public void ResetAgentPosition(CarAgent agent, bool randomize = false)
{
if (randomize)
{
agent.NextCheckpointIndex = Random.Range(0, Checkpoints.Count);
}
int previousCheckpointIndex = agent.NextCheckpointIndex - 1;
if (previousCheckpointIndex == -1)
{
previousCheckpointIndex = Checkpoints.Count - 1;
}
float startPosition = racePath.FromPathNativeUnits(previousCheckpointIndex, CinemachinePathBase.PositionUnits.PathUnits);
Vector3 basePosition = racePath.EvaluatePosition(startPosition);
Quaternion orientation = racePath.EvaluateOrientation(startPosition);
Vector3 positionOffset = Vector3.right * (CarAgents.IndexOf(agent) - CarAgents.Count / 2f)
* UnityEngine.Random.Range(9f, 10f);
agent.transform.position = basePosition + orientation * positionOffset;
agent.transform.rotation = orientation;
}
// Start is called before the first frame update
void Start()
{
for (int i = 0; i < _agentSpawnerDrawerManager.NumAgents; i++)
{
GameObject carObject = Instantiate(_carPrefab, transform.position, Quaternion.identity, transform);
Material customMaterial = _agentSpawnerDrawerManager.MaterialsList[i];
if (customMaterial != null && _agentSpawnerDrawerManager.UsingModel)
{
carObject.GetComponent <MeshRenderer>().material = customMaterial;
}
CarAgent carAgent = carObject.GetComponent <CarAgent>();
NNModel customModel = _agentSpawnerDrawerManager.ModelsList[i];
if (carAgent != null && customModel != null && _agentSpawnerDrawerManager.UsingModel)
{
LearningBrain customBrain = new LearningBrain();
customBrain.brainParameters = carAgent.brain.brainParameters;
customBrain.model = customModel;
carAgent.brain = customBrain;
carObject.name = customBrain.model.name;
}
}
}
void Start()
{
// KM: We will stick to only BatMobil for our project
int randomCar = 0;
int randomCarSpot = Random.Range(0, startPoints.Length);
car = Instantiate(carPrefabs[randomCar], startPoints[randomCarSpot].transform.position, startPoints[randomCarSpot].transform.rotation);
Instantiate(parkPrefabs[0], target.transform.position, target.transform.rotation);
ParkControler.FindObjectOfType <ParkControler>().scene = SceneManager.GetActiveScene().name;
goals = new List <Vector3>();
if (SceneManager.GetActiveScene().name == "Scene_1")
{
CarAgent.FindObjectOfType <CarAgent>().isStun = true;
CarAgent.FindObjectOfType <CarAgent>().setTarget(target);
goals.Add(new Vector3(-11f, 0.3f, -5f));
goals.Add(new Vector3(-3.2f, 0.3f, 12f));
goals.Add(new Vector3(8f, 0.3f, 12f));
}
else if (SceneManager.GetActiveScene().name == "Scene_2")
{
CarAgentForLevel2.FindObjectOfType <CarAgentForLevel2>().isStun = true;
CarAgentForLevel2.FindObjectOfType <CarAgentForLevel2>().setTarget(target);
// goals.Add(new Vector3(-3.2f, 0.3f, 12f));
// Points on storey 1
//goals.Add(new Vector3(8f, 0.3f, 12f));
// Points on storey 2
goals.Add(new Vector3(78.42f, 0f, 12.24f));
}
}
void OnTriggerEnter(Collider collider)
{
if (collider.transform.tag.ToLower() == "player" && !HasCarUsedIt)
{
agent = transform.parent.GetComponentInChildren <CarAgent>();
if (goalType == GoalType.Milestone)
{
HasCarUsedIt = true;
agent.GivePoints(goalReward);
}
else
{
// this will ensure the car tries to align when parking
if (Mathf.Abs(agent.transform.rotation.y) <= goalMinRotation || !enforceGoalMinRotation)
{
HasCarUsedIt = true;
