public override void _PhysicsProcess(float delta)
{
for (int i = 0; i < body.GetSlideCount(); i++)
{
var collision = body.GetSlideCollision(i);
Node node = (Spatial)collision.Collider;
if (node.Name == target.Name)
{
NotifyAll(reward);
agent.AddReward(reward, this, endEpisodeInSuccess);
}
}
}
public override float[] GetFloatArrayValue()
{
List <float> codes = new List <float>();
for (int i = 0; i < body.GetSlideCount(); i++)
{
var collision = body.GetSlideCollision(i);
Node node = (Spatial)collision.Collider;
if (codeByGroup)
{
var groups = node.GetGroups();
foreach (string g in groups)
{
if (nameCode.ContainsKey(g))
{
codes.Add(nameCode[g]);
}
else
{
codes.Add(1);
}
}
}
else
{
if (nameCode.ContainsKey(node.Name))
{
codes.Add(nameCode[node.Name]);
}
else
{
codes.Add(1);
}
}
}
float[] r = new float[shape[0]];
for (int i = 0; i < codes.Count; i++)
{
r[i] = codes[i];
if (i >= shape[0])
{
break;
}
}
return(r);
}
public override void Process(float delta)
{
//This sort of initialisation needs a refactor, but suffices for now.
if (frameNum == 2)
{
// Initialise things that need to wait for emitting signals here.
// To give other components a chance to set up and fire.
// get all objects that start in range which could not fire the signals
Array bodies = area.GetOverlappingBodies();
foreach (PhysicsBody body in bodies)
{
if (IsWatching(body))
{
parent.SendMessage("objectInRange", body);
}
}
frameNum++;
}
else if (frameNum == 1)
{
// Initialise things that rely on emitting custom signals here.
frameNum++;
}
else if (frameNum == 0)
{
frameNum++;
}
velocity.x = direction.x * speed * delta;
velocity.z = direction.y * speed * delta;
velocity.y -= gravity * delta;
if (velocity.y < -terminal)
{
velocity.y = -terminal;
}
Vector3 newVelocity = body.MoveAndSlide(velocity, new Vector3(0.0f, 1.0f, 0.0f));
float xDif = Math.Abs(velocity.x - newVelocity.x);
float zDif = Math.Abs(velocity.z - newVelocity.z);
if (xDif > terrainInterferenceEpsilon || zDif > terrainInterferenceEpsilon)
{
parent.SendMessage("terrainInterference");
}
int numCollisions = body.GetSlideCount();
for (int i = 0; i < numCollisions; i++)
{
parent.SendMessage("collided", body.GetSlideCollision(i));
}
if (tojump)
{
velocity.y = jumpMagnitude;
tojump = false;
}
else
{
velocity.y = newVelocity.y;
}
}