public void MainUpdate(FishSimulator.Delta delta, FishSimulator.Solution solution)
{
this.localDelta.current += delta.deltaTime;
this.localDelta.local += delta.deltaTime;
this.localDelta.deltaTime = delta.deltaTime;
this.UpdatePerception(this.localDelta);
this.UpdateBrain(this.localDelta);
this.UpdateFocusser(this.localDelta);
this.UpdateMotorController(this.localDelta);
this.UpdateBody(this.localDelta);
this.UpdateSolution(this.localDelta, solution);
}
// public FishBrain Brain => this.brain;
// public bool IsDone { get; set; }
public void Init()
{
this.body = this.GetComponentInChildren <FishBody>();
this.body.Init();
this.brain = this.GetComponentInChildren <FishBrain>();
this.brain.Init();
this.perception = this.GetComponentInChildren <Perception>();
this.perception.Init();
this.logger = this.logger ?? new FishLogger();
this.localDelta = this.localDelta ?? new FishSimulator.Delta();
this.Reset();
FishSimulatorRunner.Instance.Controller.AddController(this);
}
protected void UpdateMotorController(FishSimulator.Delta delta)
{
var behaviorRoutine = this.GenerateBehaviorRoutine(this.brain.CurrentIntension, this.perception);
foreach (var mc in behaviorRoutine.ToMC())
{
if (mc is MuscleMC)
{
var mmc = mc as MuscleMC;
if (this.muscleMCs.Count > 1)
{
this.muscleMCs.RemoveLast();
}
this.muscleMCs.AddLast(mmc);
}
if (mc is BalanceMC)
{
this.balanceMC = mc as BalanceMC;
}
}
this.ApplyBehaviorRoutine(delta);
}
protected void UpdateFocusser(FishSimulator.Delta delta)
{
this.perception.FocusserUpdate(this.brain.CurrentIntension, this.brain.CurrentDesire, this.body);
}
protected void UpdateBrain(FishSimulator.Delta delta)
{
this.brain.UpdateBrain(delta, this.perception);
}
protected void UpdatePerception(FishSimulator.Delta delta)
{
this.perception.SensorUpdate(delta);
}
public void SensorUpdate(FishSimulator.Delta delta)
{
this.sensorData.Clear();
this.visionSensor.Scan(this.sensorData);
}