agent.GivePoints(goalReward, true);
}
else
{
agent.TakeAwayPoints();
}
}
}
}
// Start is called before the first frame update
void Start()
{
distanceSensorComponent = GetComponent<RayPerceptionSensorComponent3D>();
// sensor = (RayPerceptionSensor)distanceSensorComponent.CreateSensor();
agent = GetComponent<CarAgent>();
resetCarStatus();
}
void Update()
{
ParkControler.FindObjectOfType <ParkControler>().scene = SceneManager.GetActiveScene().name;
if (ParkControler.FindObjectOfType <ParkControler>().hasPark == true)
{
Destroy(car);
int randomCar = 0;
int randomCarSpot = Random.Range(0, startPoints.Length);
target.transform.position = getGoalLocation();
car = Instantiate(carPrefabs[randomCar], startPoints[randomCarSpot].transform.position, startPoints[randomCarSpot].transform.rotation);
Instantiate(parkPrefabs[0], target.transform.position, target.transform.rotation);
if (SceneManager.GetActiveScene().name == "Scene_1")
{
CarAgent.FindObjectOfType <CarAgent>().isStun = true;
CarAgent.FindObjectOfType <CarAgent>().setTarget(target);
}
else if (SceneManager.GetActiveScene().name == "Scene_2")
{
CarAgentForLevel2.FindObjectOfType <CarAgentForLevel2>().isStun = true;
CarAgentForLevel2.FindObjectOfType <CarAgentForLevel2>().setTarget(target);
}
cameraFollow.FindObjectOfType <cameraFollow>().targets.RemoveAt(0);
}
}
void InitializeCarAgentComponent()
{
CarAgent component = agent.GetComponent <CarAgent>();
component.vertexPath = this.road.pathCreator.path;
component.startPosition = agent.transform.localPosition;
}
void Awake()
{
carAgent = GetComponentInChildren <CarAgent>();
carAgent.onReset += DestroyAllSpawnedObjects;
StartCoroutine(Spawn());
}
void ClearAgentAccident()
{
CarAgent carAgent = agent.GetComponent <CarAgent>();
carAgent.windForce = Vector3.zero;
carAgent.ctrlXaxisMultiplier = 1.0f;
carAgent.ctrlZaxisMultiplier = 1.0f;
}
public void StopFreeze()
{
if (SceneManager.GetActiveScene().name == "Scene_1")
{
CarAgent.FindObjectOfType <CarAgent>().isStun = false;
}
if (SceneManager.GetActiveScene().name == "Scene_2")
{
CarAgentForLevel2.FindObjectOfType <CarAgentForLevel2>().isStun = false;
}
}
void OnCollisionStay(Collision collision)
{
if (collision.gameObject.tag == "Wall")
{
CarAgent agent = gameObject.GetComponent <CarAgent>();
if (agent != null)
{
agent.AddReward(-10f);
}
}
}
/// <summary>
/// Update the lap count of a given agent.
/// </summary>
/// <param name="carAgent">The agent to update it's lap count.</param>
public void UpdateLapCount(CarAgent carAgent)
{
if (carAgent.isUser)
{
userLapCount.text = string.Format("LAP {0}/2", carAgent.LapsMade);
}
else
{
AILapCount.text = string.Format("LAP {0}/2", carAgent.LapsMade);
}
}
void LossControlAccident()
{
if (!enableLossControlAccident)
{
return;
}
Debug.Log("LossControl happen !");
CarAgent component = agent.GetComponent <CarAgent>();
component.ctrlXaxisMultiplier = lossctrl_Xaxis_ratio;
component.ctrlZaxisMultiplier = lossctrl_Zaxis_ratio;
}
public CarAgent CreateBarrier(bool opposite, float y)
{
int lane = random.NextDouble() < 0.7 ? 0 : 1;
var barrier = new CarAgent(_barrierModel, 90, laneWidth * 0.8f, 0.79f, opposite, GameObjectType.Roadblock, _gameStateProvider, null)
{
VY = 0,
MaxVY = 0,
X = GetLaneCenter(lane, opposite),
Y = y
};
return(barrier);
}
