Merge branch 'krazerleo/core/1' into lisin/character/1

Assets/Scripts/Bots/Behaviours.meta

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Assets/Scripts/Bots/Behaviours/BaseBehaviour.cs

@@ -1,17 +0,0 @@
-using Unity;
-using UnityEngine;
-public abstract class BaseBehaviour 
-{
-    protected NPC thisNPC;
-    protected IDoActivity DoActivity;
-
-    protected BaseBehaviour(NPC npc)
-    {
-        thisNPC = npc;
-    }
-
-    public void DoAction()
-    {
-        DoActivity?.DoActivity();
-    }
-}

Assets/Scripts/Bots/Behaviours/BehaviourClasses.meta

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Assets/Scripts/Bots/Behaviours/BehaviourClasses/DumbAttacker.cs

@@ -1,8 +0,0 @@
-public class DumbAttacker : BaseBehaviour
-{
-    public DumbAttacker(NPC npc) : base(npc)
-    {
-        DoActivity = new DumbAttackerBehaviour();
-    }
-}
-

Assets/Scripts/Bots/Behaviours/BehaviourClasses/DumbDefender.cs

@@ -1,7 +0,0 @@
-public class DumbDefender : BaseBehaviour
-{
-    public DumbDefender(NPC npc) : base(npc)
-    {
-        DoActivity = new DumbDefenderBehaviour();
-    }
-}

Assets/Scripts/Bots/Behaviours/BehaviourClasses/Human.cs

@@ -1,7 +0,0 @@
-public class Human : BaseBehaviour
-{
-    public Human(NPC npc) : base(npc)
-    {
-        DoActivity = new HumanBehaviour();
-    }
-}

Assets/Scripts/Bots/Behaviours/BehaviourClasses/Human.cs.meta

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Assets/Scripts/Bots/Behaviours/BehaviourRealization.meta

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Assets/Scripts/Bots/Behaviours/BehaviourRealization/DumbAttackerBehaviour.cs

@@ -1,9 +0,0 @@
-using UnityEngine;
-class DumbAttackerBehaviour : IDoActivity
-{
-    public void DoActivity()
-    {
-        Debug.Log("I do attackers things!");
-    }
-}
-

Assets/Scripts/Bots/Behaviours/BehaviourRealization/DumbAttackerBehaviour.cs.meta

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Assets/Scripts/Bots/Behaviours/BehaviourRealization/DumbDefenderBehaviour.cs

@@ -1,9 +0,0 @@
-using UnityEngine;
-
-class DumbDefenderBehaviour : IDoActivity
-{
-    public void DoActivity()
-    {
-        Debug.Log("I do defenders things!");
-    }
-}

Assets/Scripts/Bots/Behaviours/BehaviourRealization/DumbDefenderBehaviour.cs.meta

@@ -1,11 +0,0 @@
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Assets/Scripts/Bots/Behaviours/BehaviourRealization/HumanBehaviour.cs

@@ -1,8 +0,0 @@
-class HumanBehaviour : IDoActivity
-{
-    public void DoActivity()
-    {
-        
-    }
-}
-

Assets/Scripts/Bots/Behaviours/BehaviourRealization/HumanBehaviour.cs.meta

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Assets/Scripts/Bots/Behaviours/IDoActivity.cs

@@ -1,4 +0,0 @@
-public interface IDoActivity
-{
-    void DoActivity();
-}

Assets/Scripts/Bots/Behaviours/IDoActivity.cs.meta

@@ -1,11 +0,0 @@
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Assets/Scripts/Bots/CharacterFactory.cs

