/**
* This function returns the time series tuple for the current frame.
* formate:"ts,mID,mDiff,mType,Lx,Ly,Rx,Ry,Bx,By,Lvel,Rvel,Bvel,Plen,H1input,H2input,composInput,Lscore,Rscore\n"
* ts: timestamp
* mID: match ID
* mDiff: match difficulty
* mType: match type
* Lx,Ly: left paddle x and y position
* Rx,Ry: right paddle x and y position
* Bx,By: ball x and y position
* Lvel: left paddle velocity
* Rvel: right paddle velocity
* Bvel: ball velocity
* Plen: paddle length
* H1input: human 1 input
* H2input: human 2 input (if not applicable, then value is 9999)
* composInput: composite input of both human players (if not applicable, then value is 9999)
* Lscore: left paddle score
* Rscore: right paddle score
*
*/
public static string GetTimeSeriesTuple()
{
string t;
Vector2 garbage = BallUtils.GetBallVelocity(); //TODO: please figure out why removing this breaks everything
t = GeneralUtils.GetTimeStamp() + ","
+ GeneralUtils.m_dataScript.currMatchNum.ToString() + ","
+ GeneralUtils.GetCurrentMatch().difficulty.ToString() + ","
+ GeneralUtils.GetCurrentConfig().ToString() + ","
+ GeneralUtils.GetHumanPosition().x.ToString() + ","
+ GeneralUtils.GetHumanPosition().y.ToString() + ","
+ GeneralUtils.GetAgentPosition().x.ToString() + ","
+ GeneralUtils.GetAgentPosition().y.ToString() + ","
+ BallUtils.GetBallPosition().x.ToString() + ","
+ BallUtils.GetBallPosition().y.ToString() + ","
+ VelocityUtils.GetVelocity("leftPaddle").ToString() + ","
+ VelocityUtils.GetVelocity("rightPaddle").ToString() + ","
+ VelocityUtils.GetVelocity("ball").ToString() + ","
+ GeneralUtils.GetPaddleSize("Left") + ","
+ GeneralUtils.GetPaddleSize("Right") + ","
+ GeneralUtils.GetHumanInput(1).ToString() + ","
+ GeneralUtils.GetHumanInput(2).ToString() + ","
+ GeneralUtils.GetHumanInput(3).ToString() + ","
+ GeneralUtils.GetPlayerScore("Left").ToString() + ","
+ GeneralUtils.GetPlayerScore("Right").ToString() + "\n";
return(t);
}
/**
* Default constructor.
*/
public BallHitEvent(string _paddleID_) : base(_Event.BALL_HIT)
{
ballPosition = BallUtils.GetBallPosition();
leftPosition = GeneralUtils.GetHumanPosition();
rightPosition = GeneralUtils.GetAgentPosition();
paddleSize = GeneralUtils.GetPaddleSize(_paddleID_);
}
/**
* Default constructor.
*/
public MatchEndEvent() : base(_Event.MATCH_END)
{
ballPosition = BallUtils.GetBallPosition();
leftPosition = GeneralUtils.GetHumanPosition();
rightPosition = GeneralUtils.GetAgentPosition();
paddleSize = GeneralUtils.GetPaddleSize("Left");
matchDuration = GeneralUtils.TimeSinceMatchBegan();
LeftScore = GeneralUtils.GetPlayerScore("Left");
RightScore = GeneralUtils.GetPlayerScore("Right");
}
void Start()
{
bmAuto = new BallMovementAutomaton();
agentComm = GameObject.Find("Agent").GetComponent <AgentInput>();
ballLaunced = false;
ballCollidedPaddle = false;
timeThreshold = 25; //milliseconds
timeOfLastCurrPosCapture = DateTime.Now;
prevBx = 0F; currBx = 0F;
currPos = BallUtils.GetBallPosition();
posSamples = new PositionSamples(currPos);
}
/**
* This function calculates the destination of the agent paddle.
