protected virtual void LateUpdate()
{
if (_resetCenterOfMassOnLastUpdate)
{
ObsCenterOfMass = JointHelper002.GetCenterOfMassRelativeToRoot(BodyParts);
//ObsCenterOfMass = GetCenterOfMass();
_lastCenterOfMass = ObsCenterOfMass;
_resetCenterOfMassOnLastUpdate = false;
}
#if UNITY_EDITOR
VisualizeTargetPose();
#endif
}
// Prepares an animation step. Records the positions, rotations, velocities
// of the rigid bodies forming an animation into the animation step structure.
void UpdateAnimationStep(float timeStep)
{
// HACK deal with two of first frame
if (NormalizedTime == 0f && AnimationSteps.FirstOrDefault(x => x.NormalizedTime == 0f) != null)
{
return;
}
// var c = _master.Muscles.Count;
var c = BodyParts.Count;
var animStep = new AnimationStep();
animStep.TimeStep = timeStep;
animStep.NormalizedTime = NormalizedTime;
animStep.Velocities = Enumerable.Repeat(Vector3.zero, c).ToList();
animStep.VelocitiesLocal = Enumerable.Repeat(Vector3.zero, c).ToList();
animStep.AngularVelocities = Enumerable.Repeat(Vector3.zero, c).ToList();
animStep.AngularVelocitiesLocal = Enumerable.Repeat(Vector3.zero, c).ToList();
animStep.Positions = Enumerable.Repeat(Vector3.zero, c).ToList();
animStep.Rotations = Enumerable.Repeat(Quaternion.identity, c).ToList();
animStep.CenterOfMass = JointHelper002.GetCenterOfMassRelativeToRoot(BodyParts);
//animStep.CenterOfMass = GetCenterOfMass();
animStep.CenterOfMassVelocity = animStep.CenterOfMass - _lastCenterOfMass;
animStep.Names = BodyParts.Select(x => x.Name).ToList();
animStep.SensorIsInTouch = new List <float>(SensorIsInTouch);
_lastCenterOfMass = animStep.CenterOfMass;
var rootBone = BodyParts[0];
foreach (var bodyPart in BodyParts)
{
var i = BodyParts.IndexOf(bodyPart);
if (i == 0)
{
animStep.Rotations[i] = Quaternion.Inverse(bodyPart.InitialRootRotation) * bodyPart.Transform.rotation;
animStep.Positions[i] = bodyPart.Transform.position - bodyPart.InitialRootPosition;
}
else
{
animStep.Rotations[i] = Quaternion.Inverse(rootBone.Transform.rotation) * bodyPart.Transform.rotation;
animStep.Positions[i] = bodyPart.Transform.position - rootBone.Transform.position;
}
if (NormalizedTime != 0f)
{
animStep.Velocities[i] = (bodyPart.Transform.position - _lastPosition[i]) / (_decisionRequester.DecisionPeriod * Time.fixedDeltaTime);;
animStep.AngularVelocities[i] = JointHelper002.CalcDeltaRotationNormalizedEuler(_lastRotation[i], bodyPart.Transform.rotation) / (_decisionRequester.DecisionPeriod * Time.fixedDeltaTime);;
animStep.VelocitiesLocal[i] = (animStep.Positions[i] - _lastPositionLocal[i]) / (_decisionRequester.DecisionPeriod * Time.fixedDeltaTime);;
animStep.AngularVelocitiesLocal[i] = JointHelper002.CalcDeltaRotationNormalizedEuler(_lastRotationLocal[i], animStep.Rotations[i]) / (_decisionRequester.DecisionPeriod * Time.fixedDeltaTime);
}
if (bodyPart.Rigidbody != null)
{
bodyPart.Rigidbody.angularVelocity = JointHelper002.CalcDeltaRotationNormalizedEuler(bodyPart.Transform.rotation, _lastRotation[i]) / (_decisionRequester.DecisionPeriod * Time.fixedDeltaTime);
bodyPart.Rigidbody.velocity = (bodyPart.Transform.position - _lastPosition[i]) / (_decisionRequester.DecisionPeriod * Time.fixedDeltaTime);
bodyPart.Rigidbody.transform.position = bodyPart.Transform.position;
bodyPart.Rigidbody.transform.rotation = bodyPart.Transform.rotation;
}
_lastPosition[i] = bodyPart.Transform.position;
_lastRotation[i] = bodyPart.Transform.rotation;
_lastPositionLocal[i] = animStep.Positions[i];
_lastRotationLocal[i] = animStep.Rotations[i];
}
animStep.TransformPosition = transform.position;
animStep.TransformRotation = transform.rotation;
animStep.AngularMoment = JointHelper002.GetAngularMoment(BodyParts);
AnimationSteps.Add(animStep);
}
// Calculate values like ObsCenterOfMass, ObsAngularMoment that will be used
// as observations fed into the neural network for training and inference. Also
// calculates the distance metrics between animation's and agents' body parts.
// The distances are used by the Agent to calculate rewards. The max distances
// can be used to manually tune the denominators in exp(-distance/denominator)
// when forming reward function.