@@ -0,0 +1,59 @@
+using System.Collections.Generic;
+using UnityEngine;
+using Unity;
+
+public class CharacterFactory : MonoBehaviour
+{
+    private CharacterFactory instance;
+    public CharacterFactory Instance { get { return instance; } }
+
+    [SerializeField] private List<NavPoint> spawnPointsForDefendersTeam;
+    [SerializeField] private List<NavPoint> spawnPointsForAttackersTeam;
+    [SerializeField] private GameObject AIPrefab;
+    [SerializeField] private GameObject PlayerPrefab;
+
+    private List<GameObject> Players;
+
+    private void Awake()
+    {
+        if (instance == null)
+            instance = this;
+        else
+            Destroy(gameObject);
+    }
+
+    private void Start()
+    {
+        var attcNum = SettingsReader.Instance.GetSettings.numOfAttackers;
+        var defNum = SettingsReader.Instance.GetSettings.numOfDefenders;
+        var humanDef = SettingsReader.Instance.GetSettings.hasHumanDefender == true ? 1 : 0;
+        var humanAtc = SettingsReader.Instance.GetSettings.hasHumanAttacker == true ? 1 : 0;
+
+        if (humanAtc == 1 && humanDef == 1)
+            throw new System.ArgumentException("Can be only one human player");
+
+        for (int i = 0; i < attcNum - humanAtc; i++)
+            InstanciateEntity(Team.Attackers, TypeAI.D0DiskAI,
+                spawnPointsForAttackersTeam[Random.Range(0, spawnPointsForAttackersTeam.Count)]);
+        for (int i = 0; i < defNum - humanDef; i++)
+            InstanciateEntity(Team.Defenders, TypeAI.D0DiskAI,
+                spawnPointsForDefendersTeam[Random.Range(0, spawnPointsForDefendersTeam.Count)]);
+        if (humanAtc == 1)
+            InstanciateEntity(Team.Attackers, TypeAI.HumanAI,
+                spawnPointsForAttackersTeam[Random.Range(0, spawnPointsForAttackersTeam.Count)]);
+        if (humanDef == 1)
+            InstanciateEntity(Team.Defenders, TypeAI.HumanAI,
+                spawnPointsForDefendersTeam[Random.Range(0, spawnPointsForDefendersTeam.Count)]);
+    }
+
+    private void InstanciateEntity(Team team, TypeAI typeAi, NavPoint spawnPoint)
+    {
+        var gameobject = GameObject.Instantiate(
+            typeAi == TypeAI.HumanAI ? PlayerPrefab : AIPrefab,
+            spawnPoint.position,
+            Quaternion.identity);
+        
+        var character = gameObject.GetComponent<ICharacter>();
+        character.GetCharacter.Team = team;
+    }
+}

Assets/Scripts/Bots/CharacterFactory.meta

@@ -1,8 +0,0 @@
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Assets/Scripts/Bots/CharacterFactory/CharacterFactory.cs

@@ -1,45 +0,0 @@
-public abstract class AbstractCharacterFactory
-{
-    protected IDoActivity behaviour;
-    protected AbstractCharacterFactory() { }
-    public abstract BaseBehaviour CreateCharacterBehaviour(NPC npc);
-}
-
-public class DumbDefenderFactory : AbstractCharacterFactory
-{
-    public DumbDefenderFactory()
-    {
-        behaviour = new DumbDefenderBehaviour();
-    }
-
-    public override BaseBehaviour CreateCharacterBehaviour(NPC npc)
-    {
-        return new DumbDefender(npc);
-    }
-}
-
-public class DumbAttackerFactory : AbstractCharacterFactory
-{
-    public DumbAttackerFactory()
-    {
-        behaviour = new DumbAttackerBehaviour();
-    }
-
-    public override BaseBehaviour CreateCharacterBehaviour(NPC npc)
-    {
-        return new DumbAttacker(npc);
-    }
-}
-
-public class HumanFactory : AbstractCharacterFactory
-{
-    public HumanFactory()
-    {
-        behaviour = new HumanBehaviour();
-    }
-
-    public override BaseBehaviour CreateCharacterBehaviour(NPC npc)
-    {
-        return new Human(npc);
-    }
-}

Assets/Scripts/Bots/CharacterFactory/CharacterFactory.cs.meta

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Assets/Scripts/Bots/CharacterFactory/CharacterSpawner.cs