*/
public static Vector2 GetAgentDestination()
{
Vector2 intersection;
Vector2 b = BallUtils.GetBallPosition();
Vector2 v = BallUtils.GetBallVelocity();
float m = (v.x == 0 ? 0 : (v.y / v.x));
float x_dest = 42.47662F;
float y_intercept = ((-1F * b.x * v.y) / v.x) + b.y;
intersection = new Vector2(x_dest, m * x_dest + y_intercept);
return(intersection);
}
/**
* This function returns the current EnvState object.
*/
public static EnvState GetEnvState(string extraInfo = "NULL")
{
int humanScore = m_sessionScript.LeftScore;
int agentScore = m_sessionScript.RightScore;
Position3D ballOrientation = Position3D.Vector3ToPosition3D(m_ballScript.transform.eulerAngles);
Position2D humanPos = Position2D.Vector2ToPosition2D(GeneralUtils.GetHumanPosition());
Position2D agentPos = Position2D.Vector2ToPosition2D(GeneralUtils.GetAgentPosition());
Position2D ballPos = Position2D.Vector2ToPosition2D(BallUtils.GetBallPosition());
float leftPaddleLen = m_humanScript.transform.localScale.y;
float rightPaddleLen = m_agentScript.transform.localScale.y;
float leftPaddleWidth = m_humanScript.transform.localScale.x;
float rightPaddleWidth = m_agentScript.transform.localScale.x;
Match currMatch = m_sessionScript.currMatch;
int sessionState = m_sessionScript.sessionAuto.CurrState;
EnvState envState = new EnvState(humanScore, agentScore, ballOrientation, ballPos,
agentPos, humanPos, leftPaddleLen, rightPaddleLen,
leftPaddleWidth, rightPaddleWidth,
sessionState, currMatch, extraInfo);
return(envState);
}
public void OnCollisionExit2D(Collision2D c)
{
if (GeneralUtils.MatchInProgress() && GeneralUtils.GetProcessRole() == GeneralUtils.ROLE_SERVER)
{
//increment the ball hit count
ballHitCount += 1;
//if the ball hit a paddle
foreach (ContactPoint2D contactPt2d in c.contacts)
{
if (contactPt2d.collider.tag == "paddle")
{
//announce that the ball has hit a paddle
EventUtils.LogEvent(_Event.BALL_HIT);
//if this is Rally mode, announce a point
if (GeneralUtils.IsRally(GeneralUtils.GetCurrentConfig()))
{
EventUtils.AnnouncePoint(GeneralUtils.RALLY_ID);
}
//get ball and paddle positions as well as paddle length
Vector3 paddlePos;
float Pl = 0F;
if (contactPt2d.collider.transform.name == "P1")
{
//announce hit event
EventUtils.AnnounceBallHitEvent("Left");
Pl = GeneralUtils.GetPaddleSize("Left");
paddlePos = GeneralUtils.GetHumanPosition();
}
else
{
//announce hit event
EventUtils.AnnounceBallHitEvent("Right");
Pl = GeneralUtils.GetPaddleSize("Right");
paddlePos = GeneralUtils.GetAgentPosition();
}
Vector3 ballPos = BallUtils.GetBallPosition();
//store y component of paddle pos
float Py = paddlePos.y;
//get distance between paddle hit and paddle center
float d = Math.Abs(Py - ballPos.y);
//piecewise function for adding force perturbation based on paddle hit location
float scalar = 1F;
if (d < (Pl / 10F)) //use slow scalar
{
scalar = Cs;
}
else if (d > (3F * Pl / 10F)) //use fast scalar
{
scalar = Cf;
}
else //use medium speed scalar
{
scalar = Cm;
}
//apply force perturbation
myRigidbody2D.velocity = Vector2.zero;
myRigidbody2D.angularVelocity = 0;
if (contactPt2d.collider.name == "P1")
{
myRigidbody2D.AddForce(new Vector2(scalar * 10F, scalar * 2.5F * (signs[rand.Next(0, 8)] ? 1F : -1F)));
myRigidbody2D.AddTorque(20F);
}
else
{
myRigidbody2D.AddForce(new Vector2(scalar * -10F, scalar * 2.5F * (signs[rand.Next(0, 8)] ? 1F : -1F)));
