Fixed nan exception

Assets/Prefabs/BotPrefab/Bot.prefab

@@ -1309,7 +1309,7 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   m_SensorName: BufferSensor
-  m_ObservableSize: 5
+  m_ObservableSize: 4
   m_MaxNumObservables: 118
 --- !u!114 &5398236930075563215
 MonoBehaviour:

Assets/Scenes/Primitive scene/Fantastic.unity

@@ -849,6 +849,81 @@ Transform:
     type: 3}
   m_PrefabInstance: {fileID: 141161531}
   m_PrefabAsset: {fileID: 0}
+--- !u!1001 &172049156
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    m_TransformParent: {fileID: 2059424040}
+    m_Modifications:
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+        type: 3}
+      propertyPath: m_RootOrder
+      value: 26
+      objectReference: {fileID: 0}
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+        type: 3}
+      propertyPath: m_LocalPosition.x
+      value: -63.85
+      objectReference: {fileID: 0}
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+      value: 0
+      objectReference: {fileID: 0}
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+      value: 34.06
+      objectReference: {fileID: 0}
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+      value: 0.9425063
+      objectReference: {fileID: 0}
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+      value: 39.046
+      objectReference: {fileID: 0}
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+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827133, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
+      propertyPath: m_Name
+      value: Cover_3 (15)
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: d8275b9af6784b74c8967f4d816626bb, type: 3}
+--- !u!4 &172049157 stripped
+Transform:
+  m_CorrespondingSourceObject: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+    type: 3}
+  m_PrefabInstance: {fileID: 172049156}
+  m_PrefabAsset: {fileID: 0}
 --- !u!1001 &229753248
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -1014,7 +1089,7 @@ PrefabInstance:
     - target: {fileID: 7378066357312323926, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
         type: 3}
       propertyPath: m_LocalPosition.x
-      value: -106.5
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 7378066357312323926, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
         type: 3}
@@ -1024,7 +1099,7 @@ PrefabInstance:
     - target: {fileID: 7378066357312323926, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
         type: 3}
       propertyPath: m_LocalPosition.z
-      value: 23.6
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 7378066357312323926, guid: f58a14c8ba97dfa4f9f4103bbee852d4,
         type: 3}
@@ -2032,6 +2107,11 @@ PrefabInstance:
       propertyPath: m_Name
       value: Spawn (1)
       objectReference: {fileID: 0}
+    - target: {fileID: 4255753142809516133, guid: 4cfff540e080a384d9b353f00e6fa431,
+        type: 3}
+      propertyPath: m_LocalPosition.x
+      value: -3.73
+      objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: 4cfff540e080a384d9b353f00e6fa431, type: 3}
 --- !u!4 &571822923 stripped
@@ -3300,6 +3380,81 @@ Transform:
   m_Father: {fileID: 535118393}
   m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1001 &985247346
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    m_TransformParent: {fileID: 2059424040}
+    m_Modifications:
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+        type: 3}
+      propertyPath: m_RootOrder
+      value: 28
+      objectReference: {fileID: 0}
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+      value: -60.46
+      objectReference: {fileID: 0}
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+      value: 0
+      objectReference: {fileID: 0}
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+      value: 28.39
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
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+      value: -0.45593947
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
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+      value: -0
+      objectReference: {fileID: 0}
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+      value: 0.8900108
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
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+      propertyPath: m_LocalRotation.z
+      value: -0
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
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+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 234.25099
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827133, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
+      propertyPath: m_Name
+      value: Cover_3 (17)
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: d8275b9af6784b74c8967f4d816626bb, type: 3}
+--- !u!4 &985247347 stripped
+Transform:
+  m_CorrespondingSourceObject: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+    type: 3}
+  m_PrefabInstance: {fileID: 985247346}
+  m_PrefabAsset: {fileID: 0}
 --- !u!1001 &992268555