void OnTriggerEnter(Collider other)
{
//check if the player drove through this gate and we didn't yet add any points
if (!other.gameObject.transform.root.CompareTag("Player") || addedScore)
{
return;
}
//increase the score by one and play some audio
addedScore = true;
manager.UpdateScore(1);
scoreAudio.Play();
CarAgent car = other.gameObject.GetComponent <CarAgent>();
car?.PassGate();
}
public CarAgent CreateBusStop(bool opposite, float y)
{
int lane = 0;
float width = 2f;
const float height = 2.77f;
float x = GameConstants.RoadWidth / 2 + width / 2 + 0.1f;
var barrier = new CarAgent(_busStopModel, 270, width, height, opposite, GameObjectType.BusStop, _gameStateProvider, null)
{
VY = 0,
MaxVY = 0,
X = opposite ? -x : x,
Y = y
};
return(barrier);
}
void WindAccident()
{
if (!enableWindAccident)
{
return;
}
Debug.Log("WindAccident happen !");
CarAgent component = agent.GetComponent <CarAgent>();
Vector3 windForce = new Vector3();
windForce.x = wind_force_X;
windForce.y = (path_space == PathSpace.xz) ? 0.0f : wind_force_Y;
windForce.z = wind_force_Z;
component.windForce = windForce;
}
private CarAgent CreateVehicleAgent(Model model, int lane, bool opposite, float y, float vanWidth, float height, float v, float rotation, IControlStrategy drivingStrategy = null)
{
if (drivingStrategy == null)
{
drivingStrategy = new OvertakingStrategy(v, lane, _gameStateProvider);
}
var van = new CarAgent(model, rotation, vanWidth, height, opposite, GameObjectType.Car, _gameStateProvider, drivingStrategy)
{
VY = v,
MaxVY = 100f / 3.6f,
X = GetLaneCenter(lane, opposite),
Y = y
};
return(van);
}
private void OnCollisionEnter(Collision collision)
{
//Debug.Log(collision.gameObject);
if (collision.gameObject.tag == "Car")
{
Physics.IgnoreCollision(collision.collider, carCollider, true);
}
if (collision.gameObject.tag == "Wall")
{
CarAgent agent = gameObject.GetComponent <CarAgent>();
if (agent != null)
{
agent.AddReward(-100);
//agent.Done();
}
}
}
void SetupAgentConfiguration()
{
Rigidbody rigidbody = agent.GetComponent <Rigidbody>();
rigidbody.mass = agent_mass;
CarAgent carAgent = agent.GetComponent <CarAgent>();
carAgent.xyz_mode = (path_space == PathSpace.xyz);
carAgent.forceMultiplier = force_multiplier;
carAgent.tickerStart = ticker_start;
carAgent.tickerEnd = ticker_end;
carAgent.running_penalty = running_penalty;
carAgent.failure_penalty = failure_penalty;
carAgent.windForce = Vector3.zero;
carAgent.ctrlXaxisMultiplier = 1.0f;
carAgent.ctrlZaxisMultiplier = 1.0f;
}
public void ResetCarAgent(CarAgent agent, Vector3 offset)
{
int prevCheckpointIndex = agent.NextCheckpointIndex - 1;
if (prevCheckpointIndex == -1)
{
prevCheckpointIndex = 0;
}
float Startposition = racePath.FromPathNativeUnits(prevCheckpointIndex, CinemachinePathBase.PositionUnits.PathUnits);
Vector3 basePosition = racePath.EvaluatePosition(Startposition);
Quaternion orientation = racePath.EvaluateOrientation(Startposition);
Vector3 offsetPosition = Vector3.right * (carAgents.IndexOf(agent) - carAgents.Count / 2f);
//Debug.Log(offsetPosition);
agent.transform.position = basePosition + orientation * offset;//offsetPosition;
agent.transform.rotation = orientation;
}
/// <summary>
/// Display the game over screen.
/// </summary>
/// <returns>
/// Waits before displaying stats.
