//public LongWalkEpisode(Space2D virtualSpace, int episodeLength) : base(virtualSpace, episodeLength) { }
protected override void GenerateEpisode(Transform2D virtualUserTransform, Space2D virtualSpace)
{
float angle = 0;
float distance = 12.0f;
Vector2 sampleForward = Utility.rotateVector2(virtualUserTransform.forward, angle);
Vector2 userPosition = virtualUserTransform.localPosition;
currentTargetPosition = userPosition + sampleForward * distance;
}
public Vector2 GetTarget(Transform2D virtualUserTransform, Space2D virtualSpace)
{
if (!currentTargetPosition.HasValue)
{
GenerateEpisode(virtualUserTransform, virtualSpace);
//InstaniateTarget();
}
return(currentTargetPosition.Value);
}
//public bool usePredefinedSpace;
//public bool usePredefinedOrigin;
//public Vector2 originPosition; // simulationManager local 2D 좌표계 기준
//public float originRotation;
//public Vector2 size; // n각형으로 일반화 어떻게 시키지?
public Space2D GetSpace2D()
{
if (spaceInstance == null)
{
List <Object2D> obstacles = new List <Object2D>();
foreach (ObjectSetting obstacleObject in obstacleObjects)
{
obstacles.Add(obstacleObject.GetObject());
}
Object2D space = spaceObject.GetObject();
spaceInstance = new Space2D(space, obstacles);
}
return(spaceInstance);
}
public RedirectedUnit(Redirector redirector, Resetter resetter, SimulationController controller, Space2D realSpace, Space2D virtualSpace, Vector2 realStartPosition, Vector2 virtualStartPosition)
{
this.redirector = redirector;
this.resetter = resetter;
this.controller = controller;
this.realSpace = realSpace;
this.virtualSpace = virtualSpace;
this.status = "IDLE";
resultData = new ResultData();
resultData.setUnitID(totalID++);
id = totalID;
resultData.setEpisodeID(controller.GetEpisodeID());
realUser = new Circle2D(0.3f, realStartPosition, realSpace.space.transform); // TODO: 알아서 형변환 되게끔 수정
virtualUser = new Circle2D(0.3f, virtualStartPosition, virtualSpace.space.transform);
}
public RedirectedUnit GetUnit(Space2D realSpace, Space2D virtualSpace)
{
if (unitInstance == null)
{
if (useRandomStart)
{
//float boundX = simulationSetting.realSpaceSetting.size.x / 2 - 1.5f;
//float boundY = simulationSetting.realSpaceSetting.size.y / 2 - 1.5f;
//float x = Random.Range(-boundX, boundX);
//float y = Random.Range(-boundY, boundY);
//realStartPosition = new Vector2(x, y);
}
unitInstance = new RedirectedUnit(GetRedirector(), GetRestter(), GetController(), realSpace, virtualSpace, realStartPosition, virtualStartPosition);
}
return(unitInstance);
}
//public RandomEpisode(Space2D virtualSpace, int episodeLength) : base(virtualSpace, episodeLength) { }
protected override void GenerateEpisode(Transform2D virtualUserTransform, Space2D virtualSpace)
{
Vector2 samplingPosition = Vector2.zero;
Vector2 userPosition = virtualUserTransform.localPosition;
do
{
float angle = Utility.sampleUniform(-180.0f, 180.0f);
float distance = Utility.sampleUniform(2.0f, 5.0f);
Vector2 sampleForward = Matrix3x3.CreateRotation(angle) * virtualUserTransform.forward;
//Vector3 sampleForward = Quaternion.AngleAxis(angle, Vector3.up) * simulationController.GetUserVirtualTransform().forward;
samplingPosition = userPosition + sampleForward * distance; // local 좌표계에서 절대 위치 기준
} while (!virtualSpace.IsInside(samplingPosition, 0.1f)); // while (!virtualSpace.IsReallyInside(userPosition, samplingPosition));
currentTargetPosition = samplingPosition;
}
public override string ApplyReset(Object2D realUser, Object2D virtualUser, Space2D realSpace, string resetType)
{
if (isFirst)
{
realTargetRotation = Matrix3x3.CreateRotation(targetAngle) * realUser.transform.forward;
virtualTargetRotation = Matrix3x3.CreateRotation(ratio * targetAngle) * virtualUser.transform.forward;
isFirst = false;
}
float realAngle = Vector2.SignedAngle(realUser.transform.forward, realTargetRotation);
if (Mathf.Abs(realAngle) >= epsilonRotation)
{
realUser.Rotate(rotationSpeed * Time.deltaTime);
