protected override void InnerApplyMotion(MotorMotion motion)
{
if (motion.GetMotorName() == this._x)
{
this._rigidbody.AddForce(Vector3.left * motion.Strength);
}
else if (motion.GetMotorName() == this._y)
{
this._rigidbody.AddForce(Vector3.up * motion.Strength);
}
else if (motion.GetMotorName() == this._z)
{
this._rigidbody.AddForce(Vector3.forward * motion.Strength);
}
else if (motion.GetMotorName() == this._rot_x)
{
this._rigidbody.AddTorque(Vector3.left * motion.Strength);
}
else if (motion.GetMotorName() == this._rot_y)
{
this._rigidbody.AddTorque(Vector3.up * motion.Strength);
}
else if (motion.GetMotorName() == this._rot_z)
{
this._rigidbody.AddTorque(Vector3.forward * motion.Strength);
}
}
public void ApplyMotion(MotorMotion motion)
{
if (this._alive)
{
if (this.Debugging)
{
print("Applying " + motion + " To " + this.name + "'s motors");
}
var motion_motor_name = motion.GetMotorName();
if (this._motors.ContainsKey(motion_motor_name) && this._motors[motion_motor_name] != null)
{
this._motors[motion_motor_name].ApplyMotion(motion);
}
else
{
if (this.Debugging)
{
print("Could find not motor with the specified name: " + motion_motor_name);
}
}
}
else
{
if (this.Debugging)
{
print("Actor is dead, cannot apply motion");
}
}
}
protected override void InnerApplyMotion(MotorMotion motion)
{
if (motion.GetMotorName() == this._x)
{
this.transform.Translate(Vector3.left * motion.Strength, this._relative_to);
}
else if (motion.GetMotorName() == this._y)
{
this.transform.Translate(-Vector3.up * motion.Strength, this._relative_to);
}
else if (motion.GetMotorName() == this._z)
{
this.transform.Translate(-Vector3.forward * motion.Strength, this._relative_to);
}
else if (motion.GetMotorName() == this._rot_x)
{
this.transform.Rotate(Vector3.left, motion.Strength, this._relative_to);
}
else if (motion.GetMotorName() == this._rot_y)
{
this.transform.Rotate(Vector3.up, motion.Strength, this._relative_to);
}
else if (motion.GetMotorName() == this._rot_z)
{
this.transform.Rotate(Vector3.forward, motion.Strength, this._relative_to);
}
}
static MotorMotion[] create_motions(FReaction reaction)
{
var l = reaction.MotionsLength;
var motions = new MotorMotion[l];
for (var i = 0; i < l; i++)
{
motions[i] = create_motion(reaction.Motions(i));
}
return(motions);
}
protected override void InnerApplyMotion(MotorMotion motion)
{
var layer_mask = 1 << LayerMask.NameToLayer(this._layer_mask);
var vec = Vector3.zero;
switch (this._axis_of_motion)
{
case Axis.X:
vec = Vector3.right * motion.Strength;
break;
case Axis.Y:
vec = -Vector3.up * motion.Strength;
break;
case Axis.Z:
vec = -Vector3.forward * motion.Strength;
break;
case Axis.RotX:
this.transform.Rotate(Vector3.left, motion.Strength, this._relative_to);
break;
case Axis.RotY:
this.transform.Rotate(Vector3.up, motion.Strength, this._relative_to);
break;
case Axis.RotZ:
this.transform.Rotate(Vector3.forward, motion.Strength, this._relative_to);
break;
default:
break;
}
if (this._no_collisions)
{
if (!Physics.Raycast(this.transform.position, vec, Mathf.Abs(motion.Strength), layer_mask))
{
this.transform.Translate(vec, this._relative_to);
}
}
else
{
this.transform.Translate(vec, this._relative_to);
}
}
public void ApplyMotion(MotorMotion motion)
{
if (this.Debugging)
{
print("Applying " + motion + " To " + this.name);
}
if (motion.Strength < this.MotionValueSpace.MinValue ||
motion.Strength > this.MotionValueSpace.MaxValue)
{
print(
string.Format(
"It does not accept input {0}, outside allowed range {1} to {2}",
motion.Strength,
this.MotionValueSpace.MinValue,
this.MotionValueSpace.MaxValue));
return; // Do nothing
}
this.InnerApplyMotion(motion);
this.EnergySpendSinceReset += Mathf.Abs(this.EnergyCost * motion.Strength);
}
void Update()
{
if (this._player_motions != null)
{
var motions = new List <MotorMotion> ();