@@ -1,55 +0,0 @@
-using System.Collections.Generic;
-using System;
-using UnityEngine;
-
-public class CharacterSpawner : MonoBehaviour
-{
-    [SerializeField] private GameObject botPrefab;
-    [SerializeField] private List<NavPoint> defendersSpawnPoints;
-    [SerializeField] private List<NavPoint> attackersSpawnPoints;
-    private static Dictionary<(TypeAI, Team), Func<NPC, BaseBehaviour>> behaviourDictionary;
-    private static System.Random random;
-
-    public void Start()
-    {
-        behaviourDictionary = new Dictionary<(TypeAI, Team), Func<NPC, BaseBehaviour>>()
-        {
-            { (TypeAI.DumbAlgorithm, Team.Attackers),  new Func<NPC,BaseBehaviour>( npc => new DumbAttacker(npc))},
-            { (TypeAI.DumbAlgorithm, Team.Defenders), new Func<NPC,BaseBehaviour>( npc => new DumbDefender(npc)) },
-            { (TypeAI.HumanAI, Team.Defenders), new Func<NPC,BaseBehaviour>( npc => new Human(npc))},
-            { (TypeAI.HumanAI, Team.Attackers), new Func<NPC,BaseBehaviour>( npc => new Human(npc))},
-            //And Other behaviours
-        };
-
-        if (SettingsReader.Instance.GetSettings.hasHumanAttacker && SettingsReader.Instance.GetSettings.hasHumanDefender)
-            throw new System.Exception("Not allowed to have two players");
-        else if (SettingsReader.Instance.GetSettings.hasHumanAttacker == true)
-        {
-            spawnCharacter(behaviourDictionary[(TypeAI.HumanAI, Team.Attackers)], Team.Attackers);
-        }
-        else if (SettingsReader.Instance.GetSettings.hasHumanDefender == true)
-        {
-            spawnCharacter(behaviourDictionary[(TypeAI.HumanAI, Team.Defenders)], Team.Defenders);
-        }
-
-        for (int i = 0; i < SettingsReader.Instance.GetSettings.numOfAttackers - (SettingsReader.Instance.GetSettings.hasHumanAttacker ? 1 : 0); i++)
-        {
-            spawnCharacter(behaviourDictionary[(SettingsReader.Instance.GetSettings.atcTeamAI, Team.Attackers)], Team.Attackers);
-        }
-        for (int i = 0; i < SettingsReader.Instance.GetSettings.numOfAttackers - (SettingsReader.Instance.GetSettings.hasHumanDefender ? 1 : 0); i++)
-        {
-            spawnCharacter(behaviourDictionary[(SettingsReader.Instance.GetSettings.defTeamAI, Team.Defenders)], Team.Defenders);
-        }
-    }
-
-    private void spawnCharacter(Func<NPC, BaseBehaviour> behaviourFunc, Team team)
-    {
-        var spawnPoint = team == Team.Defenders ?
-            defendersSpawnPoints[random.Next(0, defendersSpawnPoints.Count)].position :
-            attackersSpawnPoints[random.Next(0, attackersSpawnPoints.Count)].position;
-        var entity = Instantiate(botPrefab, spawnPoint, Quaternion.identity);
-        var npc = entity.GetComponent<NPC>();
-        npc.SetBehaviour(behaviourFunc(npc));
-    }
-}
-

Assets/Scripts/Bots/CharacterFactory/CharacterSpawner.cs.meta

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Assets/Scripts/Bots/CharacterPooler.cs

@@ -1,4 +0,0 @@
-public class CharacterPooler
-{
-
-}

Assets/Scripts/Character/Character.cs

@@ -0,0 +1,22 @@
+using UnityEngine;
+public class Character
+{
+    public Team Team { get; set; }
+    public float LastTimeHit = 0;
+    public CharacterCondition Condition;
+
+    public Character()
+    {
+        Condition = new CharacterCondition();
+    }
+
+    public void ResetCharacter()
+    {
+
+    }
+}
+
+public interface ICharacter
+{
+    Character GetCharacter { get; }
+}

