public override void InitializeAgent()
{
Debug.Log($"Initialising agent in: {GetComponentInParent<Transform>().name}");
Debug.Log($"Current brain: {brain}");
base.InitializeAgent();
decisionCounter = 0;
_limbsTransform = new List <Transform>();
_limbsBodyParts = new List <AnhaBodyPart>();
_agentRb = Root.GetComponent <Rigidbody>();
_areaBounds = Floor.GetComponent <Collider>().bounds;
_groundRenderer = Floor.GetComponent <Renderer>();
_groundMaterial = _groundRenderer.material;
_targets = TargetsContainer.GetComponentsInChildren <Transform>().Skip(1).ToList();
// Automatically adding all the bones of limbs;
// Each limb ought to end with a child object with tag "hand"
_hands = Finder.ChildrenWithTag(LimbsContainer.transform, "hand");
SetLimbs();
// SETTING UP THE joints CONTROLLER
_jdController = GetComponent <JointDriveController>();
_jdController.SetupBodyPart(Root.transform);
_limbsTransform.ForEach(bp => _jdController.SetupBodyPart(bp));
SetDirectionToClosestTarget();
}
public void initBodyParts()
{
jdController.SetupBodyPart(initPart);
foreach (var part in parts)
{
jdController.SetupBodyPart(part);
}
}
Matrix4x4 m_TargetDirMatrix; //Matrix used by agent as orientation reference
public override void Initialize()
{
m_JdController = GetComponent <JointDriveController>();
m_DirToTarget = target.position - bodySegment0.position;
m_LookRotation = Quaternion.LookRotation(m_DirToTarget);
m_TargetDirMatrix = Matrix4x4.TRS(Vector3.zero, m_LookRotation, Vector3.one);
//Setup each body part
m_JdController.SetupBodyPart(bodySegment0);
m_JdController.SetupBodyPart(bodySegment1);
m_JdController.SetupBodyPart(bodySegment2);
m_JdController.SetupBodyPart(bodySegment3);
}
public override void InitializeAgent()
{
for (int i = 0; i < _rigs.Length; i++)
{
_rigs[i].EvaluateStart();
_rigs[i].Reset();
}
_jdController = GetComponent <JointDriveController>();
_jdController.SetupBodyPart(_armBase.transform);
_jdController.SetupBodyPart(_armLow.transform);
_jdController.SetupBodyPart(_armHigh.transform);
_jdController.SetupBodyPart(_armTop.transform);
_jdController.SetupBodyPart(_armRotator.transform);
}
public override void Initialize()
{
SetAgentType();
m_OrientationCube = GetComponentInChildren <OrientationCubeController>();
m_DirectionIndicator = GetComponentInChildren <DirectionIndicator>();
m_JdController = GetComponent <JointDriveController>();
//Setup each body part
m_JdController.SetupBodyPart(body);
m_JdController.SetupBodyPart(leg0Upper);
m_JdController.SetupBodyPart(leg0Lower);
m_JdController.SetupBodyPart(leg1Upper);
m_JdController.SetupBodyPart(leg1Lower);
}
private Vector3 m_StartingPos; //starting position of the agent
public override void Initialize()
{
SpawnTarget(TargetPrefab, transform.position); //spawn target
m_StartingPos = bodySegment0.position;
m_OrientationCube = GetComponentInChildren <OrientationCubeController>();
m_DirectionIndicator = GetComponentInChildren <DirectionIndicator>();
m_JdController = GetComponent <JointDriveController>();
UpdateOrientationObjects();
//Setup each body part
m_JdController.SetupBodyPart(bodySegment0);
m_JdController.SetupBodyPart(bodySegment1);
m_JdController.SetupBodyPart(bodySegment2);
m_JdController.SetupBodyPart(bodySegment3);
}
public override void Initialize()
{
Controller = GetComponent <JointDriveController>();
for (int i = 0; i < Parts.Count; i++)
{
Controller.SetupBodyPart(Parts[i]);
}
}
public override void InitializeAgent()
{
jdController = GetComponent <JointDriveController>();
