public int Write(ObservationWriter writer)
{
BoardState state = board.GetCurrentBoardState();
int offset = 0;
foreach (Index index in Index.GetAllIndices())
{
if (state.TryGetPiece(index, out (Team team, Piece piece)teamedPiece))
{
Piece realPiece = board.currentGame.GetRealPiece(teamedPiece);
writer.Add(new Vector3(
(float)teamedPiece.team,
((float)realPiece) + 1f,
index.GetSingleVal()
), offset);
}
else
{
writer.Add(new Vector3(0, 0, index.GetSingleVal()), offset);
}
offset += 3;
}
return(offset);
}
/// <summary>
/// Utility method for writing a PoseExtractor to an ObservationWriter.
/// </summary>
/// <param name="writer"></param>
/// <param name="settings"></param>
/// <param name="poseExtractor"></param>
/// <param name="baseOffset">The offset into the ObservationWriter to start writing at.</param>
/// <returns>The number of observations written.</returns>
public static int WritePoses(this ObservationWriter writer, PhysicsSensorSettings settings, PoseExtractor poseExtractor, int baseOffset = 0)
{
var offset = baseOffset;
if (settings.UseModelSpace)
{
foreach (var pose in poseExtractor.GetEnabledModelSpacePoses())
{
if (settings.UseModelSpaceTranslations)
{
writer.Add(pose.position, offset);
offset += 3;
}
if (settings.UseModelSpaceRotations)
{
writer.Add(pose.rotation, offset);
offset += 4;
}
}
foreach (var vel in poseExtractor.GetEnabledModelSpaceVelocities())
{
if (settings.UseModelSpaceLinearVelocity)
{
writer.Add(vel, offset);
offset += 3;
}
}
}
if (settings.UseLocalSpace)
{
foreach (var pose in poseExtractor.GetEnabledLocalSpacePoses())
{
if (settings.UseLocalSpaceTranslations)
{
writer.Add(pose.position, offset);
offset += 3;
}
if (settings.UseLocalSpaceRotations)
{
writer.Add(pose.rotation, offset);
offset += 4;
}
}
foreach (var vel in poseExtractor.GetEnabledLocalSpaceVelocities())
{
if (settings.UseLocalSpaceLinearVelocity)
{
writer.Add(vel, offset);
offset += 3;
}
}
}
return(offset - baseOffset);
}
/// <summary>
/// Utility method for writing a PoseExtractor to an ObservationWriter.
/// </summary>
/// <param name="writer"></param>
/// <param name="settings"></param>
/// <param name="poseExtractor"></param>
/// <param name="baseOffset">The offset into the ObservationWriter to start writing at.</param>
/// <returns>The number of observations written.</returns>
public static int WritePoses(this ObservationWriter writer, PhysicsSensorSettings settings, PoseExtractor poseExtractor, int baseOffset = 0)
{
var offset = baseOffset;
if (settings.UseModelSpace)
{
var poses = poseExtractor.ModelSpacePoses;
var vels = poseExtractor.ModelSpaceVelocities;
for (var i = 0; i < poseExtractor.NumPoses; i++)
{
var pose = poses[i];
if (settings.UseModelSpaceTranslations)
{
writer.Add(pose.position, offset);
offset += 3;
}
if (settings.UseModelSpaceRotations)
{
writer.Add(pose.rotation, offset);
offset += 4;
}
if (settings.UseModelSpaceLinearVelocity)
{
writer.Add(vels[i], offset);
offset += 3;
}
}
}
if (settings.UseLocalSpace)
{
var poses = poseExtractor.LocalSpacePoses;
var vels = poseExtractor.LocalSpaceVelocities;
for (var i = 0; i < poseExtractor.NumPoses; i++)
{
var pose = poses[i];
if (settings.UseLocalSpaceTranslations)
{
writer.Add(pose.position, offset);
offset += 3;
}
if (settings.UseLocalSpaceRotations)
{
writer.Add(pose.rotation, offset);
offset += 4;
}
if (settings.UseLocalSpaceLinearVelocity)
{
writer.Add(vels[i], offset);
offset += 3;
}
}
}
return(offset - baseOffset);
}
internal override void WriteReflectedField(ObservationWriter writer)
{
var vecVal = (UnityEngine.Vector4)GetReflectedValue();
writer.Add(vecVal);
}
internal override void WriteReflectedField(ObservationWriter writer)
{
var quatVal = (UnityEngine.Quaternion)GetReflectedValue();
writer.Add(quatVal);
}