protected void InitActivations()
{
if (this.mode == ControlMode.Random || this.mode == ControlMode.Manual)
{
if (this.useJellyFish)
{
this.activationData = new FishActivationDataJellyfish(this.timeInterval, this.sampleNum, true);
}
else
{
this.activationData = new FishActivationDataSwimming(this.timeInterval, this.sampleNum, true);
}
this.activationData.RandomActivation();
}
else
if (this.mode == ControlMode.Activations)
{
this.activationData = FishActivationData.Load(this.activationFileName);
}
else
if (this.mode == ControlMode.CosSwim)
{
this.activationData = new FishActivationDataSwimming(this.timeInterval, this.sampleNum, true);
var ml = this.activationData[Spring.Type.MuscleMiddle, Spring.Side.Left];
var bl = this.activationData[Spring.Type.MuscleBack, Spring.Side.Left];
for (var i = 0; i < this.sampleNum; ++i)
{
var x = i * 1f / (this.sampleNum - 1) * 2 * math.PI;
ml.DiscreteFunction[i] = math.sin(x);
bl.DiscreteFunction[i] = math.sin(x + math.PI);
}
ml.FFT.GenerateFFTData();
bl.FFT.GenerateFFTData();
}
else
if (this.mode == ControlMode.CosTrun)
{
var ar = FishActivationData.Load("TurnRight");
this.activationData = new FishActivationDataTurnLeft(this.timeInterval, this.sampleNum, true);
var fl = this.activationData[Spring.Type.MuscleFront, Spring.Side.Left];
var ml = this.activationData[Spring.Type.MuscleMiddle, Spring.Side.Left];
var afl = ar[Spring.Type.MuscleFront, Spring.Side.Left];
var aml = ar[Spring.Type.MuscleMiddle, Spring.Side.Left];
for (var i = 1; i < this.sampleNum; ++i)
{
var x = i * 1f / (this.sampleNum - 1) * 2 * math.PI;
if (i < this.sampleNum / 3)
{
// ml.DiscreteFunction[i] = -math.sin(x*3);
// fl.DiscreteFunction[i] = -math.sin(x*3);
}
fl.DiscreteFunction[i] = -afl.DiscreteFunction[i];
ml.DiscreteFunction[i] = -aml.DiscreteFunction[i];
}
ml.FFT.GenerateFFTData();
fl.FFT.GenerateFFTData();
}
}
protected void Start()
{
var sampleNum = 15;
var inteval = new float2(0, 30);
var sa = this.LoadData();
this.activationData = (sa.Current as SAProblem.ActivationState.Data).ActivationData;
this.activationData = FishActivationData.Load();
// var act = this.activationData.ToDiscreteFunctions()[0];
/*for(var i = 0; i < act.SampleNum; ++i)
* {
* //act[i] = math.sin(2 * math.PI * i / (act.SampleNum-1) * 4);
* act[i] = 0;
* }
*
* act[3] = act[4] = 1;
* act[9] = act[10] = 1;
*
* this.curve = act.ToAnimationCurve();
*
* var vector = act.ToYVector();
*
* var array = vector.Select(s=>(double)s).ToArray();
* var dft = new DFT();
*
* dft.Initialize((uint)array.Length);
*
* // Call the DFT and get the scaled spectrum back
* Complex[] cSpectrum = dft.Execute(array);
*
* An = DSP.ConvertComplex.ToMagnitude(cSpectrum);
* Pn = DSP.ConvertComplex.ToPhaseRadians(cSpectrum);
*
* var maxAn = An.Max();
* var maxIndex = An.ToList().IndexOf(maxAn);
* var maxPn = Pn[maxIndex];
*
* var start = new Tuple<float, float>(inteval.x, 0);
* var end = new Tuple<float, float>(inteval.y, 0);
* var function = new X2FDiscreteFunction<float>(start, end, sampleNum);
*
* for (var i = 0; i < function.SampleNum; ++i)
* {
* var x = 2 * math.PI * i / (act.SampleNum - 1);
* //function[i] = (float)(An[0] / 2 + maxAn * math.cos(maxIndex * x + maxPn));
* //function[i] = FishActivationData.GetFx(An, Pn, x, 1);
* }
*
* this.curve2 = function.ToAnimationCurve();
*/
}
public MuscleMC()
{
this.muscleControlParamters = new Dictionary <Spring.Type, Parameter>();
var types = this.GetSpringTypes();
foreach (var t in types)
{
this.muscleControlParamters.Add(t, new Parameter());
}
this.activationData = FishActivationData.Load(this.FileName);
this.parameters = this.muscleControlParamters.Values.ToList();
}
protected void Start()
{
this.body = this.GetComponent <FishBody>();
this.body.Init();
// this.activationData = new FishActivationDataSwimming(this.interval, this.sampleNum);
//this.activationData.RandomActivation();
this.activationData = FishActivationData.Load();
this.interval = this.activationData.Interval;
this.sampleNum = this.activationData.SampleNum;
this.curves = this.activationData.ToAnimationCurves();
this.activations = this.activationData.ToActivationList();
var problem = new FishSimulatorOffline.Problem(this.body.modelData, this.activationData);
var dt = new IterationDelta();
var sim = new FishSimulatorOffline(problem, dt);
sim.TryToRun();
}
