public override void AgentReset()
{
if (marathonSpawner == null)
{
marathonSpawner = GetComponent <MarathonSpawner>();
}
Transform[] allChildren = GetComponentsInChildren <Transform>();
if (_hasValidModel)
{
// restore
foreach (Transform child in allChildren)
{
if (child.gameObject.name.Contains("OpenAIHumanoid"))
{
continue;
}
//TODO
child.position = transformsPosition[child.gameObject];
child.rotation = transformsRotation[child.gameObject];
var childRb = child.GetComponent <Rigidbody>();
if (childRb != null)
{
childRb.angularVelocity = Vector3.zero;
childRb.velocity = Vector3.zero;
}
}
marathonSpawner.ApplyRandom();
SetupMarathon();
UpdateQ();
beforeAngle = new float[MarathonJoints.Count];
curAngle = new float[MarathonJoints.Count];
return;
}
MarathonJoints = null;
MarathonSensors = null;
var rbs = this.GetComponentsInChildren <Rigidbody>().ToList();
foreach (var item in rbs)
{
if (item != null)
{
DestroyImmediate(item.gameObject);
}
}
Resources.UnloadUnusedAssets();
marathonSpawner.SpawnFromXml();
allChildren = GetComponentsInChildren <Transform>();
transformsPosition = new Dictionary <GameObject, Vector3>();
transformsRotation = new Dictionary <GameObject, Quaternion>();
foreach (Transform child in allChildren)
{
transformsPosition[child.gameObject] = child.position;
transformsRotation[child.gameObject] = child.rotation;
}
marathonSpawner.ApplyRandom();
//SetupMarathon();
UpdateQ();
_hasValidModel = true;
recentVelocity = new List <float>();
beforeAngle = new float[MarathonJoints.Count];
curAngle = new float[MarathonJoints.Count];
}
public override void AgentReset()
{
if (DistanceTraveled != float.MinValue)
{
var scorer = FindObjectOfType <Scorer>();
scorer?.ReportScore(DistanceTraveled, "Distance Traveled");
}
if (_spawnableEnv == null)
{
_spawnableEnv = GetComponentInParent <SpawnableEnv>();
}
if (marathonSpawner == null)
{
marathonSpawner = GetComponent <MarathonSpawner>();
}
mphBuffer = new List <Vector3>();
Transform[] allChildren = GetComponentsInChildren <Transform>();
if (_hasValidModel)
{
// restore
foreach (Transform child in allChildren)
{
if (child.gameObject.name.Contains("OpenAIHumanoid"))
{
continue;
}
child.position = transformsPosition[child.gameObject];
child.rotation = transformsRotation[child.gameObject];
var childRb = child.GetComponent <Rigidbody>();
if (childRb != null)
{
childRb.angularVelocity = Vector3.zero;
childRb.velocity = Vector3.zero;
}
}
marathonSpawner?.ApplyRandom();
SetupMarathon();
UpdateQ();
return;
}
startPosition = transform.position;
// HACK first spawned marathon agent should grab the camera
var agentWithCamera = FindObjectsOfType <MarathonAgent>().FirstOrDefault(x => x.CameraTarget != null);
if (agentWithCamera == null)
{
CameraTarget = FindObjectOfType <SmoothFollow>()?.gameObject;
ShowMonitor = true;
}
MarathonJoints = null;
MarathonSensors = null;
var rbs = this.GetComponentsInChildren <Rigidbody>().ToList();
foreach (var item in rbs)
{
if (item != null)
{
DestroyImmediate(item.gameObject);
}
}
Resources.UnloadUnusedAssets();
marathonSpawner?.SpawnFromXml();
allChildren = GetComponentsInChildren <Transform>();
transformsPosition = new Dictionary <GameObject, Vector3>();
transformsRotation = new Dictionary <GameObject, Quaternion>();
foreach (Transform child in allChildren)
{
transformsPosition[child.gameObject] = child.position;
transformsRotation[child.gameObject] = child.rotation;
}
marathonSpawner?.ApplyRandom();
SetupMarathon();
UpdateQ();
_hasValidModel = true;
recentVelocity = new List <float>();
}
