mEgre

Assets/Scripts/AgentControllerV7.cs

@@ -20,8 +20,8 @@ public class AgentControllerV7 : Agent
     public float steeringRangeAtMaxSpeed = 7;
     public float autoBrake = 100;
     WheelControl[] wheels;
-    Rigidbody rigidBody;
     public List<GameObject> checkpoints;
+    Rigidbody rb;
     Vector3 startPosition;
     Quaternion startRotation;
     int currentStep = 0;
@@ -36,10 +36,10 @@ public class AgentControllerV7 : Agent
     // Start is called before the first frame update
     void Start()
     {
-        rigidBody = GetComponent<Rigidbody>();
+        rb = GetComponent<Rigidbody>();
         // Find all child GameObjects that have the WheelControl script attached
         wheels = GetComponentsInChildren<WheelControl>();
-
+        
         startPosition = transform.localPosition;
         startRotation = transform.localRotation;
         
@@ -64,8 +64,8 @@ public class AgentControllerV7 : Agent
         // reset car
         transform.localPosition = startPosition;
         transform.localRotation = startRotation;
-        rigidBody.velocity = Vector3.zero;
-        rigidBody.angularVelocity = Vector3.zero;
+        rb.velocity = Vector3.zero;
+        rb.angularVelocity = Vector3.zero;
     }
 
     public override void CollectObservations(VectorSensor sensor)
@@ -98,9 +98,9 @@ public class AgentControllerV7 : Agent
     
         // relative Velocity
         Vector3 velocity = new Vector3(
-            rigidBody.velocity.x,
+            rb.velocity.x,
             0,
-            rigidBody.velocity.z
+            rb.velocity.z
         );
 
         Vector3 relativeVelocity = Quaternion.Euler(0, -carAngle, 0) * velocity;
@@ -133,7 +133,7 @@ public class AgentControllerV7 : Agent
         if (ignoreMentalPain)
             totalReward -= 0.0018f;
 
-        float forwardSpeed = Vector3.Dot(transform.forward, rigidBody.velocity);
+        float forwardSpeed = Vector3.Dot(transform.forward, rb.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);
@@ -218,12 +218,11 @@ public class AgentControllerV7 : Agent
 
         if (checkpintDistance < 0.1f)
         {
-            currentCheckpoint.GetComponent<Checkpoint>().isCollected = true;
             stepsSinceCheckpoint = 0;
             checkpointsReached += 1;
 
             // If last checkpoint
-            if (currentCheckpoint == checkpoints[checkpoints.Count - 1].transform)
+            if (checkpointsReached == checkpoints.Count - 1)
             {
                 AddReward(10f);
                 EndEpisode();