/// <summary>
/// Utility method for quantising a samples of sensor readings into input vectors.
/// </summary>
/// <param name="sensorReadingsSamples">A list of sensor reading samples to be quantised.</param>
/// <param name="sensorObjects">Array of sensor objects associated with the sensor readings.</param>
/// <returns>An array of input vectors which were created from quantising the provided samples of sensor readings.</returns>
public static InputVector[] QuantiseSensorReadingsSamples(List <BaseSensorReading>[] sensorReadingsSamples, Sensor[] sensorObjects)
{
InputVector[] inputVectors = new InputVector[sensorReadingsSamples.Length];
for (int i = 0; i < sensorReadingsSamples.Length; i++)
{
InputVector anInputVector;
/*
* This part probably could be coded better. The previous input vector may influence the value
* of the next input vector. For example, presence sensor values during quantisation.
*/
if (i > 0)
{
anInputVector = QuantiseSensorReadingsSample(sensorReadingsSamples[i], sensorObjects, inputVectors[i - 1]);
}
else
{
anInputVector = QuantiseSensorReadingsSample(sensorReadingsSamples[i], sensorObjects, null);
}
inputVectors[i] = anInputVector;
}
return(inputVectors);
}
/// <summary>
/// Utility method for quantising a single sample of sensor readings into a input vector.
/// </summary>
/// <param name="sensorReadings">Sensor readings to be quantised.</param>
/// <param name="sensorObjects">Array of sensor objects associated with the sensor readings.</param>
/// <param name="previousInputVector">Input vector from the previous sample period.</param>
/// <returns></returns>
private static InputVector QuantiseSensorReadingsSample(List <BaseSensorReading> sensorReadings, Sensor[] sensorObjects, InputVector previousInputVector)
{
// Create and setup input vector, which will contain all the quantised data tuples
InputVector anInputVector = CreateInputVector(sensorObjects);
// Setup data structure for sensor name to sensor reading list lookups - also byproducts: input vector output and sensor names found in sensor readings
List <string> sensorNamesFoundInSensorReadings;
var sensorNameToSensorReadings = CreateSensorReadingsDictionary(sensorReadings, out sensorNamesFoundInSensorReadings, ref anInputVector);
// Reference quantised values for each sensor name
foreach (string sensorName in sensorNamesFoundInSensorReadings)
{
List <BaseSensorReading> sensorReadingsOfSensorName = sensorNameToSensorReadings[sensorName];
// Reference the previous tuple value
float previousTupleValue = 0f;
if (previousInputVector != null)
{
InputVectorTuple previousInputVectorTuple = previousInputVector.FindInputVectorTuple(sensorName);
if (previousInputVectorTuple != null)
{
previousTupleValue = previousInputVectorTuple.sensorValue;
}
}
// Construct new tuple with quantised value
InputVectorTuple newInputVectorTuple = anInputVector.FindInputVectorTuple(sensorName);
newInputVectorTuple.sensorValue = QuantiseSensorReadings(sensorReadingsOfSensorName, newInputVectorTuple.sensorType, previousTupleValue);
}
return(anInputVector);
}
/// <summary>
/// Move charatcer based on input values.
/// </summary>
protected virtual void Move()
{
if (InputVector.sqrMagnitude > 1)
{
InputVector.Normalize();
}
RelativeInputVector = m_Transform.TransformDirection(InputVector);
//m_DeltaYRotation = 0;
m_Velocity = RelativeInputVector;
m_MoveDirection = m_Velocity * m_DeltaTime;
float turnAngle = 0;
switch (m_MovementType)
{
case (MovementType.Adventure):
var direction = Mathf.Abs(InputVector.z) > 0 ? InputVector.x : -InputVector.x;
float targetAngle = Mathf.Atan2(direction, Mathf.Abs(InputVector.z));
targetAngle *= Mathf.Rad2Deg * m_RotationSpeed;
m_DeltaYRotation = Mathf.SmoothDampAngle(m_DeltaYRotation, targetAngle, ref m_RotationSmoothDamp, 0.15f);
//CharacterDebug.Log("targetAngle", targetAngle);
break;
case (MovementType.Combat):
Vector3 localDir = m_Transform.InverseTransformDirection(LookDirection);
m_DeltaYRotation = Mathf.Atan2(localDir.x, localDir.z) * Mathf.Rad2Deg * m_RotationSpeed;
//m_DeltaYRotation = Mathf.SmoothDampAngle(m_DeltaYRotation, targetAngle, ref m_RotationSmoothDamp, 0.15f) * m_RotationSpeed;
break;
}
Vector3 axisSign = Vector3.Cross(LookDirection, m_Transform.forward);
turnAngle = Vector3.Angle(m_Transform.forward, LookDirection) * (axisSign.y >= 0 ? -1f : 1f);
CharacterDebug.Log("m_DeltaYRotation", m_DeltaYRotation);
CharacterDebug.Log("turnAngle", turnAngle);
Moving = Mathf.Abs((m_Rigidbody.position - m_PreviousPosition).sqrMagnitude) > 0;
m_Rigidbody.angularDrag = InputVector.sqrMagnitude > 0 ? 0.05f : m_Mass;
}
/// <summary>
/// Helper method creating an input vector which represents a sample of sensor readings.
