// Update is called once per frame
void FixedUpdate()
{
if (!crashed)
{
if (randomStart)
{
rend.material.color = new Color(1, 0, 0);
randomStart = false;
transform.Translate(new Vector3(0, 0.01f, 0));
}
if (champion)
{
rend.material.color = new Color(0, 1, 0);
champion = false;
transform.Translate(new Vector3(0, 0.015f, 0));
}
if (wasLoaded)
{
rend.material.color = new Color(0, 0, 1);
wasLoaded = false;
transform.Translate(new Vector3(0, 0.02f, 0));
}
// must hit a lap gate at least every 10 seconds or die
lapGateTime -= Time.deltaTime;
if (lapGateTime < 0)
{
wallHit();
}
//gets the left and right of the car
var right45 = Quaternion.Euler(0, 45, 0) * transform.forward;
var left45 = Quaternion.Euler(0, -45, 0) * transform.forward;
///raycasts to check how far the nearest wall is to the car in the direction
RaycastHit forwardRay;
//forward raycast
if (Physics.Raycast(transform.position, transform.TransformDirection(Vector3.forward), out forwardRay, 10, layerMask))
{
Debug.DrawRay(transform.position, transform.TransformDirection(Vector3.forward) * forwardRay.distance, Color.red);
forwardDistance = forwardRay.distance;
}
else
{
forwardDistance = 10.0f;
}
//left raycast
RaycastHit leftRay;
if (Physics.Raycast(transform.position, left45, out leftRay, 10, layerMask))
{
Debug.DrawRay(transform.position, left45 * leftRay.distance, Color.blue);
leftDistance = leftRay.distance;
}
else
{
leftDistance = 10.0f;
}
//right raycast
RaycastHit rightRay;
if (Physics.Raycast(transform.position, right45, out rightRay, 10, layerMask))
{
Debug.DrawRay(transform.position, right45 * rightRay.distance, Color.blue);
rightDistance = rightRay.distance;
}
else
{
rightDistance = 10.0f;
}
//---puts the raycast lengths between 0 and 1
forwardDistance /= 10;
leftDistance /= 10;
rightDistance /= 10;
// ------------------------ Put Neural network below this ------------------------
float[] inputs = new float[3];
//sets the inputs
inputs[0] = forwardDistance;
inputs[1] = leftDistance;
inputs[2] = rightDistance;
//runs the inputs through the network
float[] outputs = neuralNetwork.FeedForward(inputs);
// ------------------------ Put Neural network above this ------------------------
//gets the outputs from the neural network
outputs[0] *= turnSpeed;
outputs[1] *= acceleration;
//add the outputs to the related variable
rotation += outputs[0];
velocity = outputs[1];
//movement speed clamps
if (velocity > maxSpeed)
{
velocity = maxSpeed;
}
if (velocity < -maxSpeed)
{
velocity = -maxSpeed;
}
// rotation speed clamps
if (rotation > maxTurnSpeed)
{
rotation = maxTurnSpeed;
}
if (rotation < -maxTurnSpeed)
{
rotation = -maxTurnSpeed;
}
//moves the car according to the outputs received
transform.Rotate(new Vector3(0, outputs[0], 0) * Time.deltaTime);
transform.Translate(new Vector3(0, 0, outputs[1]) * Time.deltaTime);
//adds the distance traveled by the car to the fitness score
distance = transform.position - lastPos;
distanceTravelled = Vector3.Magnitude(distance);
lastPos = transform.position;
// add the fitness score to the neural network -> the further it moves the higher the fitness score becomes
increaseFitness();
}
}