virtualUser.Rotate(ratio * rotationSpeed * Time.deltaTime);
}
else
{
Utility.SyncDirection(virtualUser, realUser, virtualTargetRotation, realTargetRotation);
switch (resetType)
{
case "Wall":
while (NeedWallReset(realUser, realSpace))
{
CalculationErrorAdjustment(realUser.transform, resetType, (Polygon2D)realSpace.space);
}
break;
case "User":
break;
}
if (realUser.gameObject != null)
{
realUser.gameObject.transform.position = Utility.Cast2Dto3D(realUser.transform.position);
}
isFirst = true;
return("DONE");
}
return("NOT_YET");
}
Space2D realSpace, virtualSpace; // 실제 공간과 가상 공간에 대한 정보를 담은 변수
//private StreamWriter writer;
public void GenerateSpaces()
{
realSpace = simulationSetting.realSpaceSetting.GetSpace2D();
virtualSpace = simulationSetting.virtualSpaceSetting.GetSpace2D();
}
protected override void GenerateEpisode(Transform2D virtualUserTransform, Space2D virtualSpace)
{
currentTargetPosition = targetPositionList[currentEpisodeIndex];
}
public (Vector2, float) VirtualMove(Object2D realUser, Object2D virtualUser, Space2D virtualSpace)
{
Transform2D virtualUserTransform = virtualUser.transform;
if (!initializing)
{
ResetCurrentState(virtualUserTransform);
initializing = false;
}
if (episode.IsNotEnd())
{
if (isFirst)
{
isFirst = false;
targetPosition = episode.GetTarget(virtualUserTransform, virtualSpace);
initialToTarget = targetPosition - virtualUserTransform.localPosition;
float InitialAngle = Vector2.SignedAngle(virtualUserTransform.forward, initialToTarget);
float initialDistance = Vector2.Distance(virtualUserTransform.localPosition, targetPosition);
virtualTargetDirection = Matrix3x3.CreateRotation(InitialAngle) * virtualUser.transform.forward; // target을 향하는 direction(forward)를 구함
//realTargetDirection = Matrix3x3.CreateRotation(InitialAngle) * realUser.transform.forward;
virtualTargetPosition = virtualUser.transform.localPosition + virtualTargetDirection * initialDistance; // target에 도달하는 position을 구함
//realTargetPosition = realUser.transform.localPosition + realTargetDirection * initialDistance;
maxRotTime = Mathf.Abs(InitialAngle) / rotationSpeed;
maxTransTime = initialDistance / translationSpeed;
remainRotTime = 0;
remainTransTime = 0;
initialAngleDirection = Mathf.Sign(InitialAngle);
}
float distance = (targetPosition - virtualUserTransform.localPosition).magnitude;
float angle = Vector2.SignedAngle(virtualUserTransform.forward, initialToTarget);
if (remainRotTime < maxRotTime)
{
virtualUser.Rotate(initialAngleDirection * rotationSpeed * Time.fixedDeltaTime);
remainRotTime += Time.fixedDeltaTime;
}
else if (remainTransTime < maxTransTime)
{
if (isFirst2) // 방향을 동기화
{
isFirst2 = false;
SyncDirection(virtualUser, virtualTargetDirection);
}
else
{
virtualUser.Translate(virtualUserTransform.forward * translationSpeed * Time.fixedDeltaTime, Space.World);
remainTransTime += Time.fixedDeltaTime;
}
}
else
{
if (isFirst3) // 위치를 동기화
{
isFirst3 = false;
SyncPosition(virtualUser, virtualTargetPosition);
}
else
{
episode.DeleteTarget();
//Debug.Log(string.Format("realUser: {0}", realUser.transform));
//Debug.Log(string.Format("virtualUser: {0}", virtualUser.transform));
isFirst = true;
isFirst2 = true;
isFirst3 = true;
}
}
}
UpdateCurrentState(virtualUserTransform);
return(GetDelta(virtualUserTransform.forward));
}
public Space2D(Space2D otherSpace)
{
this.space = new Object2D(otherSpace.space);
this.obstacles = new List <Object2D>(otherSpace.obstacles);
}
protected Scene2D(Canvas canvas, World2D world, Space2D space) : base(canvas, world, space)
{
}
protected virtual void GenerateEpisode(Transform2D virtualUserTransform, Space2D virtualSpace)
{
}
public virtual string ApplyReset(Object2D realUser, Object2D virtualUser, Space2D realSpace, string resetType)
{
return("DONE");
}
public bool NeedWallReset(Object2D realUser, Space2D realSpace)
{
Vector2 realUserPosition = realUser.transform.localPosition;
return(!realSpace.IsInside(realUserPosition, 0));
}