currentDecisionStep = 1;
//Setup each body part
jdController.SetupBodyPart(body);
jdController.SetupBodyPart(leg0Upper);
jdController.SetupBodyPart(leg0Lower);
jdController.SetupBodyPart(leg1Upper);
jdController.SetupBodyPart(leg1Lower);
jdController.SetupBodyPart(leg2Upper);
jdController.SetupBodyPart(leg2Lower);
jdController.SetupBodyPart(leg3Upper);
jdController.SetupBodyPart(leg3Lower);
}
Matrix4x4 m_TargetDirMatrix; //Matrix used by agent as orientation reference
public override void Initialize()
{
m_JdController = GetComponent <JointDriveController>();
m_DirToTarget = target.position - bodySegment0.position;
m_LookRotation = Quaternion.LookRotation(m_DirToTarget);
m_TargetDirMatrix = Matrix4x4.TRS(Vector3.zero, m_LookRotation, Vector3.one);
//Setup each body part
m_JdController.SetupBodyPart(bodySegment0);
m_JdController.SetupBodyPart(bodySegment1);
m_JdController.SetupBodyPart(bodySegment2);
m_JdController.SetupBodyPart(bodySegment3);
//We only want the head to detect the target
//So we need to remove TargetContact from everything else
//This is a temp fix till we can redesign
DestroyImmediate(bodySegment1.GetComponent <TargetContact>());
DestroyImmediate(bodySegment2.GetComponent <TargetContact>());
DestroyImmediate(bodySegment3.GetComponent <TargetContact>());
}
public override void InitializeAgent()
{
m_JdController = GetComponent <JointDriveController>();
m_DirToTarget = target.position - body.position;
//Setup each body part
m_JdController.SetupBodyPart(body);
m_JdController.SetupBodyPart(leg0Upper);
m_JdController.SetupBodyPart(leg0Lower);
m_JdController.SetupBodyPart(leg1Upper);
m_JdController.SetupBodyPart(leg1Lower);
m_JdController.SetupBodyPart(leg2Upper);
m_JdController.SetupBodyPart(leg2Lower);
m_JdController.SetupBodyPart(leg3Upper);
m_JdController.SetupBodyPart(leg3Lower);
}
public override void Initialize()
{
orientationCube.UpdateOrientation(body, target.transform);
m_JdController = GetComponent <JointDriveController>();
//Setup each body part
m_JdController.SetupBodyPart(body);
m_JdController.SetupBodyPart(leg0Upper);
m_JdController.SetupBodyPart(leg0Lower);
m_JdController.SetupBodyPart(leg1Upper);
m_JdController.SetupBodyPart(leg1Lower);
m_JdController.SetupBodyPart(leg2Upper);
m_JdController.SetupBodyPart(leg2Lower);
m_JdController.SetupBodyPart(leg3Upper);
m_JdController.SetupBodyPart(leg3Lower);
}
public override void Initialize()
{
SpawnTarget(dynamicTargetPrefab, transform.position);
m_OrientationCube = GetComponentInChildren <OrientationCubeController>();
//m_DirectionIndicator = GetComponentInChildren<DirectionIndicator>();
m_JdController = GetComponent <JointDriveController>();
//Setup each body part
m_JdController.SetupBodyPart(body);
m_JdController.SetupBodyPart(leg0Upper);
m_JdController.SetupBodyPart(leg0Lower);
m_JdController.SetupBodyPart(leg1Upper);
m_JdController.SetupBodyPart(leg1Lower);
m_JdController.SetupBodyPart(leg2Upper);
m_JdController.SetupBodyPart(leg2Lower);
m_JdController.SetupBodyPart(leg3Upper);
m_JdController.SetupBodyPart(leg3Lower);
}
public override void InitializeAgent()
{
base.InitializeAgent();
bodyrb = body.GetComponent <Rigidbody>();
startPos = transform.position;
startRot = transform.rotation;
jointControl = GetComponent <JointDriveController>();
//Setup the body parts in the joint controller
jointControl.SetupBodyPart(body);
for (int i = 0; i < 8; i++)
{
jointControl.SetupBodyPart(upperJoints[i]);
}
for (int i = 0; i < 8; i++)
{
jointControl.SetupBodyPart(lowerJoints[i]);
