public CylinderMap GetCylinderMap(Frame frame, bool mirrored)
{
CylinderMap sensor = new CylinderMap(Size, Resolution, Layers, Overlap);
RootModule module = (RootModule)Data.GetModule(ID.Root);
if (module != null)
{
Vector3 position = module.GetRootPosition(frame, mirrored);
Quaternion rotation = module.GetRootRotation(frame, mirrored);
sensor.Sense(Matrix4x4.TRS(position + new Vector3(0f, 0f, 0f), rotation, Vector3.one), Mask);
}
else
{
sensor.Sense(frame.GetBoneTransformation(0, mirrored), Mask);
}
Samples = sensor.Points.Length;
return(sensor);
}
protected override void Feed()
{
Controller.Update();
//Get Root
Matrix4x4 root = RootSeries.Transformations[TimeSeries.Pivot];
//Control Cycle
Signals = Controller.PoolSignals();
UserControl = Controller.PoolUserControl(Signals);
NetworkControl = Controller.PoolNetworkControl(Signals);
if (IsInteracting)
{
//Do nothing because coroutines have control.
}
else if (Controller.QuerySignal("Sit"))
{
StartCoroutine(Sit());
}
else if (Controller.QuerySignal("Carry"))
{
StartCoroutine(Carry());
}
else if (Controller.QuerySignal("Open"))
{
StartCoroutine(Open());
}
else
{
Default();
}
//Input Bone Positions / Velocities
for (int i = 0; i < Actor.Bones.Length; i++)
{
NeuralNetwork.Feed(Actor.Bones[i].Transform.position.GetRelativePositionTo(root));
NeuralNetwork.Feed(Actor.Bones[i].Transform.forward.GetRelativeDirectionTo(root));
NeuralNetwork.Feed(Actor.Bones[i].Transform.up.GetRelativeDirectionTo(root));
NeuralNetwork.Feed(Actor.Bones[i].Velocity.GetRelativeDirectionTo(root));
}
//Input Trajectory Positions / Directions / Velocities / Styles
for (int i = 0; i < TimeSeries.KeyCount; i++)
{
TimeSeries.Sample sample = TimeSeries.GetKey(i);
NeuralNetwork.FeedXZ(RootSeries.GetPosition(sample.Index).GetRelativePositionTo(root));
NeuralNetwork.FeedXZ(RootSeries.GetDirection(sample.Index).GetRelativeDirectionTo(root));
NeuralNetwork.Feed(StyleSeries.Values[sample.Index]);
}
//Input Goals
for (int i = 0; i < TimeSeries.KeyCount; i++)
{
TimeSeries.Sample sample = TimeSeries.GetKey(i);
NeuralNetwork.Feed(GoalSeries.Transformations[sample.Index].GetPosition().GetRelativePositionTo(root));
NeuralNetwork.Feed(GoalSeries.Transformations[sample.Index].GetForward().GetRelativeDirectionTo(root));
NeuralNetwork.Feed(GoalSeries.Values[sample.Index]);
}
//Input Environment
Environment.Sense(root, LayerMask.GetMask("Default", "Interaction"));
NeuralNetwork.Feed(Environment.Occupancies);
//Input Geometry
for (int i = 0; i < Geometry.Points.Length; i++)
{
NeuralNetwork.Feed(Geometry.References[i].GetRelativePositionTo(root));
NeuralNetwork.Feed(Geometry.Occupancies[i]);
}
//Setup Gating Features
NeuralNetwork.Feed(GenerateGating());
}