checkpoints.Count - 1].transform)
+            {
+                SetReward(10f);
+                EndEpisode();
+
+                Debug.Log("END");                
+            }
+
             SetReward(1.0f);
+        }
+
+        currentStep += 1;
+        stepsSinceCheckpoint += 1;
+
+        if (stepsSinceCheckpoint >= maxStepsPerCheckpoint)
+        {
+            stepsSinceCheckpoint = 0;
             EndEpisode();
         }
     }
@@ -200,8 +246,6 @@ public class AgentController : Agent
     {
         var discreteActionsOut = actionsOut.DiscreteActions;
 
-        Debug.Log(Input.GetAxis("Vertical"));
-
         discreteActionsOut[0] = 2;
         discreteActionsOut[1] = 2;
 
@@ -215,83 +259,4 @@ public class AgentController : Agent
         if (Input.GetAxis("Horizontal") > 0.5)
             discreteActionsOut[1] = 1;
     }
-
-//     // Update is called once per frame
-//     void FixedUpdate()
-//     {
-//         float vInput = Input.GetAxis("Vertical");
-//         float hInput = Input.GetAxis("Horizontal");
-
-//         // Calculate current speed in relation to the forward direction of the car
-//         // (this returns a negative number when traveling backwards)
-//         float forwardSpeed = Vector3.Dot(transform.forward, rigidBody.velocity);
-
-
-//         // Calculate how close the car is to top speed
-//         // as a number from zero to one
-//         float speedFactor = Mathf.InverseLerp(0, maxSpeed / 4, forwardSpeed);
-
-//         // Use that to calculate how much torque is available 
-//         // (zero torque at top speed)
-//         float currentMotorTorque = Mathf.Lerp(motorTorque, 0, speedFactor);
-
-//         // …and to calculate how much to steer 
-//         // (the car steers more gently at top speed)
-
-//         float currentSteerRange = Mathf.Lerp(steeringRange, steeringRangeAtMaxSpeed, speedFactor);
-
-//         // Check whether the user input is in the same direction 
-//         // as the car's velocity
-//         bool isAccelerating = Mathf.Sign(vInput) == Mathf.Sign(forwardSpeed);
-
-//         bool isStopping = vInput == 0; // range
-
-//         bool isBraking = (vInput < 0 && forwardSpeed > 0) || (vInput > 0 && forwardSpeed < 0);
-
-//         if (vInput > 0 && forwardSpeed < 0)
-//         {
-//             isAccelerating = false;
-//         }
-
-//         foreach (var wheel in wheels)
-//         {
-//             // Apply steering to Wheel colliders that have "Steerable" enabled
-//             if (wheel.steerable)
-//             {
-//                 wheel.WheelCollider.steerAngle = hInput * currentSteerRange;
-//             }
-
-//             if (isBraking)
-//             {
-//                 wheel.WheelCollider.brakeTorque = Mathf.Abs(vInput) * brakeTorque;
-//                 //wheel.WheelCollider.motorTorque = 0;
-//             }
-            
-//             if (isAccelerating)
-//             {
-//                 // Apply torque to Wheel colliders that have "Motorized" enabled
-//                 if (wheel.motorized)
-//                 {
-//                     wheel.WheelCollider.motorTorque = vInput * currentMotorTorque;
-//                 }
-//                 wheel.WheelCollider.brakeTorque = 0;
-//             }
-
-            
-
-//             if (isStopping)
-//             {
-//                 // If the user is trying to go in the opposite direction
-//                 // apply brakes to all wheels
-//                 wheel.WheelCollider.brakeTorque = Mathf.Abs(vInput) * brakeTorque + autoBrake;
-
-//                 if (forwardSpeed < 0)
-//                 {
-//                     wheel.WheelCollider.brakeTorque = (Mathf.Abs(vInput) * brakeTorque + autoBrake) * 5;
-//                 }
-
-//                 // wheel.WheelCollider.motorTorque = 0;
-//             }
-//         }
-//     }
 }

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Assets/Scripts/Checkpoint.cs

@@ -0,0 +1,8 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Checkpoint : MonoBehaviour
+{
+    public bool isCollected = false;
+}

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