public void CheckPointReached(Checkpoint checkpoint)
{
if (nextCheckPointToReach != checkpoint)
{
return;
}
lastCheckpoint = Checkpoints[CurrentCheckpointIndex];
reachedCheckpoint?.Invoke(checkpoint);
CurrentCheckpointIndex++;
if (CurrentCheckpointIndex >= Checkpoints.Count)
{
rewardFromFinaCheckpoint = 50f;
carAgent.AddReward(50f);
Debug.Log("<color=green>Final checkpoint Reached</color>" + carAgent.GetCumulativeReward(), this);
carAgent.EndEpisode();
}
else
{
rewardFromCheckpoints += (100f / Checkpoints.Count);
carAgent.AddReward((100f / Checkpoints.Count));
checkpoint.gameObject.SetActive(false);
SetNextCheckpoint();
}
}
private void Update()
{
if (frames >= 500)
{
//Select target
CarAgent highestVal = targets[0];
foreach (CarAgent agent in targets)
{
if (highestVal.GetCumulativeReward() < agent.GetCumulativeReward())
{
highestVal = agent;
}
}
target = highestVal.transform.GetChild(3).transform;
}
else
{
frames++;
}
}
void Update()
{
cumulativeReward.text = "Cumulative Reward: " + agent.GetCumulativeReward().ToString();
episodesCompleted.text = "Episodes Completed: " + agent.CompletedEpisodes.ToString();
}
// Update is called once per frame
void FixedUpdate()
{
rpm.text = string.Format("Speed: {0:0.00} kph", CarController.carSpeed * 3.6);
distance.text = string.Format("Progress: {0:0.00} m\nReword: {1}", car.carPorgress, car.GetCumulativeReward());
CheckInput();
try{
CheckWheel();
}catch {
GetWC();
}
StartCoroutine(CheckRangeFinders());
StartCoroutine(RemoveLayout());
}