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -3916,6 +4071,81 @@ Transform:
     type: 3}
   m_PrefabInstance: {fileID: 1046330343}
   m_PrefabAsset: {fileID: 0}
+--- !u!1001 &1061569220
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    m_TransformParent: {fileID: 2059424040}
+    m_Modifications:
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
+      propertyPath: m_RootOrder
+      value: 27
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
+      propertyPath: m_LocalPosition.x
+      value: -58.85
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
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+      value: 0
+      objectReference: {fileID: 0}
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+      value: 32.17
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
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+      propertyPath: m_LocalRotation.w
+      value: 0.4561691
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
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+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
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+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 125.72001
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827133, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
+      propertyPath: m_Name
+      value: Cover_3 (16)
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: d8275b9af6784b74c8967f4d816626bb, type: 3}
+--- !u!4 &1061569221 stripped
+Transform:
+  m_CorrespondingSourceObject: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+    type: 3}
+  m_PrefabInstance: {fileID: 1061569220}
+  m_PrefabAsset: {fileID: 0}
 --- !u!4 &1079073055 stripped
 Transform:
   m_CorrespondingSourceObject: {fileID: 757972022053882386, guid: 4cfff540e080a384d9b353f00e6fa431,
@@ -4648,7 +4878,7 @@ PrefabInstance:
     - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
         type: 3}
       propertyPath: m_LocalPosition.x
-      value: -95.24
+      value: -97.55
       objectReference: {fileID: 0}
     - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
         type: 3}
@@ -5249,6 +5479,81 @@ Transform:
     type: 3}
   m_PrefabInstance: {fileID: 1560844638}
   m_PrefabAsset: {fileID: 0}
+--- !u!1001 &1561457766
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    m_TransformParent: {fileID: 2059424040}
+    m_Modifications:
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
+      propertyPath: m_RootOrder
+      value: 25
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
+      propertyPath: m_LocalPosition.x
+      value: -65.42
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
+      propertyPath: m_LocalPosition.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 29.34
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 0.9961947
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
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+      value: -0.08715578
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
+      propertyPath: m_LocalRotation.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
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+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
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+      value: -10
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 3795099593284827133, guid: d8275b9af6784b74c8967f4d816626bb,
+        type: 3}
+      propertyPath: m_Name
+      value: Cover_3 (14)
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: d8275b9af6784b74c8967f4d816626bb, type: 3}
+--- !u!4 &1561457767 stripped
+Transform:
+  m_CorrespondingSourceObject: {fileID: 3795099593284827132, guid: d8275b9af6784b74c8967f4d816626bb,
+    type: 3}
+  m_PrefabInstance: {fileID: 1561457766}
+  m_PrefabAsset: {fileID: 0}
 --- !u!1001 &1586338151
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -5325,6 +5630,11 @@ PrefabInstance:
   m_Modification:
     m_TransformParent: {fileID: 760001244}
     m_Modifications:
+    - target: {fileID: 6818223691859422290, guid: 1685c1d9ce4ab174f95c646b1826010b,
+        type: 3}
+      propertyPath: m_Radius
+      value: 1
+      objectReference: {fileID: 0}
     - target: {fileID: 6818223691859422291, guid: 1685c1d9ce4ab174f95c646b1826010b,
         type: 3}
       propertyPath: m_Name
@@ -6478,6 +6788,10 @@ Transform:
   - {fileID: 569436203}
   - {fileID: 1008451103}
   - {fileID: 1141646483}
+  - {fileID: 1561457767}
+  - {fileID: 172049157}
+  - {fileID: 1061569221}
+  - {fileID: 985247347}
   m_Father: {fileID: 760001244}
   m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
@@ -6641,6 +6955,11 @@ PrefabInstance:
       propertyPath: m_Name
       value: Spawn
       objectReference: {fileID: 0}
+    - target: {fileID: 4255753142809516133, guid: 4cfff540e080a384d9b353f00e6fa431,
+        type: 3}
+      propertyPath: m_LocalPosition.x
+      value: 5.79
+      objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: 4cfff540e080a384d9b353f00e6fa431, type: 3}
 --- !u!1001 &3795099594054657013