Assets/Scripts/Character/Character.cs.meta

@@ -1,5 +1,5 @@
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Assets/Scripts/Character/CharacterCondition.cs

@@ -1,39 +1,62 @@
 using System;
 using UnityEngine;
 
-public class CharacterCondition : MonoBehaviour
+
+public class CharacterCondition
 {
-    public event Action<object> OnKilledEvent;
-    public event Action<int> OnDamageHealthTakenEvent;
-    public event Action<int> OnDamageArmourTakenEvent;
-    public event Action<int> OnAmmunitionTakenEvent;
+    public event Action<int> OnChangeHealthEvent;
+    public event Action<int> OnChangeArmourEvent;
+    public event Action<int> OnChangeAmmunitionEvent;
 
-    [SerializeField] private int HealthPoints;
-    [SerializeField] private int ArmourPoints;
-    [SerializeField] private int Ammunition;
-
-    public void Start()
-    {
-        
+    private int health;
+    public int HealthPoints 
+    { 
+        get 
+        { 
+            return health; 
+        } 
+        private set
+        {
+            health = value;
+            OnChangeHealthEvent?.Invoke(value);
+        } 
     }
-    
-    public void GetDamage(float damage)
+    private int armour;
+    public int ArmourPoints
     {
-        HealthPoints -= Mathf.RoundToInt(damage * (1 - ArmourPoints * 0.5f));
-        ArmourPoints -= Mathf.RoundToInt(Mathf.Sqrt(damage) * 5);
-
-        OnDamageHealthTakenEvent?.Invoke(HealthPoints);
-        OnDamageArmourTakenEvent?.Invoke(ArmourPoints);
-        if (HealthPoints < 0)
-            OnKilledEvent?.Invoke(gameObject);
+        get
+        {
+            return armour;
+        }
+        private set
+        {
+            armour = value;
+            OnChangeArmourEvent?.Invoke(value);
+        }
     }
+    private int ammo;
+    public int Ammunition
+    {
+        get
+        {
+            return ammo;
+        }
+        private set
+        {
+            ammo = value;
+            OnChangeAmmunitionEvent?.Invoke(value);
+        }
+    }
+
+    public CharacterCondition()
+    {
+        var settings = SettingsReader.Instance.GetSettings;
+        ammo = settings.maxAmmo;
+        health = settings.maxHealth;
+        armour = settings.maxArmour;
+    }
+
     public void GiveHealth(int health) => HealthPoints = Mathf.Clamp(health + HealthPoints, 0, 100);
-    public void SetHealth(int health) => HealthPoints = Mathf.Clamp(health, 0, 100);
     public void GiveArmour(int armour) => ArmourPoints = Mathf.Clamp(armour + ArmourPoints, 0, 100);
-    public void SetArmour(int armour) => ArmourPoints = Mathf.Clamp(armour, 0, 100);
-    public void TakeAmmo(int ammo)
-    {
-        Ammunition += ammo;
-        OnAmmunitionTakenEvent?.Invoke(Ammunition);
-    }
+    public void TakeAmmo(int ammo) => Ammunition += ammo;
 }

Assets/Scripts/Character/MovementController.cs

@@ -7,7 +7,6 @@ using UnityEngine.AI;
 public class MovementController : MonoBehaviour
 {
     public NavPoint currentPosition { get; private set; }
-    [SerializeField] private MapManager mapManager;
     [SerializeField] private NavMeshAgent navMeshAgent;
 
     private void Start()
@@ -15,24 +14,19 @@ public class MovementController : MonoBehaviour
         navMeshAgent.speed = SettingsReader.Instance.GetSettings.movementSpeed;
     }
 
-    public void Move()
-    {
-        var pointCandidate = getPointCandidate();
-        goToNextNavPoint(pointCandidate);
+    public void MoveToRandomPoint()
+    {   
+        Debug.Log(MapManager.navPoints == null);
+        goToNextNavPoint(MapManager.navPoints[Random.Range(0, MapManager.navPoints.Count)]);
     }
 
