Fixed many things.

Assets/Prefabs/BotPrefab/Bot.prefab

@@ -1113,6 +1113,7 @@ MonoBehaviour:
   enemy: {fileID: 164324136889094180, guid: 2d8d8fcef9fc43144982428bd40ad6f0, type: 3}
   isFiring: 0
   lookSpeed: 50
+  fireAnimation: 0
 --- !u!114 &9003219069727127243
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -1127,7 +1128,7 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   raycast: {fileID: 1105574061174270723}
   firePoint: {fileID: 8024036354822949060}
-  _projectilePrefab: {fileID: 1564468091806366, guid: f1dc4df701f37324c98ea16f41770afc,
+  projectilePrefab: {fileID: 1990380580032880, guid: 46b312e00ed9c1f459ea9f0e55bfac77,
     type: 3}
   gun: {fileID: 8024036354822949060}
 --- !u!195 &3763807728217797723
@@ -1198,8 +1199,8 @@ MonoBehaviour:
     NumStackedVectorObservations: 1
     m_ActionSpec:
       m_NumContinuousActions: 0
-      BranchSizes: 01000000
+      BranchSizes: 030000000400000003000000
-    VectorActionSize: 01000000
+    VectorActionSize: 030000000400000003000000
     VectorActionDescriptions: []
     VectorActionSpaceType: 0
     hasUpgradedBrainParametersWithActionSpec: 1
@@ -1239,8 +1240,8 @@ MonoBehaviour:
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   m_Name: 
   m_EditorClassIdentifier: 
-  DecisionPeriod: 5
+  DecisionPeriod: 15
-  TakeActionsBetweenDecisions: 1
+  TakeActionsBetweenDecisions: 0
 --- !u!114 &4758249021326882836
 MonoBehaviour:
   m_ObjectHideFlags: 0

