public void OnAwake(Transform defaultTransform, DReConRewardStats orderToCopy = null)
{
_spawnableEnv = GetComponentInParent <SpawnableEnv>();
_articulationBodyParts = ObjectToTrack
.GetComponentsInChildren <ArticulationBody>()
.Distinct()
.ToList();
_rigidbodyParts = ObjectToTrack
.GetComponentsInChildren <Rigidbody>()
.Distinct()
.ToList();
if (_rigidbodyParts?.Count > 0)
{
_bodyParts = _rigidbodyParts.Select(x => x.gameObject).ToList();
}
else
{
_bodyParts = _articulationBodyParts.Select(x => x.gameObject).ToList();
}
_trackRotations = _bodyParts
.SelectMany(x => x.GetComponentsInChildren <Transform>())
.Select(x => x.gameObject)
.Distinct()
.Where(x => x.GetComponent <Rigidbody>() != null || x.GetComponent <ArticulationBody>() != null)
.ToList();
_capsuleColliders = _bodyParts
.SelectMany(x => x.GetComponentsInChildren <CapsuleCollider>())
.Distinct()
.ToList();
if (orderToCopy != null)
{
_bodyParts = orderToCopy._bodyParts
.Select(x => _bodyParts.First(y => y.name == x.name))
.ToList();
_trackRotations = orderToCopy._trackRotations
.Select(x => _trackRotations.First(y => y.name == x.name))
.ToList();
_capsuleColliders = orderToCopy._capsuleColliders
.Select(x => _capsuleColliders.First(y => y.name == x.name))
.ToList();
}
Points = Enumerable.Range(0, _capsuleColliders.Count * 6)
.Select(x => Vector3.zero)
.ToArray();
_lastPoints = Enumerable.Range(0, _capsuleColliders.Count * 6)
.Select(x => Vector3.zero)
.ToArray();
PointVelocity = Enumerable.Range(0, _capsuleColliders.Count * 6)
.Select(x => Vector3.zero)
.ToArray();
Rotations = Enumerable.Range(0, _trackRotations.Count)
.Select(x => Quaternion.identity)
.ToList();
if (_root == null)
{
_root = _bodyParts.First(x => x.name == "butt");
}
transform.position = defaultTransform.position;
transform.rotation = defaultTransform.rotation;
}
public void DrawPointDistancesFrom(DReConRewardStats target, int objIdex)
{
int start = 0;
int end = Points.Length - 1;
if (objIdex >= 0)
{
start = objIdex * 6;
end = (objIdex * 6) + 6;
}
for (int i = start; i < end; i++)
{
Gizmos.color = Color.white;
var from = Points[i];
var to = target.Points[i];
var toTarget = target.Points[i];
// transform to this object's world space
from = this.transform.TransformPoint(from);
to = this.transform.TransformPoint(to);
Gizmos.color = Color.yellow;
Gizmos.DrawLine(from, to);
// transform to target's world space
toTarget = target.transform.TransformPoint(toTarget);
Gizmos.color = Color.white;
Gizmos.DrawLine(from, toTarget);
// show this objects velocity
Vector3 velocity = PointVelocity[i];
Gizmos.color = Color.blue;
Gizmos.DrawRay(from, velocity);
// show targets velocity
Vector3 velocityTarget = target.PointVelocity[i];
Gizmos.color = Color.green;
Gizmos.DrawRay(toTarget, velocityTarget);
}
}
void Awake()
{
_spawnableEnv = GetComponentInParent <SpawnableEnv>();
Assert.IsNotNull(_spawnableEnv);
_mocap = _spawnableEnv.GetComponentInChildren <MocapController>().gameObject;
_ragDoll = _spawnableEnv.GetComponentInChildren <RagDollAgent>().gameObject;
Assert.IsNotNull(_mocap);
Assert.IsNotNull(_ragDoll);
_inputController = _spawnableEnv.GetComponentInChildren <InputController>();
// _mocapBodyParts = _mocap.GetComponentsInChildren<ArticulationBody>().ToList();
// _ragDollBodyParts = _ragDoll.GetComponentsInChildren<ArticulationBody>().ToList();
// Assert.AreEqual(_mocapBodyParts.Count, _ragDollBodyParts.Count);
_mocapHead = _mocap
.GetComponentsInChildren <Transform>()
.First(x => x.name == "head");
_ragDollHead = _ragDoll
.GetComponentsInChildren <Transform>()
.First(x => x.name == "head");
_mocapBodyStats = new GameObject("MocapDReConRewardStats").AddComponent <DReConRewardStats>();
var mocapController = _spawnableEnv.GetComponentInChildren <MocapController>();
_mocapBodyStats.ObjectToTrack = mocapController;
_mocapBodyStats.transform.SetParent(_spawnableEnv.transform);
_mocapBodyStats.OnAwake(_mocapBodyStats.ObjectToTrack.transform);
_ragDollBodyStats = new GameObject("RagDollDReConRewardStats").AddComponent <DReConRewardStats>();
_ragDollBodyStats.ObjectToTrack = this;
_ragDollBodyStats.transform.SetParent(_spawnableEnv.transform);
_ragDollBodyStats.OnAwake(transform, _mocapBodyStats);
_mocapBodyStats.AssertIsCompatible(_ragDollBodyStats);
}
public List <float> GetPointVelocityDistancesFrom(DReConRewardStats target)
{
List <float> distances = new List <float>();
for (int i = 0; i < PointVelocity.Length; i++)
{
float distance = (PointVelocity[i] - target.PointVelocity[i]).magnitude;
distances.Add(distance);
}
return(distances);
}
public void AssertIsCompatible(DReConRewardStats target)
{
Assert.AreEqual(Points.Length, target.Points.Length);
Assert.AreEqual(_lastPoints.Length, target._lastPoints.Length);
Assert.AreEqual(PointVelocity.Length, target.PointVelocity.Length);
Assert.AreEqual(Points.Length, _lastPoints.Length);
Assert.AreEqual(Points.Length, PointVelocity.Length);
Assert.AreEqual(_capsuleColliders.Count, target._capsuleColliders.Count);
for (int i = 0; i < _capsuleColliders.Count; i++)
{
string debugStr = $" _capsuleColliders.{_capsuleColliders[i].name} vs target._capsuleColliders.{target._capsuleColliders[i].name}";
Assert.AreEqual(_capsuleColliders[i].name, target._capsuleColliders[i].name, $"name:{debugStr}");
Assert.AreEqual(_capsuleColliders[i].direction, target._capsuleColliders[i].direction, $"direction:{debugStr}");
Assert.AreEqual(_capsuleColliders[i].height, target._capsuleColliders[i].height, $"height:{debugStr}");
Assert.AreEqual(_capsuleColliders[i].radius, target._capsuleColliders[i].radius, $"radius:{debugStr}");
}
}