-    
-    // todo внутри сенсора передавать в mlagents как variable length observations: https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Learning-Environment-Design-Agents.md#variable-length-observations
-    private NavPoint getPointCandidate()
+    public List<NavPoint> getPointsCandidate()
     {
-        var NavPointsPositions = mapManager.navPoints
-            .Select(point => point.transform.position)
-            .Where(point => (currentPosition.transform.position - point).magnitude <= SettingsReader.Instance.GetSettings.movementSpeed)
+        return MapManager.navPoints
+            .Where(point => (currentPosition.position - point.position).magnitude <= SettingsReader.Instance.GetSettings.movementSpeed)
             .ToList();
-        //TODO AI
-        return null;
     }
 
-    private void goToNextNavPoint(NavPoint destination) =>
-        navMeshAgent.SetDestination(destination.transform.position);
+    public void goToNextNavPoint(NavPoint destination) =>
+        navMeshAgent.SetDestination(destination.position);
 }

Assets/Scripts/Character/NPC.cs

@@ -1,37 +1,117 @@
 using System;
-using System.Collections.Generic;
 using UnityEngine;
 using Unity.MLAgents;
 using Unity.MLAgents.Sensors;
+using Unity.MLAgents.Actuators;
+using System.Collections.Generic;
 
-public class NPC : Agent
+[RequireComponent(typeof(MovementController))]
+public class NPC : Agent, ICharacter
 {
-    public float LastTimeHit;
-    private BaseBehaviour NPCBehaviour;
-    public List<Action> ActionList;
-    
-    [SerializeField]
-    private List<ISensor> SensorList; // todo тут интерфейс должен быть наш
+    [HideInInspector]
+    public Character AgentCharacter;
+    public CharacterCondition Condition;
 
-    public void SetBehaviour(BaseBehaviour behaviour) => NPCBehaviour = behaviour;
-    public Team Team { get; set; }
+    public NPC_BaseState NPC_State { get; private set; }
+
+    public Character GetCharacter => AgentCharacter;
+
+    private NPC_DirectPointState DirectState;
+    private NPC_InCoverState CoverState;
+    private NPC_RunningState RunningState;
+
+    private MovementController moveController;
+    private BufferSensorComponent bufferSensor;
+
+    private void Awake()
+    {
+        DirectState = new NPC_DirectPointState();
+        CoverState = new NPC_InCoverState();
+        RunningState = new NPC_RunningState();
+        NPC_State = DirectState;
+
+        AgentCharacter = new Character();
+        Condition = AgentCharacter.Condition;
+    }
     private void Start()
     {
-       
+        AgentCharacter = new Character();
+        Condition = AgentCharacter.Condition;
+
+        moveController = gameObject.GetComponent<MovementController>();
+        bufferSensor = gameObject.GetComponent<BufferSensorComponent>();
+
+        GameManager.OnResetScene += AgentCharacter.ResetCharacter;
     }
-    
+
+    public override void OnEpisodeBegin()
+    {
+      
+    }
+
     public override void CollectObservations(VectorSensor sensor)
     {
-        // Target and Agent positions
-        foreach (var _sensor in SensorList)
+        sensor.AddObservation(Condition.HealthPoints);
+        sensor.AddObservation(Condition.ArmourPoints);
+        sensor.AddObservation(Condition.Ammunition);
+        sensor.AddObservation((int)NPC_State.State);
+
+
+
+        var candidates = moveController.getPointsCandidate();
+        foreach (var point in candidates)
         {
-            sensor.AddObservation(1); // todo
-            // sensor.AddObservation(_sensor.GetValue());
+
+            bufferSensor.AppendObservation(new float[] {
+                //1 position in navpointId
+                (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,
+                //5 EnemyVsNavPointDistance
+                GameManager.IsCloserToEnemyThanToNextNavPoint(point,transform.position, AgentCharacter.Team)==true?1:0
+            }); 
+
         }
     }
-    
-    private void Update()
+
+    public override void Heuristic(in ActionBuffers actionsOut)
     {
-        //NPCBehaviour.DoAction();
+        var discreteActionsOut = actionsOut.DiscreteActions;
+        if (Input.GetKeyDown(KeyCode.W))
+        {
+            discreteActionsOut[0] = 1;
+        }
+    }
+
+    public override void OnActionReceived(ActionBuffers actions)
+    {
+        if (actions.DiscreteActions[0] == 1)
+        {
+            moveController.MoveToRandomPoint();
+            NPC_State = RunningState;
+        }
+    }
+
+    public event Action<object> OnKilledEvent;
+    public void GetDamage(float damage)
+    {
+        AgentCharacter.LastTimeHit = TimeManager.Instance.CurrentTime;
+        Condition.GiveHealth(-Mathf.RoundToInt(damage * (1 - Condition.ArmourPoints * 0.5f)));
+        Condition.GiveArmour(-Mathf.RoundToInt(Mathf.Sqrt(damage) * 5));
+
+        if (Condition.HealthPoints < 0)
+        {
+            OnKilledEvent?.Invoke(this);
+            moveController.currentPosition.DeathAttr += 1;
+        }
+    }
+
+    private void OnDestroy()
+    {
+        Debug.LogWarning("Pooled object was destroyed");
     }
 }

