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() { 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() { 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() { 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 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(); }
public override void Initialize() { Controller = GetComponent <JointDriveController>(); for (int i = 0; i < Parts.Count; i++) { Controller.SetupBodyPart(Parts[i]); } }
InitializeAgent() { base.InitializeAgent(); ReConfigSystemSettingsForRobot(); jdController = GetComponent <JointDriveController>(); currentDecisionStep = 1; InitializeBody(); } // InitializeAgent
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 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); }
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 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); }
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); }
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); }
InitializeAgent() { base.InitializeAgent(); ReConfigSystemSettingsForRobot(); jdController = GetComponent <JointDriveController>(); currentDecisionStep = 1; InitializeBody(); PlayerReinitializor = new TransformReinitializor( this.gameObject, Vector3.zero, Vector3.zero, Vector3.zero, Vector3.zero, Vector3.zero, Vector3.zero); PlayerReinitializor.Reinitialize(); } // InitializeAgent
public override void InitializeAgent() { jdController = GetComponent <JointDriveController>(); // Handle starting/communication with api data cell = GetComponent <Cell>(); if (requestApiData) { PostGene postGene = transform.gameObject.AddComponent <PostGene>(); StartCoroutine(postGene.getCell(cellId)); cell.partNb = partNb; cell.threshold = threshold; } else { cell.initGerms(partNb, threshold); } currentDecisionStep = 1; }
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() { 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); }
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 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() { 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); }