private bool AllDead()
{
foreach (GameObject c in cars)
{
CarManager2 m = c.GetComponent(typeof(CarManager2)) as CarManager2;
if (m.isEnabled())
{
return(false);
}
}
return(true);
}
// Update is called once per frame
void Update()
{
//The boxes should jump if the sphere is cose to origo
// if (AllDead())
// {
for (int i = 0; i < car_inst; i++)
{
CarManager2 m = cars[i].GetComponent(typeof(CarManager2)) as CarManager2;
// int ind = rng.Next (0, Positions.Length);
// m.Restart (Positions[ind],Rotations[ind]);
double d = rng.NextDouble();
if (!m.isEnabled())
{
m.Restart(Positions[i], d > 0.5 ? Rotations[i] : Alt_Rotations[i]);
}
}
// }
episode = EpisodeController.getEpisode();
}
// public static Vector3[] MPositions = {new Vector3 (-2.8f, 0.1f, 1.3f), new Vector3 (-2.8f, 0.1f, -0.29f)};
// public static Quaternion[] MRotations = { Quaternion.AngleAxis(270, new Vector3(0, 1, 0)), Quaternion.AngleAxis(270, new Vector3(0, 1, 0))};
// Use this for initialization
void Start()
{
//new NNTest ();
Application.runInBackground = true;
cars = new GameObject[numcars];
Qnetwork = new MLP(state_size, hiddenSizes);
// obstacles = new GameObject[numobstacles];
QtargetNetwork = new MLP(state_size, hiddenSizes);
int i = 0;
// for (int i = 0; i < numcars; i++){
// int ind = rng.Next (0, Positions.Length);
// cars[i] = (GameObject) Instantiate(CarFab,Positions[ind],Rotations[ind]);
double d = rng.NextDouble();
cars[i] = (GameObject)Instantiate(CarFab, Positions[i], d > 0.5 ? Rotations[i] : Alt_Rotations[i]);
CarManager2 m = cars[i].GetComponent(typeof(CarManager2)) as CarManager2;
m.SetMLP(this.Qnetwork, this.QtargetNetwork);
cars[i].name = "CloneCar" + i;
// }
EpisodeController = cars[0].GetComponent(typeof(CarManager2)) as CarManager2;
}
private GUIStyle guiStyle = new GUIStyle(); //create a new variable
void OnGUI()
{
guiStyle.fontSize = 48; //change the font size
GUI.Label(new Rect(10, 10, 100, 200), "Episode: " + episode, guiStyle);
if (GUI.Button(new Rect(10, 100, 50, 30), "Save"))
{
Debug.Log("SAVED");
this.QtargetNetwork.write("QTargetNetwork");
this.Qnetwork.write("QNetwork");
}
if (GUI.Button(new Rect(10, 140, 50, 30), "Load"))
{
Debug.Log("LOADED");
this.QtargetNetwork.read("QTargetNetwork");
this.Qnetwork.read("QNetwork");
for (int i = 0; i < car_inst; i++)
{
CarManager2 m = cars[i].GetComponent(typeof(CarManager2)) as CarManager2;
m.epsilon = m.epsilon_min;
Debug.Log("Epsilon set to: " + m.epsilon);
}
//EpisodeController.epsilon = 0.1f;
//EpisodeController.epsilon_min = 0.1f;
}
if (GUI.Button(new Rect(10, 180, 70, 30), "Obstacle"))
{
Debug.Log("OBSTACLE");
int index = rng.Next(0, numobstacles);
// obstacles[index] = (GameObject) Instantiate(Obstacle,OPositions[index],ORotations[index]);
}
if (GUI.Button(new Rect(10, 220, 70, 30), "Add Car"))
{
// int index = rng.Next (0, numobstacles);
// obstacles[index] = (GameObject) Instantiate(Obstacle,OPositions[index],ORotations[index]);
//set the epsilon to the existing cars epsilon
if (car_inst < numcars)
{
Debug.Log("Car added.");
double d = rng.NextDouble();
cars[car_inst] = (GameObject)Instantiate(CarFab, Positions[car_inst], d > 0.5 ? Rotations[car_inst] : Alt_Rotations[car_inst]);
CarManager2 m = cars[car_inst].GetComponent(typeof(CarManager2)) as CarManager2;
m.epsilon = m.epsilon_min;
m.SetMLP(this.Qnetwork, this.QtargetNetwork);
cars[car_inst].name = "CloneCar" + car_inst;
car_inst++;
}
}
if (GUI.Button(new Rect(10, 260, 70, 30), "Restart"))
{
Debug.Log("RESTART");
for (int i = 0; i < car_inst; i++)
{
CarManager2 m = cars[i].GetComponent(typeof(CarManager2)) as CarManager2;
m.Die();
double d = rng.NextDouble();
if (!m.isEnabled())
{
m.Restart(Positions[i], Rotations[i]);
}
}
}
if (GUI.Button(new Rect(10, 300, 70, 30), "Test Mode"))
{
Debug.Log("Test mode");
for (int i = 0; i < car_inst; i++)
{
CarManager2 m = cars[i].GetComponent(typeof(CarManager2)) as CarManager2;
m.test_mode = !m.test_mode;
Debug.Log("Test mode: " + m.test_mode);
}
}
}