Assets/Scripts/Character/NPC_State.cs

@@ -0,0 +1,46 @@
+public enum NPC_EnumState
+{
+    InCover,
+    InDirectPoint,
+    InRunning,
+}
+
+public interface NPC_BaseState
+{
+    NPC_EnumState State { get; }
+    bool InCover { get; }
+    bool IsRunning { get; }
+    bool InDirectPoint { get; }
+    float HitChance { get; }
+    float DoDamageChance { get; }
+}
+
+public class NPC_DirectPointState : NPC_BaseState
+{
+    public bool InCover => false;
+    public bool IsRunning => false;
+    public bool InDirectPoint => false;
+    public float HitChance => SettingsReader.Instance.GetSettings.GetHitChanceInDirectPoint;
+    public float DoDamageChance => SettingsReader.Instance.GetSettings.DoDamageChanceInDirectPoint;
+    public NPC_EnumState State => NPC_EnumState.InDirectPoint;
+}
+
+public class NPC_RunningState : NPC_BaseState
+{
+    public bool InCover => false;
+    public bool IsRunning => true;
+    public bool InDirectPoint => false;
+    public float HitChance => SettingsReader.Instance.GetSettings.GetHitChanceInRunning;
+    public float DoDamageChance => SettingsReader.Instance.GetSettings.DoDamageChanceInRunning;
+    public NPC_EnumState State => NPC_EnumState.InRunning;
+}
+
+public class NPC_InCoverState : NPC_BaseState
+{
+    public bool InCover => true;
+    public bool IsRunning => false;
+    public bool InDirectPoint => false;
+    public float HitChance => SettingsReader.Instance.GetSettings.GetHitChanceInCover;
+    public float DoDamageChance => SettingsReader.Instance.GetSettings.DoDamageChanceInCover;
+    public NPC_EnumState State => NPC_EnumState.InCover;
+}

Assets/Scripts/Character/NPC_State.cs.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 138d13d4fe8a06444acb1da6bfc55aa7
+guid: a192e433e26797745ad0b46de2586de3
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2

Assets/Scripts/Character/Player.cs

@@ -0,0 +1,34 @@
+using System;
+using UnityEngine;
+
+public class Player : MonoBehaviour, ICharacter
+{
+    [HideInInspector]
+    public Character PlayerCharacter;
+    public CharacterCondition Condition;
+
+    public Character GetCharacter => PlayerCharacter;
+
+    private void Start()
+    {
+        PlayerCharacter = new Character();
+        Condition = PlayerCharacter.Condition;
+        GameManager.OnResetScene += PlayerCharacter.ResetCharacter;
+    }
+
+    public event Action<object> OnKilledEvent;
+    public void GetDamage(float damage)
+    {
+        PlayerCharacter.LastTimeHit = TimeManager.Instance.CurrentTime;
+        Condition.GiveHealth(-Mathf.RoundToInt(damage * (1 - Condition.ArmourPoints * 0.5f)));
+        Condition.GiveArmour(-Mathf.RoundToInt(Mathf.Sqrt(damage) * 5));
+
+        if (Condition.HealthPoints < 0)       
+            OnKilledEvent?.Invoke(this);       
+    }
+
+    private void OnDestroy()
+    {
+        Debug.LogWarning("Pooled object was destroyed");
+    }
+}