Assets/Scenes/Greatest_map_ever/Greatest_map_ever.unity

@@ -310,6 +310,75 @@ MeshFilter:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 140697604}
   m_Mesh: {fileID: 10206, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!1001 &248773156
+PrefabInstance:
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+  serializedVersion: 2
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+    m_Modifications:
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+      value: 4
+      objectReference: {fileID: 0}
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+      propertyPath: m_LocalPosition.x
+      value: 32.75
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+      value: 8.01
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+      value: -0
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+        type: 3}
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+      value: -0
+      objectReference: {fileID: 0}
+    - target: {fileID: 7378066357312323926, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
+        type: 3}
+      propertyPath: m_LocalEulerAnglesHint.x
+      value: 0
+      objectReference: {fileID: 0}
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+      value: 0
+      objectReference: {fileID: 0}
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+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 7378066357312323927, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
+        type: 3}
+      propertyPath: m_Name
+      value: navPointPrefab5
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: f58a14c8ba97dfa4f9f4103bbee852d4, type: 3}
 --- !u!1 &293522538
 GameObject:
   m_ObjectHideFlags: 0
@@ -829,12 +898,12 @@ PrefabInstance:
     - target: {fileID: 7378066357312323926, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
         type: 3}
       propertyPath: m_LocalPosition.x
-      value: 26.44
+      value: 45.18
       objectReference: {fileID: 0}
     - target: {fileID: 7378066357312323926, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
         type: 3}
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-      value: -0.02
+      value: -2.24
       objectReference: {fileID: 0}
     - target: {fileID: 7378066357312323926, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
         type: 3}
@@ -883,6 +952,93 @@ PrefabInstance:
       objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: f58a14c8ba97dfa4f9f4103bbee852d4, type: 3}
+--- !u!1001 &573995418
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
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+    m_Modifications:
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+        type: 3}
+      propertyPath: m_RootOrder
+      value: 3
+      objectReference: {fileID: 0}
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+      value: 0
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+      value: 1
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+      value: -0
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+      value: 0
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+      value: 0
+      objectReference: {fileID: 0}
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+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 7378066357312323927, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
+        type: 3}
+      propertyPath: m_Name
+      value: navPointPrefab4
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: f58a14c8ba97dfa4f9f4103bbee852d4, type: 3}
+--- !u!4 &573995419 stripped
+Transform:
+  m_CorrespondingSourceObject: {fileID: 7378066357312323926, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
+    type: 3}
+  m_PrefabInstance: {fileID: 573995418}
+  m_PrefabAsset: {fileID: 0}
+--- !u!114 &573995420 stripped
+MonoBehaviour:
+  m_CorrespondingSourceObject: {fileID: 7378066357312323925, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
+    type: 3}
+  m_PrefabInstance: {fileID: 573995418}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 0}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 6a2d29bfc31a8cf4e831e3bb80720414, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
 --- !u!1 &577106247
 GameObject:
   m_ObjectHideFlags: 0
@@ -1107,6 +1263,12 @@ Transform:
   m_Father: {fileID: 350524557}
   m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!4 &684960225 stripped
+Transform:
+  m_CorrespondingSourceObject: {fileID: 7378066357312323926, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
+    type: 3}
+  m_PrefabInstance: {fileID: 248773156}
+  m_PrefabAsset: {fileID: 0}
 --- !u!1 &705507993
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   m_ObjectHideFlags: 0
@@ -1375,6 +1537,75 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 6a2d29bfc31a8cf4e831e3bb80720414, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
+--- !u!1001 &946062733
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+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    m_TransformParent: {fileID: 2060099472}
+    m_Modifications:
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+      propertyPath: m_RootOrder
+      value: 5
+      objectReference: {fileID: 0}
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+      propertyPath: m_LocalPosition.x
+      value: 30.8
+      objectReference: {fileID: 0}
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+      value: -2.26
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+      value: -0
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+    - target: {fileID: 7378066357312323926, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
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+      value: 0
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+      value: 0
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+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 7378066357312323927, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
+        type: 3}
+      propertyPath: m_Name
+      value: navPointPrefab6
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: f58a14c8ba97dfa4f9f4103bbee852d4, type: 3}
 --- !u!1001 &1035463159
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -1390,17 +1621,17 @@ PrefabInstance:
     - target: {fileID: 7378066357312323926, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
         type: 3}
       propertyPath: m_LocalPosition.x
-      value: 14.28
+      value: 41.88
       objectReference: {fileID: 0}
     - target: {fileID: 7378066357312323926, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
         type: 3}
       propertyPath: m_LocalPosition.y
-      value: 0
+      value: -1.69
       objectReference: {fileID: 0}
     - target: {fileID: 7378066357312323926, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
         type: 3}
       propertyPath: m_LocalPosition.z
-      value: 0
+      value: 12.3
       objectReference: {fileID: 0}
     - target: {fileID: 7378066357312323926, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
         type: 3}
@@ -1543,7 +1774,7 @@ Mesh:
   m_CorrespondingSourceObject: {fileID: 0}
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
-  m_Name: pb_Mesh19228
+  m_Name: pb_Mesh19226
   serializedVersion: 10
   m_SubMeshes:
   - serializedVersion: 2
@@ -1718,6 +1949,18 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 6a2d29bfc31a8cf4e831e3bb80720414, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
+--- !u!114 &1314532551 stripped
+MonoBehaviour:
+  m_CorrespondingSourceObject: {fileID: 7378066357312323925, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
+    type: 3}
+  m_PrefabInstance: {fileID: 1405869922}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 0}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 6a2d29bfc31a8cf4e831e3bb80720414, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
 --- !u!1001 &1343495431
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -1817,17 +2060,17 @@ PrefabInstance:
     - target: {fileID: 7378066357312323926, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
         type: 3}
       propertyPath: m_LocalPosition.x
-      value: 36.25
+      value: 0.1
       objectReference: {fileID: 0}
     - target: {fileID: 7378066357312323926, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
         type: 3}
       propertyPath: m_LocalPosition.y
-      value: 0.74
+      value: -2.2
       objectReference: {fileID: 0}
     - target: {fileID: 7378066357312323926, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
         type: 3}
       propertyPath: m_LocalPosition.z
-      value: 18.04
+      value: 23
       objectReference: {fileID: 0}
     - target: {fileID: 7378066357312323926, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
         type: 3}
@@ -1973,6 +2216,12 @@ MeshFilter:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1488699521}
   m_Mesh: {fileID: 10206, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!4 &1551964658 stripped
+Transform:
+  m_CorrespondingSourceObject: {fileID: 7378066357312323926, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
+    type: 3}
+  m_PrefabInstance: {fileID: 946062733}
+  m_PrefabAsset: {fileID: 0}
 --- !u!1 &1553331019
 GameObject:
   m_ObjectHideFlags: 0
@@ -2318,11 +2567,13 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   spawnPointsForDefendersTeam:
   - {fileID: 906771657}
-  spawnPointsForAttackersTeam:
   - {fileID: 1299625858}
+  spawnPointsForAttackersTeam:
+  - {fileID: 573995420}
+  - {fileID: 1314532551}
   AIPrefab: {fileID: 1740317275426328350, guid: be2f9603c4cf8194b9c67f41250d63d0,
     type: 3}
-  PlayerPrefab: {fileID: 6633355367928764388, guid: 0d0b10717aa98fe44bcf651ad0901a89,
+  PlayerPrefab: {fileID: 2528273238195332181, guid: b5b04f22586a72c438dddf26e4474a4b,
     type: 3}
 --- !u!114 &1858987091
 MonoBehaviour:
@@ -2588,6 +2839,9 @@ Transform:
   - {fileID: 1299625857}
   - {fileID: 906771656}
   - {fileID: 1419663744}
+  - {fileID: 573995419}
+  - {fileID: 684960225}
+  - {fileID: 1551964658}
   m_Father: {fileID: 350524557}
   m_RootOrder: 3
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}

