// Use this for initialization
void Start()
{
_master = GetComponent <StyleTransfer002Master>();
_decisionRequester = GetComponent <DecisionRequester>();
var spawnableEnv = GetComponentInParent <SpawnableEnv>();
_localStyleAnimator = spawnableEnv.gameObject.GetComponentInChildren <StyleTransfer002Animator>();
_styleAnimator = _localStyleAnimator.GetFirstOfThisAnim();
_startCount++;
}
// Resets the agent. Initialize the style animator and master if not initialized.
public override void AgentReset()
{
if (!_hasLazyInitialized)
{
_master = GetComponent <StyleTransfer002Master>();
_master.BodyConfig = MarathonManAgent.BodyConfig;
_decisionRequester = GetComponent <DecisionRequester>();
var spawnableEnv = GetComponentInParent <SpawnableEnv>();
_localStyleAnimator = spawnableEnv.gameObject.GetComponentInChildren <StyleTransfer002Animator>();
_styleAnimator = _localStyleAnimator.GetFirstOfThisAnim();
_styleAnimator.BodyConfig = MarathonManAgent.BodyConfig;
_styleAnimator.OnInitializeAgent();
_master.OnInitializeAgent();
_hasLazyInitialized = true;
_localStyleAnimator.DestoryIfNotFirstAnim();
}
_isDone = true;
_ignorScoreForThisFrame = true;
_master.ResetPhase();
_sensors = GetComponentsInChildren <SensorBehavior>()
.Select(x => x.gameObject)
.ToList();
SensorIsInTouch = Enumerable.Range(0, _sensors.Count).Select(x => 0f).ToList();
if (_scoreHistogramData != null)
{
var column = _master.StartAnimationIndex;
if (_decisionRequester?.DecisionPeriod > 1)
{
column /= _decisionRequester.DecisionPeriod;
}
if (_ignorScoreForThisFrame)
{
_ignorScoreForThisFrame = false;
}
else
{
_scoreHistogramData.SetItem(column, AverageReward);
}
}
}
// Initialize the Agent. Sets up Body Parts, Muscles.
public void OnInitializeAgent()
{
Time.fixedDeltaTime = FixedDeltaTime;
_waitingForAnimation = true;
_decisionRequester = GetComponent <DecisionRequester>();
BodyParts = new List <BodyPart002> ();
BodyPart002 root = null;
foreach (var t in GetComponentsInChildren <Transform>())
{
if (BodyConfig.GetBodyPartGroup(t.name) == BodyHelper002.BodyPartGroup.None)
{
continue;
}
var bodyPart = new BodyPart002 {
Rigidbody = t.GetComponent <Rigidbody>(),
Transform = t,
Name = t.name,
Group = BodyConfig.GetBodyPartGroup(t.name),
};
if (bodyPart.Group == BodyConfig.GetRootBodyPart())
{
root = bodyPart;
}
bodyPart.Root = root;
bodyPart.Init();
BodyParts.Add(bodyPart);
}
var partCount = BodyParts.Count;
Muscles = new List <Muscle002> ();
var muscles = GetComponentsInChildren <ConfigurableJoint>();
ConfigurableJoint rootConfigurableJoint = null;
var ragDoll = GetComponent <RagDoll002>();
foreach (var m in muscles)
{
var maximumForce = ragDoll.MusclePowers.First(x => x.Muscle == m.name).PowerVector;
var muscle = new Muscle002 {
Rigidbody = m.GetComponent <Rigidbody>(),
Transform = m.GetComponent <Transform>(),
ConfigurableJoint = m,
Name = m.name,
Group = BodyConfig.GetMuscleGroup(m.name),
MaximumForce = maximumForce
};
if (muscle.Group == BodyConfig.GetRootMuscle())
{
rootConfigurableJoint = muscle.ConfigurableJoint;
}
muscle.RootConfigurableJoint = rootConfigurableJoint;
muscle.Init();
Muscles.Add(muscle);
}
var spawnableEnv = GetComponentInParent <SpawnableEnv>();
_localStyleAnimator = spawnableEnv.gameObject.GetComponentInChildren <StyleTransfer002Animator>();
_styleAnimator = _localStyleAnimator.GetFirstOfThisAnim();
_muscleAnimator = _styleAnimator;
_agent = GetComponent <StyleTransfer002Agent>();
IsInferenceMode = !Academy.Instance.IsCommunicatorOn;
}
void Start()
{
Time.fixedDeltaTime = FixedDeltaTime;
_waitingForAnimation = true;
BodyParts = new List <BodyPart002> ();
BodyPart002 root = null;
foreach (var t in GetComponentsInChildren <Transform>())
{
if (BodyHelper002.GetBodyPartGroup(t.name) == BodyHelper002.BodyPartGroup.None)
{
continue;
}
var bodyPart = new BodyPart002 {
Rigidbody = t.GetComponent <Rigidbody>(),
Transform = t,
Name = t.name,
Group = BodyHelper002.GetBodyPartGroup(t.name),
};
if (bodyPart.Group == BodyHelper002.BodyPartGroup.Hips)
{
root = bodyPart;
}
bodyPart.Root = root;
bodyPart.Init();
BodyParts.Add(bodyPart);
}
var partCount = BodyParts.Count;
Muscles = new List <Muscle002> ();
var muscles = GetComponentsInChildren <ConfigurableJoint>();
ConfigurableJoint rootConfigurableJoint = null;
var ragDoll = GetComponent <RagDoll002>();
foreach (var m in muscles)
{
var maximumForce = ragDoll.MusclePowers.First(x => x.Muscle == m.name).PowerVector;
// maximumForce *= 2f;
var muscle = new Muscle002 {
Rigidbody = m.GetComponent <Rigidbody>(),
Transform = m.GetComponent <Transform>(),
ConfigurableJoint = m,
Name = m.name,
Group = BodyHelper002.GetMuscleGroup(m.name),
MaximumForce = maximumForce
};
if (muscle.Group == BodyHelper002.MuscleGroup.Hips)
{
rootConfigurableJoint = muscle.ConfigurableJoint;
}
muscle.RootConfigurableJoint = rootConfigurableJoint;
muscle.Init();
Muscles.Add(muscle);
}
var spawnableEnv = GetComponentInParent <SpawnableEnv>();
_localStyleAnimator = spawnableEnv.gameObject.GetComponentInChildren <StyleTransfer002Animator>();
_styleAnimator = _localStyleAnimator.GetFirstOfThisAnim();
// _styleAnimator = _localStyleAnimator;
_muscleAnimator = _styleAnimator;
_agent = GetComponent <StyleTransfer002Agent>();
// _trainerAgent = GetComponent<StyleTransfer002TrainerAgent>();
// _brain = FindObjectsOfType<Brain>().First(x=>x.name=="LearnFromMocapBrain");
_academy = FindObjectOfType <Academy>();
IsInferenceMode = !_academy.agentSpawner.trainingMode;
}
