void Start() {
rb = GetComponent<Rigidbody2D>();
contactDetector = transform.GetComponentInChildren<ContactDetector>();
player = ReInput.players.GetPlayer(playerId);
playerSkin.sprite = playerSkins[playerId];
lives = 3;
}
private void Awake()
{
//rb = GetComponent<Rigidbody>();
cd = GetComponent <ContactDetector>();
moveable = GetComponent <Moveable>();
sound = GetComponent <AudioSource>();
boxCollider = GetComponent <BoxCollider>();
if (boxCollider != null && transform.name != "cauldron_LID")
{
boxCollider.size = big ? new Vector3(0.97f, 0.97f, 1f) : new Vector3(0.9f, 0.9f, 1f);
}
}
protected BipedalWalkerEnv(bool hardcore)
: base(new Box(new[] { -1.0f, -1.0f, -1.0f, -1.0f }, new[] { 1.0f, 1.0f, 1.0f, 1.0f }, new Shape(4)),
new Box(float.NegativeInfinity, float.PositiveInfinity, new Shape(24)))
{
this.hardcore = hardcore;
contactDetector = new ContactDetector(this);
var worldAabb = new b2AABB()
{
lowerBound = new b2Vec2(-100, -100), upperBound = new b2Vec2(1000, 1000)
};
World = new b2World(new b2Vec2(0, -9.807f));
HULL_FD.shape = new b2PolygonShape();
(HULL_FD.shape as b2PolygonShape).Set(HULL_POLY.Select(v => new b2Vec2(v[0] / SCALE, v[1] / SCALE)).ToArray());
HULL_FD.density = 5.0f;
HULL_FD.friction = 0.1f;
HULL_FD.filter.categoryBits = 0x0020;
HULL_FD.filter.maskBits = 0x0001; // collide only with ground
HULL_FD.restitution = 0; // 0.99 bouncy
LEG_FD.shape = new b2PolygonShape();
(LEG_FD.shape as b2PolygonShape).SetAsBox(LEG_W / 2, LEG_H / 2);
LEG_FD.density = 1.0f;
LEG_FD.filter.categoryBits = 0x0020;
LEG_FD.filter.maskBits = 0x0001;
LEG_FD.restitution = 0;
LOWER_FD.shape = new b2PolygonShape();
(LOWER_FD.shape as b2PolygonShape).SetAsBox(0.8f * LEG_W / 2, LEG_H / 2);
LOWER_FD.density = 1.0f;
LOWER_FD.filter.categoryBits = 0x0020;
LOWER_FD.filter.maskBits = 0x0001;
LOWER_FD.restitution = 0;
fd_polygon.shape = new b2PolygonShape();
(fd_polygon.shape as b2PolygonShape).Set(new[] { new b2Vec2(0, 0), new b2Vec2(1, 0), new b2Vec2(1, -1), new b2Vec2(0, -1) });
fd_polygon.friction = FRICTION;
fd_edge.shape = new b2EdgeShape();
(fd_edge.shape as b2EdgeShape).Set(new b2Vec2(0, 0), new b2Vec2(1, 1));
fd_edge.friction = FRICTION;
fd_edge.filter.categoryBits = 0x0001;
Reset();
}
private void Awake()
{
changeable = GetComponent <Changeable>();
rb = GetComponent <Rigidbody>();
cd = GetComponent <ContactDetector>();
}
public void Change(EvalContext context, ChangeType type)
{
Entity target = context.Target;
Changeable changeable = target.GetComponent <Changeable>();
BoxCollider collider = target.GetComponent <BoxCollider>();
if (changeable == null)
{
//Debug.LogError($"Cannot change entity {target} to ChangeType {type}");
return;
}
if (!changeable.Resizable)
{
Debug.LogError("Can't change its size");
return;
}
//Rigidbody rb = target.GetComponent<Rigidbody>();
Moveable moveable = target.GetComponent <Moveable>();
ContactDetector cd = target.GetComponent <ContactDetector>();
Vector3 finalSize = Vector3.one;
switch (type)
{
case ChangeType.Big:
if (!changeable.big)
{
cd.CheckSurroundingObstacles();
if (changeable.IsConfined())
{
return;
}
moveable.Ungravitate();
finalSize = target.transform.localScale * 3;
changeable.changing = true;
changeable.big = true;
changeable.SwellSound();
}
else
{
return;
}
break;
case ChangeType.Small:
if (changeable.big)
{
moveable.Ungravitate();
finalSize = target.transform.localScale / 3;
changeable.changing = true;
changeable.big = false;
changeable.ShrinkSound();
}
else
{
return;
}
break;
default:
Debug.LogError($"Unsupported ChangeType {type}");
return;
}
//RuneStock.Inst.DeductRune(new RuneType(type));
Vector3 originalPosition = target.transform.position;
Vector3 finalPosition = (type == ChangeType.Big) ? changeable.BePushed(originalPosition) : originalPosition;
StartCoroutine(
StartGradualAction(timer =>
{
target.transform.position = Vector3.Lerp(
originalPosition, finalPosition, timer
);
target.transform.localScale = Vector3.Lerp(
target.transform.localScale, finalSize, timer);