Assets/Scripts/Bots/CharacterFactory.cs

@@ -77,6 +77,7 @@ public class CharacterFactory : MonoBehaviour
             {
                 GameManager._defendersTeam.RegisterAgent(npc);
             }
+
             npc.GetCharacter.Team = team;
             npc.SetModel(team.ToString(), null, InferenceDevice.Default );
             gameobject.GetComponent<MovementController>().PointStartID = spawnPoint.PointId;

Assets/Scripts/Character/MovementController.cs

@@ -52,7 +52,7 @@ public class MovementController : MonoBehaviour
     {
         return MapManager.Instance.NavPoints
             .Where(point => 
-            (_idNavPointDict[PointStartID].Position - point.Position).magnitude < SettingsReader.Instance.GetSettings.MovementDistance)
+            (transform.position - point.Position).magnitude < SettingsReader.Instance.GetSettings.MovementDistance)
             .ToList();
     }
 
@@ -69,15 +69,12 @@ public class MovementController : MonoBehaviour
     {
         if (navMeshAgent.isStopped == true) navMeshAgent.isStopped = false;
         navMeshAgent.SetDestination(_idNavPointDict[PointStartID].Position);
-        PointEndID = PointStartID;
+        (PointEndID, PointStartID) = (PointStartID, PointEndID);
-        PointStartID = -1;
     }
 
     public void StopOnPath()
     {
         navMeshAgent.isStopped = true;
-        PointStartID = -1;
-        PointEndID = -1;
     }
 
     public void ReachedDestination()

Assets/Scripts/Character/NPC.cs

@@ -1,5 +1,6 @@
 using System;
 using System.Collections.Generic;
+using System.Linq;
 using Animators.Leonid_Animator;
 using Animators.Leonid_Animator.Bot;
 using Unity.MLAgents;
@@ -74,7 +75,6 @@ public class NPC : Agent, ICharacter
 
     private void Update()
     {
-        print(IsFiring);
         _botLocomotion.UpdateAnimatorValues();
     }
 
