/*** * Fetch a pack * Remove old shapes * Get the new shapes */ public override void AgentReset() { step = 0; stepNum = 0; pack = packEvol.ReadPack(packFileName, packID); GameObject _brain = GameObject.Find("Academy/Brain"); Brain brain = _brain.transform.GetComponent <Brain>(); // Destroying the already present shapes if (shapes != null) { for (int i = 0; i < shapes.Length; i++) { UnityEngine.Object.DestroyImmediate(shapes[i]); } shapes = null; } if (rotBeforeMov) { validPos = new int[1, 1, MOV_RES, MOV_RES, MOV_RES]; } else { validPos = new int[packEvol.r1Value.Count, packEvol.r2Value.Count, MOV_RES, MOV_RES, MOV_RES]; } if (!loadPrecompute) { if (getGT) { gtStepAction = gtPack.GetGtStepAction(ref pack, rotBeforeMov: rotBeforeMov); } if (getSavedAct) { gtStepAction = GetStepAction(); } // Loading the new shapes string[] _null = null; packEvol.GetShapes(ref _null, ref pack.sources, ref shapes, loadFromResources: false, keepRenderer: editorMode); for (int i = 0; i < shapes.Length; i++) { shapes[i].transform.localScale = pack.scales[i]; } // Move shapes in visible pisitions in demoMode // Also removing box colliders for faster processing if (demoMode) { float theta = (2.0f * Mathf.PI) / shapes.Length; for (int i = 0; i < shapes.Length; i++) { BoxCollider[] boxes = shapes[i].GetComponents <BoxCollider>(); foreach (BoxCollider box in boxes) { Destroy(box); } shapes[i].transform.position = new Vector3(2.0f * Mathf.Sin(i * theta), 0f, 2.0f * Mathf.Cos(i * theta)); } } else { // intial estimate added so as to ensure faster computation vox = new List <float> (Mathf.CeilToInt(pack.efficiency * VOX_RES * VOX_RES * VOX_RES)); for (int i = 0; i < shapes.Length; i++) { shapes[i].transform.position = Vector3.zero; boxVoxel(ref vox, i); shapes[i].transform.position = 100 * Vector3.one; } vox.TrimExcess(); // setting up the number of observarions brain.brainParameters.vectorObservationSize = ((VOX_RES * VOX_RES * VOX_RES) > (vox.Count + 1)) ? (VOX_RES * VOX_RES * VOX_RES) + 2 : vox.Count + 3; } } else { shapes = new GameObject[pack.sources.Length]; precompute.loadPrecompute(packFileName, packID, ref gtStepAction, rotBeforeMov); brain.brainParameters.vectorObservationSize = (VOX_RES * VOX_RES * VOX_RES) + 2; if (getSavedAct) { gtStepAction = GetStepAction(); } } }
// packFileName is the file name relative to the steamingAssets folder // outNameUnity is the file name for the precomputed unity file relative to the steamingAssets folder // outNamePython is the file name for the precomputed python file relative to the steamingAssets folder public void PrecomptePack(string packFileName, int packID, string outNameUnity, string outNamePython) { // Step 0: not recomputing if files already exist if (System.IO.File.Exists(Application.streamingAssetsPath + "/" + outNameUnity) && System.IO.File.Exists(Application.streamingAssetsPath + "/" + outNamePython)) { return; } // Step 1: Read the pack Pack pack = packEvol.ReadPack(packFileName, packID); // Step 2a: Get gt action List <StepAction> gtRotBeforeMov = gtPack.GetGtStepAction(ref pack, rotBeforeMov: true); List <StepAction> gtNotRotBeforeMov = gtPack.GetGtStepAction(ref pack, rotBeforeMov: false); // Step 2b: Get gt2 action List <StepAction2> gtRotBeforeMov2 = gtPack.GetGtStepAction2(ref pack, gtRotBeforeMov, rotBeforeMov: true); List <StepAction2> gtNotRotBeforeMov2 = gtPack.GetGtStepAction2(ref pack, gtNotRotBeforeMov, rotBeforeMov: false); // Step 3: Get shapes GameObject[] shapes = null; string[] _null = null; packEvol.GetShapes(ref _null, ref pack.sources, ref shapes, loadFromResources: false, keepRenderer: false); for (int i = 0; i < shapes.Length; i++) { shapes[i].transform.localScale = pack.scales[i]; } // Step 4: Get shape voxels List <float> vox = new List <float> (Mathf.CeilToInt(pack.efficiency * packingAgent.VOX_RES * packingAgent.VOX_RES * packingAgent.VOX_RES)); for (int i = 0; i < shapes.Length; i++) { shapes[i].transform.position = Vector3.zero; packingAgent.boxVoxel(ref vox, i); shapes[i].transform.position = 100 * Vector3.one; } vox.TrimExcess(); // Destroy the shapes for (int i = 0; i < shapes.Length; i++) { Object.DestroyImmediate(shapes[i]); } // Step 5: Calculate and Write PrecomputeUnity string path = Application.streamingAssetsPath + "/" + outNameUnity; PrecomputeUnity2 precomputeUnity = new PrecomputeUnity2(gtRotBeforeMov, gtNotRotBeforeMov, gtRotBeforeMov2, gtNotRotBeforeMov2); File.WriteAllText(path, JsonUtility.ToJson(precomputeUnity)); // Step 6: Calculate and Write PrecomputePython path = Application.streamingAssetsPath + "/" + outNamePython; PrecomputePython precomputePython = new PrecomputePython(vox); File.WriteAllText(path, JsonUtility.ToJson(precomputePython)); }