StyleTransfer002Animator.AnimationStep UpdateObservations()
{
if (DebugMode)
{
AnimationIndex = 0;
}
var debugStepIdx = AnimationIndex;
StyleTransfer002Animator.AnimationStep animStep = null;
StyleTransfer002Animator.AnimationStep debugAnimStep = null;
if (_phaseIsRunning)
{
debugStepIdx += DebugAnimOffset;
if (DebugShowWithOffset)
{
debugStepIdx = Mathf.Clamp(debugStepIdx, 0, _muscleAnimator.AnimationSteps.Count);
debugAnimStep = _muscleAnimator.AnimationSteps[debugStepIdx];
}
animStep = _muscleAnimator.AnimationSteps[AnimationIndex];
}
EndEffectorDistance = 0f;
EndEffectorVelocityDistance = 0;
JointAngularVelocityDistance = 0;
JointAngularVelocityDistanceWorld = 0;
RotationDistance = 0f;
CenterOfMassVelocityDistance = 0f;
CenterOfMassDistance = 0f;
AngularMomentDistance = 0f;
SensorDistance = 0f;
if (_phaseIsRunning && DebugShowWithOffset)
{
MimicAnimationFrame(debugAnimStep);
}
else if (_phaseIsRunning)
{
CompareAnimationFrame(animStep);
}
foreach (var muscle in Muscles)
{
var i = Muscles.IndexOf(muscle);
muscle.UpdateObservations();
if (!DebugShowWithOffset && !DebugDisableMotor)
{
muscle.UpdateMotor();
}
if (!muscle.Rigidbody.useGravity)
{
continue; // skip sub joints
}
}
foreach (var bodyPart in BodyParts)
{
if (_phaseIsRunning)
{
bodyPart.UpdateObservations();
var rotDistance = bodyPart.ObsAngleDeltaFromAnimationRotation;
var squareRotDistance = Mathf.Pow(rotDistance, 2);
RotationDistance += squareRotDistance;
JointAngularVelocityDistance += bodyPart.ObsDeltaFromAnimationAngularVelocity.sqrMagnitude;
JointAngularVelocityDistanceWorld += bodyPart.ObsDeltaFromAnimationAngularVelocityWorld.sqrMagnitude;
if (bodyPart.Group == BodyHelper002.BodyPartGroup.Hand ||
bodyPart.Group == BodyHelper002.BodyPartGroup.Torso ||
bodyPart.Group == BodyHelper002.BodyPartGroup.Foot)
{
EndEffectorDistance += bodyPart.ObsDeltaFromAnimationPosition.sqrMagnitude;
EndEffectorVelocityDistance += bodyPart.ObsDeltaFromAnimationVelocity.sqrMagnitude;
}
}
}
ObsCenterOfMass = JointHelper002.GetCenterOfMassRelativeToRoot(BodyParts);
ObsAngularMoment = JointHelper002.GetAngularMoment(BodyParts);
if (_phaseIsRunning)
{
CenterOfMassDistance = (animStep.CenterOfMass - ObsCenterOfMass).sqrMagnitude;
AngularMomentDistance = (animStep.AngularMoment - ObsAngularMoment).sqrMagnitude;
}
ObsVelocity = ObsCenterOfMass - _lastCenterOfMass;
if (_fakeVelocity)
{
ObsVelocity = animStep.CenterOfMassVelocity;
}
_lastCenterOfMass = ObsCenterOfMass;
if (!_resetCenterOfMassOnLastUpdate)
{
_fakeVelocity = false;
}
if (_phaseIsRunning)
{
var animVelocity = animStep.CenterOfMassVelocity / (Time.fixedDeltaTime * _decisionRequester.DecisionPeriod);
ObsVelocity /= (Time.fixedDeltaTime * _decisionRequester.DecisionPeriod);
CenterOfMassVelocityDistance = (ObsVelocity - animVelocity).sqrMagnitude;
SensorDistance = 0.0f;
var sensorDistanceStep = 1.0f / _agent.SensorIsInTouch.Count;
for (int i = 0; i < _agent.SensorIsInTouch.Count; i++)
{
if (animStep.SensorIsInTouch[i] != _agent.SensorIsInTouch[i])
{
SensorDistance += sensorDistanceStep;
}
}
}
if (!IgnorRewardUntilObservation)
{
MaxEndEffectorDistance = Mathf.Max(MaxEndEffectorDistance, EndEffectorDistance);
MaxEndEffectorVelocityDistance = Mathf.Max(MaxEndEffectorVelocityDistance, EndEffectorVelocityDistance);
MaxRotationDistance = Mathf.Max(MaxRotationDistance, RotationDistance);
MaxCenterOfMassVelocityDistance = Mathf.Max(MaxCenterOfMassVelocityDistance, CenterOfMassVelocityDistance);
MaxEndEffectorVelocityDistance = Mathf.Max(MaxEndEffectorVelocityDistance, EndEffectorVelocityDistance);
MaxJointAngularVelocityDistance = Mathf.Max(MaxJointAngularVelocityDistance, JointAngularVelocityDistance);
MaxJointAngularVelocityDistanceWorld = Mathf.Max(MaxJointAngularVelocityDistanceWorld, JointAngularVelocityDistanceWorld);
MaxCenterOfMassDistance = Mathf.Max(MaxCenterOfMassDistance, CenterOfMassDistance);
MaxAngularMomentDistance = Mathf.Max(MaxAngularMomentDistance, AngularMomentDistance);
MaxSensorDistance = Mathf.Max(MaxSensorDistance, SensorDistance);
}
if (IgnorRewardUntilObservation)
{
IgnorRewardUntilObservation = false;
}
ObsPhase = _muscleAnimator.AnimationSteps[AnimationIndex].NormalizedTime % 1f;
return(animStep);
}
