public void Init(Intension intension, Perception perception, FishBody body)
{
this.motorControllers.Clear();
var focusser = perception.GetFocuser();
var normal = body.modelData.Normal;
var left = body.modelData.Left;
var dir = focusser.target.obj.obj.Position - body.modelData.GeometryCenter;
var motorType = focusser.motorPreference.MaxValue.type;
if (motorType == Focusser.MotorPreference.Type.MoveForward)
{
if (this.smc == null)
{
this.smc = new SwimMC();
this.curves = this.smc.ActivationData.ToAnimationCurves();
}
if (focusser.target.obj != null)
{
this.smc.UpdateSpeed(focusser.target.obj.distance);
}
this.motorControllers.Add(this.smc);
}
else if (motorType == Focusser.MotorPreference.Type.TurnLeft)
{
if (this.tlmc == null)
{
this.tlmc = new TurnLeftMC();
this.curves = this.tlmc.ActivationData.ToAnimationCurves();
}
var angle = this.GetAngleInFish(dir, normal, left);
this.tlmc.UpdateAngle(angle);
this.motorControllers.Add(this.tlmc);
this.smc?.UpdateSpeed(0);
}
else if (motorType == Focusser.MotorPreference.Type.TurnRight)
{
if (this.trmc == null)
{
this.trmc = new TurnRightMC();
this.curves = this.trmc.ActivationData.ToAnimationCurves();
}
var angle = this.GetAngleInFish(dir, normal, left);
this.trmc.UpdateAngle(angle);
this.motorControllers.Add(this.trmc);
this.smc?.UpdateSpeed(0);
}
var balance = new BalanceMC();
balance.UpdateBalance(left, normal);
this.motorControllers.Add(balance);
}
protected void ApplyActivation(float t, FishBody body, MuscleMC mc)
{
var types = new List <Spring.Type>()
{
Spring.Type.MuscleFront, Spring.Type.MuscleMiddle, Spring.Type.MuscleBack
};
foreach (var type in types)
{
mc.ActivationData.ApplyActivation(t, type, body.modelData, mc.GetParameter(type));
}
}
protected void Start()
{
this.fish = this.GetComponent <FishBody>();
this.fish.Init();
this.InitActivations();
this.UpdateAnimationCurves();
this.problem = new FishSimulatorOffline.Problem(this.fish, this.GetCurrentMC());
this.delta = new IterationDelta();
this.sim = new FishSimulatorOffline(problem, this.delta);
this.sim.TryToRun();
}
protected void Start()
{
this.fish = this.GetComponent <FishBody>();
this.fish.Init();
this.runtimeList = this.fish.modelData.FishGraph.Nodes.ToList();
this.InitActivations();
this.UpdateAnimationCurves();
this.problem = new FishSimulatorOffline.Problem(this.fish.modelData, this.activationData);
this.delta = new IterationDelta();
this.sim = new FishSimulatorOffline(problem, this.delta);
this.sim.TryToRun();
}
// public FishBrain Brain => this.brain;
// public bool IsDone { get; set; }
public void Init()
{
this.body = this.GetComponentInChildren <FishBody>();
this.body.Init();
this.brain = this.GetComponentInChildren <FishBrain>();
this.brain.Init();
this.perception = this.GetComponentInChildren <Perception>();
this.perception.Init();
this.logger = this.logger ?? new FishLogger();
this.localDelta = this.localDelta ?? new FishSimulator.Delta();
this.Reset();
FishSimulatorRunner.Instance.Controller.AddController(this);
}
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();
}
public Problem(FishBody fish, MuscleMC mc)
{
this.fishBody = fish;
this.mcData = mc;
}
public void FocusserUpdate(Intension intension, Desire desire, FishBody body)
{
this.focusser.Update(intension, this, desire, body);
}