foreach (var player_motion in this._player_motions.Motions)
{
if (Input.GetKey(player_motion.Key))
{
if (this.Debugging)
{
print(
string.Format(
"{0} {1} {2}",
player_motion.Actor,
player_motion.Motor,
player_motion.Strength));
}
var motion = new MotorMotion(player_motion.Actor, player_motion.Motor, player_motion.Strength);
motions.Add(motion);
}
}
var step = motions.Count > 0;
var parameters = new ReactionParameters(true, step)
{
IsExternal = false
};
var reaction = new Reaction(parameters, motions.ToArray(), null, null);
this._manager.React(reaction);
}
else
{
if (this.Debugging)
{
print("No playermotions scriptable object assigned");
}
}
}
protected override void InnerApplyMotion(MotorMotion motion)
{
this._wheel_collider.steerAngle = motion.Strength;
}
void Update()
{
if (Application.isPlaying)
{
if (this._states == null)
{
var reset_reaction_parameters = new ReactionParameters(reset: true);
this._states = this._Manager.ReactAndCollectStates(new Reaction(reset_reaction_parameters, "all"));
}
var reset = false;
if (this._player_motions != null)
{
this._motions.Clear();
if (this._player_motions._Motions != null)
{
foreach (var player_motion in this._player_motions._Motions)
{
if (Input.GetKey(player_motion._Key))
{
if (this.Debugging)
{
Debug.Log($"{player_motion._Actor} {player_motion._Motor} {player_motion._Strength}");
}
if (player_motion._Motor == "Reset")
{
reset = true;
break;
}
var motion = new MotorMotion(
player_motion._Actor,
player_motion._Motor,
player_motion._Strength);
this._motions.Add(motion);
}
}
}
if (reset)
{
var reset_reaction_parameters = new ReactionParameters(reset: true);
this._states =
this._Manager.ReactAndCollectStates(new Reaction(reset_reaction_parameters, "all"));
}
else
{
var step = this._motions.Count > 0;
if (step)
{
foreach (var state in this._states)
{
if (this._auto_reset && state.Terminated)
{
var reset_reaction = new ReactionParameters(reset: true)
{
IsExternal = false
};
this._Manager.ReactAndCollectStates(new Reaction(reset_reaction, state.EnvironmentName));
}
}
var parameters = new ReactionParameters(true, true, episode_count: true)
{
IsExternal = false
};
var reaction = new Reaction(parameters, this._motions.ToArray(), null, null, null, "");
this._states = this._Manager.ReactAndCollectStates(reaction);
}
}
}
else
{
if (this.Debugging)
{
Debug.Log("No PlayerMotions ScriptableObject assigned");
}
}
}
}
protected virtual void InnerApplyMotion(MotorMotion motion)
{
}
public static void updateMotor(LegController lc, HingeJoint2D j, MotorMotion m)
{
switch (m) {
case MotorMotion.FREE:
j.useMotor = false;
break;
case MotorMotion.BACKWARD:
j.useMotor = true;
j.motor = lc.opposedMotor;
break;
case MotorMotion.FORWARD:
j.useMotor = true;
j.motor = lc.walkMotor;
break;
case MotorMotion.SET:
j.useMotor = true;
j.motor = lc.setMotor;
break;
default:
break;
}
}
public static void updateMotors(LegController lc, Leg l, MotorMotion h2k, MotorMotion k2f)
{
updateMotor(lc, l.rootToBend,h2k);
updateMotor(lc, l.bendToEnd,k2f);
l.state = "HipKnee: " + h2k + ", KneeFoot: " + k2f;
}
protected override void InnerApplyMotion(MotorMotion motion)
{
if (motion.Strength < this.MotionValueSpace.MinValue ||
motion.Strength > this.MotionValueSpace.MaxValue)
{
print(
string.Format(
"It does not accept input {0}, outside allowed range {1} to {2}",
motion.Strength,
this.MotionValueSpace.MinValue,
this.MotionValueSpace.MaxValue));
return; // Do nothing
}
switch (this._axis_of_motion)
{
case Axis.X:
if (this._relative_to == Space.World)
{
this._rigidbody.AddForce(Vector3.left * motion.Strength);
}
else
{
this._rigidbody.AddRelativeForce(Vector3.left * motion.Strength);
}
break;
case Axis.Y:
if (this._relative_to == Space.World)
{
this._rigidbody.AddForce(Vector3.up * motion.Strength);
}
else
{
this._rigidbody.AddRelativeForce(Vector3.up * motion.Strength);
