// This is meant to identify noisy packs
// storing and reading packs in json format can make certain packs wrong because of numerical precision errors
// here we identify some of those packs and clear them from the memory
// for each pack, we check if the shapes are overlapping
// if shapes overlap then some numerical precision errors must have occured
public bool IdentifyRemoveNoisyPack(string packFileName, int packID)
{
Pack pack = packEvol.ReadPack(packFileName, packID);
GameObject[] shapes = packEvol.VisualizePack(pack, loadFromResources: false, keepRenderer: false);
bool noisyPack = false;
for (int i = 0; i < shapes.Length; i++)
{
// move shape out of box
shapes[i].transform.position = new Vector3(100f, 100f, 100f);
// check if the shape collides
bool shapeCollide = gtPack.WillShapeCollide(shapes[i], pack.positions[i]);
if (shapeCollide)
{
noisyPack = true;
break;
}
// move shape back in
shapes[i].transform.position = pack.positions[i];
}
int shapesLength = shapes.Length;
for (int i = 0; i < shapes.Length; i++)
{
UnityEngine.Object.DestroyImmediate(shapes[i]);
}
return(noisyPack);
}
/***
* Fetch a pack
* Remove old shapes
* Get the new shapes
*/
public override void AgentReset()
{
step = 0;
stepNum = 0;
pack = packEvol.ReadPack(packFileName, packID);
GameObject _brain = GameObject.Find("Academy/Brain");
Brain brain = _brain.transform.GetComponent <Brain>();
// Destroying the already present shapes
if (shapes != null)
{
for (int i = 0; i < shapes.Length; i++)
{
UnityEngine.Object.DestroyImmediate(shapes[i]);
}
shapes = null;
}
if (rotBeforeMov)
{
validPos = new int[1, 1, MOV_RES, MOV_RES, MOV_RES];
}
else
{
validPos = new int[packEvol.r1Value.Count, packEvol.r2Value.Count, MOV_RES, MOV_RES, MOV_RES];
}
if (!loadPrecompute)
{
if (getGT)
{
gtStepAction = gtPack.GetGtStepAction(ref pack, rotBeforeMov: rotBeforeMov);
}
if (getSavedAct)
{
gtStepAction = GetStepAction();
}
// Loading the new shapes
string[] _null = null;
packEvol.GetShapes(ref _null, ref pack.sources, ref shapes, loadFromResources: false, keepRenderer: editorMode);
for (int i = 0; i < shapes.Length; i++)
{
shapes[i].transform.localScale = pack.scales[i];
}
// Move shapes in visible pisitions in demoMode
// Also removing box colliders for faster processing
if (demoMode)
{
float theta = (2.0f * Mathf.PI) / shapes.Length;
for (int i = 0; i < shapes.Length; i++)
{
BoxCollider[] boxes = shapes[i].GetComponents <BoxCollider>();
foreach (BoxCollider box in boxes)
{
Destroy(box);
}
shapes[i].transform.position = new Vector3(2.0f * Mathf.Sin(i * theta),
0f,
2.0f * Mathf.Cos(i * theta));
}
}
else
{
// intial estimate added so as to ensure faster computation
vox = new List <float> (Mathf.CeilToInt(pack.efficiency * VOX_RES * VOX_RES * VOX_RES));
for (int i = 0; i < shapes.Length; i++)
{
shapes[i].transform.position = Vector3.zero;
boxVoxel(ref vox, i);
shapes[i].transform.position = 100 * Vector3.one;
}
vox.TrimExcess();
// setting up the number of observarions
brain.brainParameters.vectorObservationSize =
((VOX_RES * VOX_RES * VOX_RES) > (vox.Count + 1)) ? (VOX_RES * VOX_RES * VOX_RES) + 2 : vox.Count + 3;
}
}
else
{
shapes = new GameObject[pack.sources.Length];
precompute.loadPrecompute(packFileName, packID, ref gtStepAction, rotBeforeMov);
brain.brainParameters.vectorObservationSize = (VOX_RES * VOX_RES * VOX_RES) + 2;
if (getSavedAct)
{
gtStepAction = GetStepAction();
}
}
}