@@ -89,7 +89,7 @@ public class NPC : Agent, ICharacter
 
     public override void CollectObservations(VectorSensor sensor)
     {
-        // Debug.Log("Collect observations called!");
+         Debug.Log("Collect observations called!");
         _navPointIdDict = MapManager.Instance.IDToNavPoint;
         if (_navPointIdDict is null)
             Debug.LogError("Cant Find Nav Point Dictionary");
@@ -105,7 +105,6 @@ public class NPC : Agent, ICharacter
         sensor.AddObservation(candidates.Count);
         sensor.AddObservation(_moveController.PointStartID);
         sensor.AddObservation(_moveController.PointEndID);
-        // Debug.Log("Done common!");
         //state sensors
         sensor.AddObservation((int)NpcState.State);
         sensor.AddObservation((int)NpcBodyState.State);
@@ -113,7 +112,6 @@ public class NPC : Agent, ICharacter
         sensor.AddObservation(_navPointIdDict[_moveController.PointStartID].DeathAttr);
         sensor.AddObservation(_navPointIdDict[_moveController.PointEndID].DeathAttr);
         sensor.AddObservation(_moveController.FlagDistance);
-        // Debug.Log("Done state sensors!");
 
         //point sensors
         foreach (var point in candidates)
@@ -130,26 +128,25 @@ public class NPC : Agent, ICharacter
                 GameManager.IsHaveSeenByEnemy(GetCharacter.Team.GetOppositeTeam(),
                               point.Position).ToInt()
         });
-        }
+        } ;
-        // Debug.Log("Done collect observations!");
     }
 
     public override void OnActionReceived(ActionBuffers actions)
     { 
         var result = actions.DiscreteActions;
+        print(result[0]);
         if (result[0] == 0)
         {
             if (_navPointIdDict[_moveController.PointStartID].navType != NavPointType.Cover)
                 return;
             NpcState = _coverState;
-
             switch (result[1])
             {
                 case 0: Peek(); break;
                 case 1: Cover(); break;
-                case 3: Peek(); _moveController.GoToNextNavPoint(_navPointIdDict[result[2]]); break;
+                case 2: Peek(); _moveController.GoToNextNavPoint(_navPointIdDict[result[2]]); break;
-                case 4: NpcState = _directState; break;
+                case 3: break;
-                default: throw new ArgumentException("Undefined Action recieved");
+                default: throw new ArgumentException("Undefined Action received");
             }
         }
         if (result[0] == 1)
@@ -164,7 +161,9 @@ public class NPC : Agent, ICharacter
                 case 0: _moveController.GoToNextNavPoint(_navPointIdDict[result[2]]);
                     NpcState = _runningState; Debug.Log("Go to point " + result[2]);break;
                 case 1: NpcState = _directState; break;
-                default: throw new ArgumentException("Undefined Action recieved");
+                case 2: break;
+                case 3: break;
+                default: throw new ArgumentException("Undefined Action received");
             }
         }
         
@@ -176,7 +175,9 @@ public class NPC : Agent, ICharacter
             {
                 case 0: _moveController.StopOnPath(); NpcState = _directState; break;
                 case 1: _moveController.ReturnToStartPoint(); NpcState = _runningState; break;
-                default: throw new ArgumentException("Undefined Action recieved");
+                case 2: break;
+                case 3: break;
+                default: throw new ArgumentException("Undefined Action received");
             }
         }
     }

Assets/Scripts/Misc/FlagZone.cs

@@ -45,9 +45,6 @@ public class FlagZone : MonoBehaviour
             case "Attacker":
                 occupAttackers--;
                 break;
-            default:
-                Debug.LogWarning("Exited non-team entity");
-                break;
         }
     }
     private void Update()

Assets/Scripts/Weapons/AimAssistant.cs

@@ -79,7 +79,6 @@ public class AimAssistant : MonoBehaviour
 
     private void StopShooting()
     {
-        print("stop shooting");
         _firelock = false;
         isFiring = false;
         fireAnimation = false;
@@ -89,7 +88,6 @@ public class AimAssistant : MonoBehaviour
     {
         while (true)
         {
-            print("in Shooting");
             _shooting.Shoot();
             yield return new WaitForSeconds(_fireCountdown);
         }

Assets/Settings/Game Settings.asset

@@ -19,8 +19,8 @@ MonoBehaviour:
   MovementSpeed: 1
   DefTeamAI: 3
   AtcTeamAI: 3
-  NumOfDefenders: 1
+  NumOfDefenders: 2
-  NumOfAttackers: 1
+  NumOfAttackers: 2
   HasHumanDefender: 0
   HasHumanAttacker: 0
   HealthPickupAmount: 50