}
break;
case Axis.Z:
if (this._relative_to == Space.World)
{
this._rigidbody.AddForce(Vector3.forward * motion.Strength);
}
else
{
this._rigidbody.AddRelativeForce(Vector3.up * motion.Strength);
}
break;
case Axis.RotX:
if (this._relative_to == Space.World)
{
this._rigidbody.AddTorque(Vector3.left * motion.Strength);
}
else
{
this._rigidbody.AddRelativeTorque(Vector3.left * motion.Strength);
}
break;
case Axis.RotY:
if (this._relative_to == Space.World)
{
this._rigidbody.AddTorque(Vector3.up * motion.Strength);
}
else
{
this._rigidbody.AddRelativeTorque(Vector3.up * motion.Strength);
}
break;
case Axis.RotZ:
if (this._relative_to == Space.World)
{
this._rigidbody.AddTorque(Vector3.forward * motion.Strength);
}
else
{
this._rigidbody.AddRelativeTorque(Vector3.forward * motion.Strength);
}
break;
default:
break;
}
this._fired_this_step = true;
}
protected override void InnerApplyMotion(MotorMotion motion)
{
if (!this._rotational_motors)
{
if (motion.GetMotorName() == this._x)
{
if (this._relative_to == Space.World)
{
this._rigidbody.AddForce(Vector3.left * motion.Strength);
}
else
{
this._rigidbody.AddRelativeForce(Vector3.left * motion.Strength);
}
}
else if (motion.GetMotorName() == this._y)
{
if (this._relative_to == Space.World)
{
this._rigidbody.AddForce(Vector3.up * motion.Strength);
}
else
{
this._rigidbody.AddRelativeForce(Vector3.up * motion.Strength);
}
}
else if (motion.GetMotorName() == this._z)
{
if (this._relative_to == Space.World)
{
this._rigidbody.AddForce(Vector3.forward * motion.Strength);
}
else
{
this._rigidbody.AddRelativeForce(Vector3.forward * motion.Strength);
}
}
}
else
{
if (motion.GetMotorName() == this._x)
{
if (this._relative_to == Space.World)
{
this._rigidbody.AddTorque(Vector3.left * motion.Strength);
}
else
{
this._rigidbody.AddRelativeTorque(Vector3.left * motion.Strength);
}
}
else if (motion.GetMotorName() == this._y)
{
if (this._relative_to == Space.World)
{
this._rigidbody.AddTorque(Vector3.up * motion.Strength);
}
else
{
this._rigidbody.AddRelativeTorque(Vector3.up * motion.Strength);
}
}
else if (motion.GetMotorName() == this._z)
{
if (this._relative_to == Space.World)
{
this._rigidbody.AddTorque(Vector3.forward * motion.Strength);
}
else
{
this._rigidbody.AddRelativeTorque(Vector3.forward * motion.Strength);
}
}
}
}
protected override void InnerApplyMotion(MotorMotion motion)
{
var layer_mask = 1 << LayerMask.NameToLayer(this._layer_mask);
if (!this._rotational_motors)
{
if (motion.GetMotorName() == this._x)
{
var vec = Vector3.right * motion.Strength;
if (this._no_collisions)
{
if (!Physics.Raycast(this.transform.position, vec, Mathf.Abs(motion.Strength), layer_mask))
{
this.transform.Translate(vec, this._relative_to);
}
}
else
{
this.transform.Translate(vec, this._relative_to);
}
}
else if (motion.GetMotorName() == this._y)
{
var vec = -Vector3.up * motion.Strength;
if (this._no_collisions)
{
if (!Physics.Raycast(this.transform.position, vec, Mathf.Abs(motion.Strength), layer_mask))
{
this.transform.Translate(vec, this._relative_to);
}
}
else
{
this.transform.Translate(vec, this._relative_to);
}
}
else if (motion.GetMotorName() == this._z)
{
var vec = -Vector3.forward * motion.Strength;
if (this._no_collisions)
{
if (!Physics.Raycast(this.transform.position, vec, Mathf.Abs(motion.Strength), layer_mask))
{
this.transform.Translate(vec, this._relative_to);
}
}
else
{
this.transform.Translate(vec, this._relative_to);
}
}
}
else
{
if (motion.GetMotorName() == this._x)
{
this.transform.Rotate(Vector3.left, motion.Strength, this._relative_to);
}
else if (motion.GetMotorName() == this._y)
{
this.transform.Rotate(Vector3.up, motion.Strength, this._relative_to);
}
else if (motion.GetMotorName() == this._z)
{
this.transform.Rotate(Vector3.forward, motion.Strength, this._relative_to);
}
}
}