myRigidbody2D.AddTorque(-20F);
}
}
else
{
//tell the agent that the ball hit something
agentComm.ballHitSomething = true;
}
}
}
}
void Update()
{
//if this process is the server
if (GeneralUtils.GetProcessRole() == GeneralUtils.ROLE_SERVER)
{
//store ball position changes
if (DateTime.Now.Subtract(timeOfLastCurrPosCapture).TotalMilliseconds > 50)
{
//capture the current time
timeOfLastCurrPosCapture = DateTime.Now;
}
currPos = BallUtils.GetBallPosition();
posSamples.AddSample(currPos);
// //draw lines TODO: remove this when done testing
// Vector2 p1 = BallUtils.GetBallPosition();
// Vector2 ballVel = BallUtils.GetBallVelocity();
// Vector2 p2 = new Vector2( p1.x+5F*ballVel.x, p1.y+5F*ballVel.y );
// Vector3 draw1 = new Vector3 ( p1.x, p1.y, 0 );
// Vector3 draw2 = new Vector3 ( p2.x, p2.y, 0 );
// Debug.DrawLine ( draw1, draw2, Color.green );
//CURRENT STATE: MATCH HAS NOT YET BEGUN
if (bmAuto.CurrState == BallMovementAutomaton.MATCH_NOT_IN_PROGRESS)
{
//if the match begins
if (GeneralUtils.MatchInProgress())
{
//enact transition to the next state
bmAuto.Transition(BallMovementAutomaton.BALL_NOT_LAUNCHED);
}
}
//CURRENT STATE: BALL HAS NOT YET BEEN LAUNCHED / COLLIDED
else if (bmAuto.CurrState == BallMovementAutomaton.BALL_NOT_LAUNCHED)
{
//if the ball is launched
if (ballLaunced)
{
//reset flags
ballLaunced = false;
//capture the current time
timeBeganObserving = DateTime.Now;
//capture the ball's position
prevBx = BallUtils.GetBallPosition().x;
//enact transition to the next state
bmAuto.Transition(BallMovementAutomaton.OBSERVING_TRAJECTORY);
}
//if the match ends
if (!GeneralUtils.MatchInProgress())
{
//enact transition to the next state
bmAuto.Transition(BallMovementAutomaton.MATCH_NOT_IN_PROGRESS);
}
}
//CURRENT STATE: CURRENTLY OBSERVING THE BALL'S TRAJECTORY
else if (bmAuto.CurrState == BallMovementAutomaton.OBSERVING_TRAJECTORY)
{
//update the position sample object with the current position
posSamples.AddSample(currPos);
//if the ball has a collision
if (ballCollidedPaddle)
{
//reset flag
ballCollidedPaddle = false;
//capture the current time
timeBeganObserving = DateTime.Now;
//capture the ball's position
prevBx = BallUtils.GetBallPosition().x;
//enact transition to the next state
bmAuto.Transition(BallMovementAutomaton.OBSERVING_TRAJECTORY);
}
//if enough time has elapsed
if (DateTime.Now.Subtract(timeBeganObserving).TotalMilliseconds > timeThreshold)
{
//capture the ball's current position
currBx = BallUtils.GetBallPosition().x;
//if the ball has moved closer to the right paddle
if (currBx > prevBx)
{
//annouce that the ball is moving towards the right paddle
agentComm.ballMovingToRight = true;
agentComm.ballMovingToLeft = false;
//print ( "======> RIGHT, v = " + GeneralUtils.GetBallVelocity().ToString() );
}
//otherwise
else
{
//annouce that the ball is moving towards the left paddle
agentComm.ballMovingToRight = false;
agentComm.ballMovingToLeft = true;
//print ( "======> LEFT, v = " + GeneralUtils.GetBallVelocity().ToString() );
}
//enact transition to the next state
bmAuto.Transition(BallMovementAutomaton.OBSERVING_TRAJECTORY); //intended self transition
}
//if the match ends
if (!GeneralUtils.MatchInProgress())
{
//enact transition to the next state
bmAuto.Transition(BallMovementAutomaton.MATCH_NOT_IN_PROGRESS);
}
}
}
}