}
}
void Awake()
{
// Audio Setup
audioSourceSFX = body.gameObject.AddComponent <AudioSource>();
audioSourceSFX.spatialBlend = .75f;
audioSourceSFX.minDistance = .7f;
audioSourceSFX.maxDistance = 5;
if (canBark)
{
StartCoroutine(BarkBarkGame());
}
//Joint Drive Setup
jdController = GetComponent <JointDriveController>();
jdController.SetupBodyPart(body);
jdController.SetupBodyPart(leg0_upper);
jdController.SetupBodyPart(leg0_lower);
jdController.SetupBodyPart(leg1_upper);
jdController.SetupBodyPart(leg1_lower);
jdController.SetupBodyPart(leg2_upper);
jdController.SetupBodyPart(leg2_lower);
jdController.SetupBodyPart(leg3_upper);
jdController.SetupBodyPart(leg3_lower);
}
public override void Initialize()
{
action1 = -1f;
action2 = -1f;
action3 = -1f;
action4 = -1f;
pose0Time = Time.time + 10000;
pose1Time = Time.time + 10000;
pose2Time = Time.time + 10000;
pose3Time = Time.time + 10000;
pose4Time = Time.time + 10000;
curangle = 0.0f;
curGrip = 1f;
gobj = Instantiate(tc.gameObject, transform);
//gobj.GetComponent<TargetController>().m_startingPos = transform.position;
m_JdController = GetComponent <JointDriveController>();
//Setup each body part
m_JdController.SetupBodyPart(arm_base);
m_JdController.SetupBodyPart(turner);
m_JdController.SetupBodyPart(bone1);
m_JdController.SetupBodyPart(bone2);
m_JdController.SetupBodyPart(bone3);
m_JdController.SetupBodyPart(hand);/*
* m_JdController.SetupBodyPart(finger1);
* m_JdController.SetupBodyPart(phalanx1);
* m_JdController.SetupBodyPart(forePhalanx1);
* m_JdController.SetupBodyPart(finger2);
* m_JdController.SetupBodyPart(phalanx2);
* m_JdController.SetupBodyPart(forePhalanx2);
* m_JdController.SetupBodyPart(finger3);
* m_JdController.SetupBodyPart(phalanx3);
* m_JdController.SetupBodyPart(forePhalanx3);
* m_JdController.SetupBodyPart(finger4);
* m_JdController.SetupBodyPart(phalanx4);
* m_JdController.SetupBodyPart(forePhalanx4);*/
}
public override void InitializeAgent()
{
m_JdController = GetComponent <JointDriveController>();
m_JdController.SetupBodyPart(hips);
m_JdController.SetupBodyPart(chest);
m_JdController.SetupBodyPart(spine);
m_JdController.SetupBodyPart(head);
m_JdController.SetupBodyPart(thighL);
m_JdController.SetupBodyPart(shinL);
m_JdController.SetupBodyPart(footL);
m_JdController.SetupBodyPart(thighR);
m_JdController.SetupBodyPart(shinR);
m_JdController.SetupBodyPart(footR);
m_JdController.SetupBodyPart(armL);
m_JdController.SetupBodyPart(forearmL);
m_JdController.SetupBodyPart(handL);
m_JdController.SetupBodyPart(armR);
m_JdController.SetupBodyPart(forearmR);
m_JdController.SetupBodyPart(handR);
m_HipsRb = hips.GetComponent <Rigidbody>();
m_ChestRb = chest.GetComponent <Rigidbody>();
m_SpineRb = spine.GetComponent <Rigidbody>();
var academy = FindObjectOfType <WalkerAcademy>();
m_ResetParams = academy.resetParameters;
SetResetParameters();
}
public override void InitializeAgent()
{
jdController = GetComponent <JointDriveController>();
jdController.SetupBodyPart(hips);
jdController.SetupBodyPart(chest);
jdController.SetupBodyPart(spine);
jdController.SetupBodyPart(head);
jdController.SetupBodyPart(thighL);
jdController.SetupBodyPart(shinL);
jdController.SetupBodyPart(footL);
jdController.SetupBodyPart(thighR);
jdController.SetupBodyPart(shinR);
jdController.SetupBodyPart(footR);
jdController.SetupBodyPart(armL);
jdController.SetupBodyPart(forearmL);
jdController.SetupBodyPart(handL);
jdController.SetupBodyPart(armR);
jdController.SetupBodyPart(forearmR);
