latest

Assets/Scripts/Character/CharacterCondition.cs

@@ -9,6 +9,7 @@ public class CharacterCondition
     public event Action<int> OnChangeAmmunitionEvent;
 
     private int health;
+
     public int HealthPoints 
     { 
         get 

Assets/Scripts/Character/MovementController.cs

@@ -7,13 +7,28 @@ using UnityEngine.AI;
 public class MovementController : MonoBehaviour
 {
     public NavPoint currentPosition { get; set; }
+    private Dictionary<int, NavPoint> navPoints = new Dictionary<int, NavPoint>();
+    
     [SerializeField] private NavMeshAgent navMeshAgent;
 
     private void Start()
     {
-        navMeshAgent.speed = SettingsReader.Instance.GetSettings.movementSpeed;       
+        navMeshAgent.speed = SettingsReader.Instance.GetSettings.movementSpeed;
+        foreach (var np in MapManager.navPoints) {
+            navPoints[np.PointId] = np;
+        }
     }
 
+    public void MoveToPointById(int id)
+    {
+        if (!navPoints.ContainsKey(id))
+        {
+            Debug.LogWarning("PIDOR");
+            return;
+        }
+        goToNextNavPoint(navPoints[id]);
+    }
+    
     public void MoveToRandomPoint()
     {   
         Debug.Log(MapManager.navPoints == null);
@@ -23,7 +38,7 @@ public class MovementController : MonoBehaviour
     public List<NavPoint> getPointsCandidate()
     {
         return MapManager.navPoints
-            .Where(point => (currentPosition.position - point.position).magnitude < SettingsReader.Instance.GetSettings.movementSpeed)
+            .Where(point => (currentPosition.position - point.position).magnitude < SettingsReader.Instance.GetSettings.movementDistance)
             .ToList();
     }
 

Assets/Scripts/Character/NPC.cs

@@ -54,24 +54,29 @@ public class NPC : Agent, ICharacter
         sensor.AddObservation(Condition.HealthPoints);
         sensor.AddObservation(Condition.ArmourPoints);
         sensor.AddObservation(Condition.Ammunition);
-        sensor.AddObservation((int)NPC_State.State);
+        sensor.AddObservation((int) NPC_State.State);
 
         var candidates = moveController.getPointsCandidate();
         foreach (var point in candidates)
         {
-            bufferSensor.AppendObservation(new float[] {
+            var parray = new float[]
+            {
                 //1 position in navpointId
-                (float)moveController.currentPosition.PointId,
+                (float) moveController.currentPosition.PointId,
                 //2 distance to flag
                 moveController.currentPosition.FlagDistance,
                 //3 death count in point
                 moveController.currentPosition.DeathAttr,
                 //4 flagEnemyDistance
-                GameManager.IsCloserToFlagFromNextNavPoint(point, transform.position)==true?1:0,
+                GameManager.IsCloserToFlagFromNextNavPoint(point, transform.position) == true ? 1 : 0,
                 //5 EnemyVsNavPointDistance
-                GameManager.IsCloserToEnemyThanToNextNavPoint(point,transform.position, AgentCharacter.Team)==true?1:0
-            }); 
-
+                GameManager.IsCloserToEnemyThanToNextNavPoint(point, transform.position, AgentCharacter.Team) == true
+                    ? 1
+                    : 0
+            };
+            var _parray = string.Join(" ", parray);
+            Debug.Log("OBS: " + _parray);
+            bufferSensor.AppendObservation(parray);
         }
     }
 
@@ -90,6 +95,9 @@ public class NPC : Agent, ICharacter
         {
             moveController.MoveToRandomPoint();
             NPC_State = RunningState;
+        } else if (actions.DiscreteActions[0] == 2)
+        {
+            moveController.MoveToPointById(actions.DiscreteActions[1]);
         }
     }
 

Assets/Scripts/Misc/NavPoint.cs

@@ -8,13 +8,14 @@ public class NavPoint : MonoBehaviour
     public float FlagDistance { get; private set; }
 
     [HideInInspector]
-    public int? PointId;
+    public int PointId;
     public float DeathAttr = 0;
     public List<Vector3> EnemiesSeen = new List<Vector3>();
     //Here other attributes;
 
     private void Start()
     {
+        PointId = GetInstanceID();
         FlagDistance = (GameObject.FindGameObjectWithTag("Flag").transform.position - position).magnitude;               
     }
 }