public override void Initialize()
{
root = GetComponentInChildren <BodyRoot>();
joints = GetComponentsInChildren <BallJoint>();
interval = GetComponent <DecisionRequester>().DecisionPeriod;
numActions = GetComponent <BehaviorParameters>().BrainParameters.NumActions;
lerpActions = new float[numActions];
sliderValues = new float[numActions];
resetter = new Resetter(transform);
if (fixateBodyRoot)
{
root.gameObject.AddComponent <FixedJoint>();
}
root.Initialize();
foreach (BallJoint joint in joints)
{
joint.Initialize();
}
Transform canvas = GetComponentInChildren <Canvas>().transform;
for (int index = 0, i = 0; i < canvas.childCount; i++)
{
Transform tf = canvas.GetChild(i);
Text text = tf.GetComponentInChildren <Text>();
text.text = joints[i].name;
IndexedSlider[] s = tf.GetComponentsInChildren <IndexedSlider>();
for (int j = 0; j < 3; j++)
{
if (joints[i].DOF[j])
{
s[j].SetIndex(index++);
s[j].OnValueChange = OnSliderValueChange;
}
else
{
s[j].SetInteractable(false);
}
}
}
}
public override void Initialize()
{
resetter = new Resetter(transform);
root = GetComponentInChildren <BodyRoot>();
joints = GetComponentsInChildren <BallJoint>();
jointObs = new List <float>();
// https://github.com/Unity-Technologies/ml-agents/issues/4180
var a = GetComponent <DecisionRequester>();
var b = GetComponent <PausableDecisionRequester>(); // demo
interval = b != null ? b.DecisionPeriod : a.DecisionPeriod;
numActions = GetComponent <BehaviorParameters>().BrainParameters.NumActions;
lerpActions = new float[numActions];
rayObs = new List <float>();
parts = new Observables[] { Hips, Head, LeftHand, RightHand, LeftFoot, RightFoot };
opponentLayerMask = 1 << opponent.gameObject.layer;
if (fixateBodyRoot)
{
root.gameObject.AddComponent <FixedJoint>();
}
root.Initialize();
foreach (BallJoint joint in joints)
{
joint.Initialize();
}
var detectors = GetComponentsInChildren <CollisionDetection>();
foreach (var detector in detectors)
{
detector.OnCollision += OnCollision;
}
}
