public TransformExt()
{
position = new Vector3(0, 0, 0);
rotation = Quaternion.identity;
scale = new Vector3(1, 1, 1);
posLHS = position;
worldMatrix = Matrix4x4.identity;
}
public TransformExt(Spatial spatial)
{
position = Vector3.FromV3(spatial.GetTranslation());
rotation = Quaternion.FromEulerRHS(Vector3.FromV3((spatial.GetRotationDegrees())));
scale = Vector3.FromV3(spatial.GetScale());
posLHS = new Vector3(position.x, position.y, -position.z);
updateTransformMatrix();
}
public void RotateAround(Vector3 point, Vector3 axis, float angle)
{
float distance = (position - point).magnitude;
Vector3 direction = (position - point).normalized;
Quaternion rotate = Quaternion.AngleAxis(angle, axis);
direction = rotate * direction;
position = point + direction * distance;
}
public static TransformExt FromTransform(Transform transform, Vector3 rotation)
{
TransformExt transformExt = new TransformExt();
transformExt.worldMatrix = Matrix4x4.TransformToMatrix4x4(transform);
transformExt.position = Vector3.FromV3(transform.origin);
transformExt.rotation = Quaternion.FromEuler(rotation);
transformExt.scale = new Vector3(1, 1, 1);
return(transformExt);
}
public void Revive()
{
transform.position = startPos;
transform.rotation = Quaternion.identity;
velocity = Vector3.zero;
acceleration = Vector3.zero;
dead = false;
time = 0;
index = 0;
fitness = 0;
}
private void HandleCollisions()
{
for (int i = 0; i < rockets.Length; i++)
{
Vector3 rocketPos = rockets[i].transform.position;
bool kill = false;
for (int j = 0; j < obstacles.Length; j++)
{
Vector3 obstaclePos = obstacles[j].transform.position;
float obstacleSize = obstacles[j].transform.scale.x;
if ((rocketPos - obstaclePos).magnitude < obstacleSize && rockets[i].isDead() == false)
{
rockets[i].SetToPunish(timeThisGeneration);
kill = true;
}
}
Vector3 targetPos = target.transform.position;
float targetSize = target.transform.scale.x;
if ((rocketPos - targetPos).magnitude < targetSize && rockets[i].isDead() == false)
{
rockets[i].SetToReward(timeThisGeneration);
kill = true;
targetHits++;
}
if ((rocketPos.y > References.northWall || rocketPos.y < References.southWall ||
rocketPos.x > References.eastWall || rocketPos.x < References.westWall) &&
rockets[i].isDead() == false)
{
rockets[i].SetToPunish(timeThisGeneration);
kill = true;
}
if (kill == true)
{
rockets[i].Kill();
}
}
}
public override void _Ready()
{
transform = new TransformExt();
startPos = new Vector3(0, References.rocketStartHeight, 0);
transform.position = startPos;
transform.rotation = Quaternion.identity;
transform.scale = Vector3.one * References.rocketScale;
exhaust = (Particles)GetChild(1);
velocity = Vector3.zero;
currentThrust = 0;
thrustPercentage = 0;
maxExhaustSpeed = 20;
maxExhaustTTL = 1f;
instructions = new Instruction[References.instructionSize];
for (int i = 0; i < References.instructionSize; i++)
{
instructions[i] = new Instruction();
}
}
void updateTransformMatrix(Vector3 LHS)
{
worldMatrix = Matrix4x4.translationMatrix(LHS) * Matrix4x4.scaleMatrix(scale) * Matrix4x4.rotationMatrix(rotation);
}
private void AddForce(Vector3 force)
{
acceleration = force / References.rocketMass;
velocity += acceleration;
acceleration = Vector3.zero;
}
public void Kill()
{
velocity = Vector3.zero;
dead = true;
}