private void ObtainActions()
{
Dictionary <string, float> actions = Owner.AvatarCtrl.GetActions().ToDictionary();
foreach (KeyValuePair <string, float> pair in actions)
{
Owner.ChosenActions.Host[ControlMapper.Idx(pair.Key)] = pair.Value;
}
Owner.ChosenActions.SafeCopyToDevice();
}
public override void Execute()
{
if (SimulationStep != 0 && SimulationStep % Owner.RunEvery != 0)
{
return;
}
Owner.Controls.SafeCopyToHost();
float leftSignal = Owner.Controls.Host[ControlMapper.Idx("left")];
float rightSignal = Owner.Controls.Host[ControlMapper.Idx("right")];
float fwSignal = Owner.Controls.Host[ControlMapper.Idx("forward")];
float bwSignal = Owner.Controls.Host[ControlMapper.Idx("backward")];
float rotLeftSignal = Owner.Controls.Host[ControlMapper.Idx("rot_left")];
float rotRightSignal = Owner.Controls.Host[ControlMapper.Idx("rot_right")];
float fof_left = Owner.Controls.Host[ControlMapper.Idx("fof_left")];
float fof_right = Owner.Controls.Host[ControlMapper.Idx("fof_right")];
float fof_up = Owner.Controls.Host[ControlMapper.Idx("fof_up")];
float fof_down = Owner.Controls.Host[ControlMapper.Idx("fof_down")];
float rotation = ConvertBiControlToUniControl(rotRightSignal, rotLeftSignal);
float speed = ConvertBiControlToUniControl(fwSignal, bwSignal);
float rightSpeed = ConvertBiControlToUniControl(rightSignal, leftSignal);
float fof_x = ConvertBiControlToUniControl(fof_left, fof_right);
float fof_y = ConvertBiControlToUniControl(fof_up, fof_down);
bool interact = Owner.Controls.Host[ControlMapper.Idx("interact")] > 0.5;
bool use = Owner.Controls.Host[ControlMapper.Idx("use")] > 0.5;
bool pickup = Owner.Controls.Host[ControlMapper.Idx("pickup")] > 0.5;
IAvatarControls ctrl = new AvatarControls(100, speed, rightSpeed, rotation, interact, use, pickup,
fof: new PointF(fof_x, fof_y));
Owner.AvatarCtrl.SetActions(ctrl);
}
