private float GetMutationStrength(JointMotion motion, Individual parentA, Individual parentB)
{
float extinction = 0.5f * (parentA.Extinction + parentB.Extinction);
float span = motion.GetUpperLimit() - motion.GetLowerLimit();
return(span * extinction);
}
private void DrawMotionInspector(JointMotion motion, string name)
{
using (var scope = new EditorGUILayout.VerticalScope("Button")) {
EditorGUILayout.HelpBox(name, MessageType.None);
motion.State = (JointState)EditorGUILayout.EnumPopup("State", motion.State);
if (motion.State != JointState.Fixed)
{
motion.MotionType = (MotionType)EditorGUILayout.EnumPopup("Motion Type", motion.MotionType);
if (motion.MotionType != MotionType.Teleport)
{
motion.SetMaximumVelocity(EditorGUILayout.FloatField("Max Velocity", motion.GetMaximumVelocity()));
motion.SetMaximumAcceleration(EditorGUILayout.FloatField("Max Acceleration", motion.GetMaximumAcceleration()));
}
if (motion.Joint.Type != JointType.Continuous)
{
motion.SetLowerLimit(EditorGUILayout.FloatField("Lower Limit", motion.GetLowerLimit()));
motion.SetUpperLimit(EditorGUILayout.FloatField("Upper Limit", motion.GetUpperLimit()));
}
motion.SetTargetValue(EditorGUILayout.FloatField("Target Value", motion.GetTargetValue()));
}
//motion.Output = EditorGUILayout.Toggle("Output", motion.Output);
//motion.Record = EditorGUILayout.Toggle("Record", motion.Record);
}
}
public JointMotion[] GetMotions()
{
JointMotion[] motions = new JointMotion[Motions.Length];
for (int i = 0; i < motions.Length; i++)
{
motions[i] = Motions[i].Motion;
}
return(motions);
}
private float Clip(float gene, JointMotion motion)
{
if (motion.Joint.Type == JointType.Continuous)
{
/*
* while(gene > Mathf.PI) {
* gene -= Mathf.PI;
* }
* while(gene < -Mathf.PI) {
* gene += Mathf.PI;
* }
*/
}
else
{
gene = Mathf.Clamp(gene, motion.GetLowerLimit(), motion.GetUpperLimit());
}
return(gene);
//return motion.ConstrainToLimits(gene);
}
public MotionPtr(JointMotion motion, Node node, int index)
{
Motion = motion;
Node = node;
Index = index;
}