//Debug.Log($"({Mathf.Round(10 * (-5 - target.transform.position.x)/timer)/10}, { (target.transform.position.y + 2) / timer} kinematic:{target.GetComponent<Rigidbody>().isKinematic} { moveable.YTendency })");
}, () =>
{
target.transform.localScale = finalSize;
changeable.changing = false;
changeable.AdjustPosition();
collider.size = type == ChangeType.Big ? new Vector3(0.97f, 0.97f, 0.97f) : new Vector3(0.9f, 0.9f, 0.9f);
},
1.0f
)
);
}
public override Tensor Reset()
{
State = new Tensor(ObservationSpace.Shape);
Destroy();
contact_detector = new ContactDetector(this);
world.SetContactListener(contact_detector);
game_over = false;
prev_shaping = float.NaN;
var W = VIEWPORT_W / SCALE;
var H = VIEWPORT_H / SCALE;
// terrain
var CHUNKS = 11;
var height = Rng.NextFloat(0.0f, H / 2.0f, CHUNKS + 1);
var chunk_x = Enumerable.Range(0, CHUNKS).Select(i => W / (CHUNKS - 1) * i).ToArray();
helipad_x1 = chunk_x[(int)Math.Floor(CHUNKS / 2.0) - 1];
helipad_x2 = chunk_x[(int)Math.Floor(CHUNKS / 2.0) + 1];
helipad_y = H / 4;
height[(int)Math.Floor(CHUNKS / 2.0) - 2] = helipad_y;
height[(int)Math.Floor(CHUNKS / 2.0) - 1] = helipad_y;
height[(int)Math.Floor(CHUNKS / 2.0) + 0] = helipad_y;
height[(int)Math.Floor(CHUNKS / 2.0) + 1] = helipad_y;
height[(int)Math.Floor(CHUNKS / 2.0) + 2] = helipad_y;
var smooth_y = Enumerable.Range(0, CHUNKS).Select(i => 0.33f * (height[(CHUNKS + i - 1) % CHUNKS] + height[i + 0] + height[i + 1])).ToArray();
moon = world.CreateStaticBody(new b2FixtureDef()
{
shape = new b2EdgeShape().Set(new b2Vec2(0, 0), new b2Vec2(W, 0))
});
sky_polys.Clear();
for (int i = 0; i < CHUNKS - 1; ++i)
{
var p1 = new float[] { chunk_x[i], smooth_y[i] };
var p2 = new float[] { chunk_x[i + 1], smooth_y[i + 1] };
moon.CreateFixture(new b2FixtureDef()
{
shape = new b2EdgeShape().Set(new b2Vec2((float)p1[0], (float)p1[1]), new b2Vec2((float)p2[0], (float)p2[1])), density = 0, friction = 0.1f
});
sky_polys.Add(new List <float[]> {
p1, p2, new[] { p2[0], H }, new[] { p1[0], H }
});
}
moon.SetUserData(new CustomBodyData()
{
Color1 = new b2Vec3(0, 0, 0), Color2 = new b2Vec3(0, 0, 0)
});
var initial_y = VIEWPORT_H / SCALE;
lander = world.CreateDynamicBody(new b2Vec2(VIEWPORT_W / SCALE / 2, initial_y),
0.0f,
new b2FixtureDef()
{
shape = new b2PolygonShape().Set(LANDER_POLY.Select(p => new b2Vec2(p[0] / SCALE, p[1] / SCALE)).ToArray()),
density = 5.0f,
friction = 0.1f,
filter = new b2Filter()
{
categoryBits = 0x0010, maskBits = 0x001
}, // collide only with ground
restitution = 0.0f
} // 0.99 bouncy
);
lander.SetUserData(new CustomBodyData()
{
Color1 = new b2Vec3(0.5f, 0.4f, 0.9f), Color2 = new b2Vec3(0.3f, 0.3f, 0.5f)
});
lander.ApplyForceToCenter(new b2Vec2((float)Rng.NextFloat(-INITIAL_RANDOM, INITIAL_RANDOM), (float)Rng.NextFloat(-INITIAL_RANDOM, INITIAL_RANDOM)), true);
legs.Clear();
foreach (int i in new[] { -1, +1 })
{
var leg = world.CreateDynamicBody(
new b2Vec2(VIEWPORT_W / SCALE / 2 - i * LEG_AWAY / SCALE, initial_y),
i * 0.05f,
new b2FixtureDef()
{
shape = new b2PolygonShape().SetAsBox(LEG_W / SCALE, LEG_H / SCALE),
density = 1.0f,
restitution = 0.0f,
filter = new b2Filter()
{
categoryBits = 0x0020, maskBits = 0x001
}
}
);
leg.SetUserData(new CustomBodyData()
{
Color1 = new b2Vec3(0.5f, 0.4f, 0.9f), Color2 = new b2Vec3(0.3f, 0.3f, 0.5f)
});
var rjd = new b2RevoluteJointDef()
{
bodyA = lander,
bodyB = leg,
localAnchorA = new b2Vec2(0, 0),
localAnchorB = new b2Vec2(i * LEG_AWAY / SCALE, LEG_DOWN / SCALE),
enableMotor = true,
enableLimit = true,
maxMotorTorque = LEG_SPRING_TORQUE,
motorSpeed = +0.3f * i
// low enough not to jump back into the sky
};
if (i == -1)
{
rjd.lowerAngle = +0.9f - 0.5f;
// Yes, the most esoteric numbers here, angles legs have freedom to travel within
rjd.upperAngle = +0.9f;
}
else
{
rjd.lowerAngle = -0.9f;
rjd.upperAngle = -0.9f + 0.5f;
}
world.CreateJoint(rjd);
legs.Add(leg);
}
drawlist = new List <b2Body> {
lander
};
drawlist = drawlist.Concat(legs).ToList();
Step(continuous ? new Tensor(new[] { 0.0f, 0.0f }, new Shape(2)) : new Tensor(new[] { 0.0f }, new Shape(1)), out var observation, out var reward);
return(observation);
}