/// </returns>
/// <param name="user">The user agent.</param>
/// <param name="AI">The AI agent.</param>
public IEnumerator DisplayGameoverScreen(CarAgent user, CarAgent AI)
{
duringGameplay = false;
// Wait 2 seconds before displaying the dark screen and the default game over text
yield return(new WaitForSeconds(2));
darkPanel.SetActive(true);
gameoverDefaultText.SetActive(true);
// Display the correct image according to the user winning status
if (user.LapsMade > AI.LapsMade)
{
youWonImage.SetActive(true);
}
else
{
youLostImage.SetActive(true);
}
// Wait 1 second before displaying the game stat
yield return(new WaitForSeconds(1));
totalTime.text = raceTimer.GetTotalTime();
totalTime.gameObject.SetActive(true);
yield return(new WaitForSeconds(1));
userLapsMade.text = string.Format("{0}/2", user.LapsMade);
userLapsMade.gameObject.SetActive(true);
yield return(new WaitForSeconds(1));
AILapsMade.text = string.Format("{0}/2", AI.LapsMade);
AILapsMade.gameObject.SetActive(true);
// Wait 1 second and display the quit button
yield return(new WaitForSeconds(1));
quitButton.SetActive(true);
}
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 BreedNewAgents(List <CarAgent> prevAgents = null)
{
chromosomes.Clear();
CarAgent tempAgent = null;
CarAgent newCarAgent = null;
Chromosome ch = null;
bool isCleanAgent = false;
for (int i = 0; i < populationSize; i++)
{
if (prevAgents != null && i < prevAgents.Count)
{
foreach (CarAgent agent in scaledCarPrefabs)
{
if (agent.size == prevAgents[i].size)
{
newCarAgent = agent;
isCleanAgent = false;
break;
}
}
}
else
{
newCarAgent = scaledCarPrefabs[UnityEngine.Random.Range(0, scaledCarPrefabs.Length)];
isCleanAgent = true;
}
if (isCleanAgent)
{
ch = new Chromosome();
ch.id = id;
id++;
}
else
{
ch = prevAgents[i].genes;
}
chromosomes.Add(ch);
tempAgent = Instantiate(newCarAgent, transform).GetComponent <CarAgent>();
tempAgent.handler = this;
road1Agents.Add(Instantiate(tempAgent, spawnPoint1.position + Vector3.forward * 25 * road1Agents.Count, Quaternion.Euler(0, 270, 0), spawnPoint1).GetComponent <CarAgent>());
road1Agents[i].genes = ch;
road1Agents[i].handler = this;
road1Agents[i].track = 1;
road1Agents[i].genes.SetGeneValue(GeneType.Size, newCarAgent.size);
road2Agents.Add(Instantiate(tempAgent, spawnPoint2.position + Vector3.forward * 25 * road2Agents.Count, Quaternion.Euler(0, 270, 0), spawnPoint2).GetComponent <CarAgent>());
road2Agents[i].genes = ch;
road2Agents[i].handler = this;
road2Agents[i].track = 2;
road2Agents[i].genes.SetGeneValue(GeneType.Size, newCarAgent.size);
road3Agents.Add(Instantiate(tempAgent, spawnPoint3.position + Vector3.forward * 25 * road3Agents.Count, Quaternion.Euler(0, 270, 0), spawnPoint3).GetComponent <CarAgent>());
road3Agents[i].genes = ch;
road3Agents[i].handler = this;
road3Agents[i].track = 3;
road3Agents[i].genes.SetGeneValue(GeneType.Size, newCarAgent.size);
Destroy(tempAgent.gameObject);
tempAgent = null;
ch = null;
}
CheckForDuplicates();
}
private void Start()
{
agent = GetComponent <CarAgent>();
}
public void UpdateTotalTime(CarAgent road1Agents)
{
currentTotalFitness.text = "Overall: " + (float)Math.Round((decimal)road1Agents.totalTimeAcrossTracks, 2) + " seconds";
}
void Awake()
{
// cache agent
agent = transform.parent.parent.GetComponentInChildren <CarAgent>();
}
private void Awake()
{
instance = this;
}
public void AddPosition(CarAgent agent)
{
positions.Add(agent);
}