Assets/Scripts/Character/Player.cs.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 60bdb2d866ca9324cbe3639e7c47ae23
+guid: a8c9a8e604d395c4ab9d03d28adc4982
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2

Assets/Scripts/Managers/GameManager.cs

@@ -1,14 +1,14 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEditorInternal;
+using Unity.MLAgents;
 using UnityEngine;
 
 public class GameManager : MonoBehaviour
 {
-    
     private static GameManager instance;
     public static GameManager Instance { get { return instance; } }
 
+    private static SimpleMultiAgentGroup DefendersTeam = new SimpleMultiAgentGroup();
+    private static SimpleMultiAgentGroup AttackersTeam = new SimpleMultiAgentGroup();
+
     private void Awake()
     {
         if (Instance == null)
@@ -21,13 +21,36 @@ public class GameManager : MonoBehaviour
     {
         GlobalEventManager.onCaptureFlag += flagCaptured;
         GlobalEventManager.onTimeLeft += timeOut;
+
+        var agents = GameObject.FindObjectsOfType<Agent>();
+        foreach (var item in agents)
+        {
+            var agent = item as NPC;
+            if (agent.GetCharacter.Team == Team.Attackers)
+                AttackersTeam.RegisterAgent(agent);
+            else
+                DefendersTeam.RegisterAgent(agent);
+        }
     }
 
-    private void Update()
+    public static bool IsCloserToEnemyThanToNextNavPoint(NavPoint navPoint, Vector3 currentTransform, Team team)
     {
-        
+        SimpleMultiAgentGroup agentGroup;
+        if (team == Team.Attackers)
+            agentGroup = AttackersTeam;
+        else
+            agentGroup = DefendersTeam;
+
+        var distToNavPoint = (currentTransform - navPoint.position).magnitude;
+        foreach (var agent in agentGroup.GetRegisteredAgents())
+            if (distToNavPoint > (currentTransform - agent.transform.position).magnitude)
+                return true;
+        return false;
     }
 
+    public static bool IsCloserToFlagFromNextNavPoint(NavPoint navPoint, Vector3 currentTransform)
+        => navPoint.FlagDistance < (currentTransform - GameObject.FindGameObjectWithTag("Flag").transform.position).magnitude;
+
     private void flagCaptured(Team team)
     {
         switch(team)

Assets/Scripts/Managers/MapManager.cs

@@ -3,11 +3,17 @@ using UnityEngine;
 
 public class MapManager : MonoBehaviour
 {
-    public List<NavPoint> navPoints { get; private set; }
+    public static List<NavPoint> navPoints { get; private set; }
     private void Start()
     {
+        var i = 0;
+        navPoints = new List<NavPoint>();
         var navPointsGameObj = GameObject.FindGameObjectsWithTag("Point");
         foreach (var gameobj in navPointsGameObj)
-            navPoints.Add(gameobj.GetComponent<NavPoint>());
+        {
+            var navpoint = gameobj.GetComponent<NavPoint>();
+            navpoint.PointId = i; i++;
+            navPoints.Add(navpoint);            
+        }
     }
 }

Assets/Scripts/Managers/TimeManager.cs

@@ -4,8 +4,10 @@ using UnityEngine;
 
 public class TimeManager : MonoBehaviour
 {
-    public static TimeManager instance = null;
-    public float CurrentTime;
+    private static TimeManager instance;
+    public static TimeManager Instance { get { return instance; } }
+
+    public float CurrentTime { get; private set; }
     void Start()
     {
         if (instance == null)