/// </summary>
/// <param name="sensorObjects">Array of sensor objects associated with sensor readings.</param>
/// <returns></returns>
private static InputVector CreateInputVector(Sensor[] sensorObjects)
{
InputVector anInputVector = new InputVector()
{
InputTuples = new InputVectorTuple[sensorObjects.Length]
};
for (int i = 0; i < sensorObjects.Length; i++)
{
anInputVector.InputTuples[i] = new InputVectorTuple()
{
sensorName = sensorObjects[i].SensorName,
sensorType = sensorObjects[i].GetSensorType(),
sensorValue = 0f
};
}
return(anInputVector);
}
public override string ToString()
{
string str = InputVector.ToString();
str += " ";
for (int i = 0; i != 15; ++i)
{
if (KeysState[i])
{
str += "1";
}
else
{
str += "0";
}
if (i % 3 == 2)
{
str += " ";
}
}
return(str);
}
public void MoveState(Slot[] wieldedSlotSet)
{
InputVector.x = Input.GetActionStrength("ui_right") - Input.GetActionStrength("ui_left");
InputVector.y = Input.GetActionStrength("ui_down") - Input.GetActionStrength("ui_up");
InputVector = InputVector.Normalized();
if (InputVector != Vector2.Zero)
{
DashVector = InputVector;
animationTree.Set("parameters/Idle/blend_position", InputVector);
animationTree.Set("parameters/Run/blend_position", InputVector);
animationTree.Set("parameters/Attack/blend_position", InputVector);
animationTree.Set("parameters/Dash/blend_position", InputVector);
playerAnimationState.Travel("Run");
MoveAndSlide(InputVector * MoveSpeed);
}
else
{
playerAnimationState.Travel("Idle");
InputVector = MoveAndSlide(Vector2.Zero);
}
if (Input.IsActionJustPressed("ui_ability1"))
{
if (wieldedSlotSet[0].AssignedPin != null && !wieldedSlotSet[0].AssignedPin.Passive)
{
AbilityPrime(wieldedSlotSet, 1);
}
}
if (Input.IsActionJustPressed("ui_ability2"))
{
if (wieldedSlotSet[1].AssignedPin != null && !wieldedSlotSet[1].AssignedPin.Passive)
{
AbilityPrime(wieldedSlotSet, 2);
}
}
if (Input.IsActionJustPressed("ui_ability3"))
{
if (wieldedSlotSet[2].AssignedPin != null && !wieldedSlotSet[2].AssignedPin.Passive)
{
AbilityPrime(wieldedSlotSet, 3);
}
}
if (Input.IsActionJustPressed("ui_ability4"))
{
if (wieldedSlotSet[3].AssignedPin != null && !wieldedSlotSet[3].AssignedPin.Passive)
{
AbilityPrime(wieldedSlotSet, 4);
}
}
if (Input.IsActionJustPressed("ui_ability5"))
{
if (wieldedSlotSet[4].AssignedPin != null && !wieldedSlotSet[4].AssignedPin.Passive)
{
AbilityPrime(wieldedSlotSet, 5);
}
}
if (Input.IsActionJustPressed("ui_ability6"))
{
if (wieldedSlotSet[5].AssignedPin != null && !wieldedSlotSet[5].AssignedPin.Passive)
{
AbilityPrime(wieldedSlotSet, 6);
}
}
if (Input.IsActionJustPressed("ui_dash"))
{
state = Global.BehaviorState.STATE_DASH;
}
}
/// <summary>
/// Helper method for creating a dictionary for sensor readings. The dictionary is used to separate
/// the sensor readings with the respective sensors.
/// </summary>
/// <param name="sensorReadings">Sensor readings used for creating the dictionary.</param>
/// <param name="sensorNamesList">Referenced list of sensor names which are identified from the sensor readings.</param>
/// <param name="anInputVector">Referenced input vector whose output is updated from the sensor readings.</param>
/// <returns>Dictionary mapping of sensor names to sensor readings.</returns>
private static Dictionary <string, List <BaseSensorReading> > CreateSensorReadingsDictionary(List <BaseSensorReading> sensorReadings,
out List <string> sensorNamesList, ref InputVector anInputVector)
{
var sensorNameToSensorReadings = new Dictionary <string, List <BaseSensorReading> >();
sensorNamesList = new List <string>();
foreach (BaseSensorReading aSensorReading in sensorReadings)
{
if (!sensorNameToSensorReadings.ContainsKey(aSensorReading.sensorName))
{
sensorNameToSensorReadings.Add(aSensorReading.sensorName, new List <BaseSensorReading>());
sensorNamesList.Add(aSensorReading.sensorName);
}
sensorNameToSensorReadings[aSensorReading.sensorName].Add(aSensorReading);
anInputVector.SetOutputUsingBookmarkName(aSensorReading.sensorBookmarkName);
}
return(sensorNameToSensorReadings);
}