Assets/Scripts/Character/MovementController.cs

@@ -44,14 +44,18 @@ public class MovementController : MonoBehaviour
 
     private void Update()
     {
+        var thisPoint = _idNavPointDict[PointStartID];
         if (ReachedDestination())
         {
-            _myNpc.ChangePointState(_idNavPointDict[PointStartID].navType == NavPointType.Cover
+            _myNpc.ChangePointState(thisPoint.navType == NavPointType.Cover
                 ? NpcEnumState.InCover
                 : NpcEnumState.InDirectPoint);
+            thisPoint.isOcuppied = true;
         }
         else
         {
+            thisPoint.isOcuppied = false;
+            _idNavPointDict[PointEndID].isOcuppied = false;
            _myNpc.ChangeBodyState(NpcBodyState.Standing); 
             _myNpc.ChangePointState(NpcEnumState.InRunning);
         }
@@ -78,7 +82,7 @@ public class MovementController : MonoBehaviour
     {
         return MapManager.Instance.NavPoints
             .Where(point => 
-            (transform.position - point.Position).magnitude < _settings.MovementDistance)
+            (transform.position - point.Position).magnitude < _settings.MovementDistance && point.isOcuppied == false)
             .ToList();
     }
 

Assets/Scripts/Character/NPC.cs

@@ -133,8 +133,6 @@ public class NPC : Agent, ICharacter
         sensor.AddObservation((int)NpcState.State);
         sensor.AddObservation((int)NpcBodyState.State);
         sensor.AddObservation(GameManager.IsEnemyNearby(gameObject.transform.position, GetCharacter.Team));
-        //sensor.AddObservation(_navPointIdDict[_moveController.PointStartID].DeathAttr);
-        //sensor.AddObservation(_navPointIdDict[_moveController.PointEndID].DeathAttr);
         sensor.AddObservation(_moveController.FlagDistance);
 
         //point sensors
@@ -142,13 +140,9 @@ public class NPC : Agent, ICharacter
         {
             var position = transform.position;
             _bufferSensor.AppendObservation(new float[] {
-                point.DeathAttr,
                 (int)point.navType,
-                //4 flagEnemyDistance
                 GameManager.IsCloserToFlagFromNextNavPoint(point, position).ToInt(),
-                //5 EnemyVsNavPointDistance
                 GameManager.IsCloserToEnemyThanToNextNavPoint(point, position, GetCharacter.Team.GetOppositeTeam()).ToInt(),
-                //6 Have been seen by enemy in this point               
                 GameManager.IsHaveSeenByEnemy(GetCharacter.Team.GetOppositeTeam(),
                               point.Position).ToInt()
         });

Assets/Scripts/Misc/FlagZone.cs

@@ -56,6 +56,7 @@ public class FlagZone : MonoBehaviour
         }
         else if (occupAttackers > 0)
         {
+            print("Atackers ocuppy flag");
             TimeStayAttackers += Time.deltaTime;
             GameManager._attackersTeam.AddGroupReward(Time.deltaTime* 0.1f);
             GameManager._defendersTeam.AddGroupReward(-Time.deltaTime* 0.1f);
@@ -67,6 +68,8 @@ public class FlagZone : MonoBehaviour
         }
         else if (occupDefenders > 0)
         {
+            print("Defenders ocuppy flag");
+            GameManager._defendersTeam.AddGroupReward(+Time.deltaTime* 0.1f);
             TimeStayDefenders += Time.deltaTime;
             if (TimeStayDefenders > timeForWin)
             {

Assets/Scripts/Misc/NavPoint.cs

@@ -15,6 +15,7 @@ public class NavPoint : MonoBehaviour
     public float FlagDistance { get; private set; }
 
     [SerializeField] public NavPointType navType;
+    [HideInInspector] public bool isOcuppied; 
 
     [HideInInspector] public int PointId = 0;
     [HideInInspector] public float DeathAttr = 0;

Assets/Settings/Game Settings.asset

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