Assets/Scripts/Misc/FlagZone.cs

@@ -17,7 +17,6 @@ public class FlagZone : MonoBehaviour
     {
 
         timeForWin = SettingsReader.Instance.GetSettings.timeToWin;
-        Debug.Log("32");
         TimeStayAttackers = 0;
         TimeStayDefenders = 0;
         occupAttackers = 0;

Assets/Scripts/Misc/NavPoint.cs

@@ -6,22 +6,15 @@ public class NavPoint : MonoBehaviour
 {
     public Vector3 position => gameObject.transform.position;
     public float FlagDistance { get; private set; }
-    [System.NonSerialized] public float DeathAttr;
-    [System.NonSerialized] public List<Vector3> EnemiesSeen;
+
+    [HideInInspector]
+    public int? PointId;
+    public float DeathAttr = 0;
+    public List<Vector3> EnemiesSeen = new List<Vector3>();
     //Here other attributes;
 
-    [SerializeField]
-    public int PointId;
-
-    private void Awake()
-    {
-        //DO NOT DELETE
-    }
-
     private void Start()
     {
-        FlagDistance = (GameObject.FindGameObjectWithTag("Flag").transform.position - position).magnitude;
-        EnemiesSeen = new List<Vector3>();
-        DeathAttr = 0;
+        FlagDistance = (GameObject.FindGameObjectWithTag("Flag").transform.position - position).magnitude;               
     }
 }

Assets/Scripts/Misc/Settings.cs

@@ -3,6 +3,8 @@
 [CreateAssetMenu(fileName ="Game Settings", menuName = "Game/Settings", order = 51)]
 public class Settings : ScriptableObject
 {
+    public bool isTesting;
+
     public float timeToWin;
     public float timeOut;
 
@@ -21,4 +23,15 @@ public class Settings : ScriptableObject
     public int armourPickupAmount;
     public int ammunitionPickupAmount;
     public int pickupsAmount;
+
+    public int maxHealth;
+    public int maxArmour;
+    public int maxAmmo;
+
+    public float GetHitChanceInDirectPoint;
+    public float GetHitChanceInRunning;
+    public float GetHitChanceInCover;
+    public float DoDamageChanceInDirectPoint;
+    public float DoDamageChanceInRunning;
+    public float DoDamageChanceInCover;
 }

Assets/Scripts/Misc/SettingsReader.cs

@@ -9,7 +9,6 @@ public class SettingsReader : MonoBehaviour
 
     private void Awake()
     {
-        Debug.Log("init");
         instance = this;
     }
 

Assets/Scripts/Pickups/PickUpSpawner.cs

@@ -16,6 +16,14 @@ public class PickUpSpawner : MonoBehaviour
 
     [SerializeField] private List<NavPoint> spawnPoints;
 
+    private void Awake()
+    {
+        if (instance == null)
+            instance = this;
+        else
+            Destroy(gameObject);
+    }
+
     private void Start()
     {
         pickups = new List<GameObject>();

Assets/Scripts/Sensors/ISensor.cs

@@ -1,5 +0,0 @@
-public interface ISensor<T> 
-{
-    T GetValue();
-    SensorType GetSensorType();
-}

Assets/Scripts/Sensors/Sensors.cs

@@ -0,0 +1,4 @@
+using System.Collections.Generic;
+using Unity.MLAgents.Sensors;
+
+

Assets/Scripts/Utils/SerializableDictionary.cs

@@ -739,8 +739,4 @@ public abstract class DictionaryDrawer<TK, TV> : PropertyDrawer
             UnityEngine.Debug.Log(e.Message);
         }
     }
-}
-
-[Serializable] public class DictionaryOfTeamsAndNavPoints : SerializableDictionary<Team, NavPoint> { }
-[CustomPropertyDrawer(typeof(DictionaryOfTeamsAndNavPoints))] 
-public class DictionaryOfTeamsAndNavPointsDrawer : DictionaryDrawer<Team, NavPoint> { }
+}