jdController.SetupBodyPart(handR);
}
public override void Initialize()
{
orientationCube.UpdateOrientation(hips, target.transform);
//Setup each body part
m_JdController = GetComponent <JointDriveController>();
m_JdController.SetupBodyPart(hips);
m_JdController.SetupBodyPart(chest);
m_JdController.SetupBodyPart(spine);
m_JdController.SetupBodyPart(head);
m_JdController.SetupBodyPart(thighL);
m_JdController.SetupBodyPart(shinL);
m_JdController.SetupBodyPart(footL);
m_JdController.SetupBodyPart(thighR);
m_JdController.SetupBodyPart(shinR);
m_JdController.SetupBodyPart(footR);
m_JdController.SetupBodyPart(armL);
m_JdController.SetupBodyPart(forearmL);
m_JdController.SetupBodyPart(handL);
m_JdController.SetupBodyPart(armR);
m_JdController.SetupBodyPart(forearmR);
m_JdController.SetupBodyPart(handR);
m_ResetParams = Academy.Instance.EnvironmentParameters;
SetResetParameters();
}
public override void InitializeAgent()
{
jdController = GetComponent <JointDriveController>();
jdController.SetupBodyPart(hips);
jdController.SetupBodyPart(chest);
jdController.SetupBodyPart(spine);
jdController.SetupBodyPart(head);
jdController.SetupBodyPart(thighL);
jdController.SetupBodyPart(shinL);
jdController.SetupBodyPart(footL);
jdController.SetupBodyPart(thighR);
jdController.SetupBodyPart(shinR);
jdController.SetupBodyPart(footR);
jdController.SetupBodyPart(armL);
jdController.SetupBodyPart(forearmL);
jdController.SetupBodyPart(handL);
jdController.SetupBodyPart(armR);
jdController.SetupBodyPart(forearmR);
jdController.SetupBodyPart(handR);
SaveState();
parentPos = this.transform.position;
parentRotation = this.transform.rotation;
}
public override void InitializeAgent()
{
m_JdController = GetComponent <JointDriveController>();
m_JdController.SetupBodyPart(hips);
m_JdController.SetupBodyPart(chest);
m_JdController.SetupBodyPart(spine);
m_JdController.SetupBodyPart(head);
m_JdController.SetupBodyPart(thighL);
m_JdController.SetupBodyPart(shinL);
m_JdController.SetupBodyPart(footL);
m_JdController.SetupBodyPart(thighR);
m_JdController.SetupBodyPart(shinR);
m_JdController.SetupBodyPart(footR);
m_JdController.SetupBodyPart(armL);
m_JdController.SetupBodyPart(forearmL);
m_JdController.SetupBodyPart(handL);
m_JdController.SetupBodyPart(armR);
m_JdController.SetupBodyPart(forearmR);
m_JdController.SetupBodyPart(handR);
m_HipsRb = hips.GetComponent <Rigidbody>();
m_ChestRb = chest.GetComponent <Rigidbody>();
m_SpineRb = spine.GetComponent <Rigidbody>();
m_ResetParams = Academy.Instance.FloatProperties;
SetResetParameters();
}
public override void Initialize()
{
m_OrientationCube = GetComponentInChildren <OrientationCubeController>();
m_DirectionIndicator = GetComponentInChildren <DirectionIndicator>();
//Setup each body part
m_JdController = GetComponent <JointDriveController>();
m_JdController.SetupBodyPart(hips);
m_JdController.SetupBodyPart(chest);
m_JdController.SetupBodyPart(spine);
m_JdController.SetupBodyPart(head);
m_JdController.SetupBodyPart(thighL);
m_JdController.SetupBodyPart(shinL);
m_JdController.SetupBodyPart(footL);
m_JdController.SetupBodyPart(thighR);
m_JdController.SetupBodyPart(shinR);
m_JdController.SetupBodyPart(footR);
m_JdController.SetupBodyPart(armL);
m_JdController.SetupBodyPart(forearmL);
m_JdController.SetupBodyPart(handL);
m_JdController.SetupBodyPart(armR);
m_JdController.SetupBodyPart(forearmR);
m_JdController.SetupBodyPart(handR);
m_ResetParams = Academy.Instance.EnvironmentParameters;
SetResetParameters();
}