private void GatherInput(NativeArray <float> input)
{
var currIndex = 0;
for (int i = 0; i < orderedMovingParts.Length; i++)
{
for (int j = 0; j < orderedMovingParts[i].input.Length; j++)
{
input[currIndex] = orderedMovingParts[i].input[j];
currIndex++;
}
}
var bodyY = JointHandler.NormalizeValue(body.localPosition.y, startingBodyY * 0.8f, startingBodyY * 1.2f);
input[currIndex] = bodyY;
currIndex++;
int angleDeviation = 45;
input[currIndex] = JointHandler.NormalizeValue(JointHandler.AdjustRotation(body.localEulerAngles.x), _startingBodyRotation.x - angleDeviation, _startingBodyRotation.x + angleDeviation);
currIndex++;
input[currIndex] = JointHandler.NormalizeValue(JointHandler.AdjustRotation(body.localEulerAngles.y), _startingBodyRotation.y - angleDeviation, _startingBodyRotation.y + angleDeviation);
currIndex++;
input[currIndex] = JointHandler.NormalizeValue(JointHandler.AdjustRotation(body.localEulerAngles.z), _startingBodyRotation.z - angleDeviation, _startingBodyRotation.z + angleDeviation);
currIndex++;
input[currIndex] = (float)(1 / (Exp(-body.localPosition.z) + 1)) * 2 - 1;
currIndex++;
}
private void ForEachJoint(GameObject link, JointHandler connectedJointHandler, JointHandler unconnectedJointHandler)
{
var joints = link.GetComponents <SpringJoint>();
foreach (SpringJoint joint in joints)
{
if (joint.connectedBody == null)
{
unconnectedJointHandler(joint);
}
else
{
connectedJointHandler(joint);
}
}
}
// Update is called once per frame
void Update()
{
Debug.Log("x:" + JointHandler.AdjustRotation(transform.localEulerAngles.x) + "y:" + JointHandler.AdjustRotation(transform.localEulerAngles.y) + "z:" + JointHandler.AdjustRotation(transform.localEulerAngles.z));
}
private void ForEachUnconnectedJoint(GameObject link, JointHandler jointHandler)
{
ForEachJoint(link, joint => {}, jointHandler);
}