public void Reset()
{
//TODO move load to Body
this.body.modelData = GeometryFunctions.Load();
if (this.solverType == SolverType.Euler)
{
this.solver = new FishEulerSolver();
}
else
{
this.solver = new FishMatrixSolver();
}
this.localDelta.Reset();
this.muscleMCs.Clear();
this.runtimeList = this.body.modelData.FishGraph.Nodes.ToList();
this.runtimeSpringList = this.body.modelData.FishGraph.Edges.ToList();
this.runtimeMuscleList = this.body.modelData.GetSpringByType(
new List <Spring.Type> {
Spring.Type.MuscleBack,
Spring.Type.MuscleMiddle,
Spring.Type.MuscleFront
}
);
this.runtimeFinList = this.body.modelData.FishPectoralFins;
}
public float Evaluate(Vector <float> input)
{
if (this.isDirty)
{
var logger = new FishLogger();
var useSim = true;
if (useSim)
{
//start new simulation to get trajactory
var body = GeometryFunctions.Load();
var problem = new FishSimulatorOffline.Problem(body, this.activationData);
var dt = new IterationDelta();
var sim = new FishSimulatorOffline(problem, dt);
sim.TryToRun();
// wait to finish
var sol = sim.CurrentSolution as FishSimulatorOffline.Solution;
while (sol.IsDone == false)
{
}
logger = sol.logger.DeepCopy();
sim.Dispose();
}
var e = GetCurrentE(logger, this.activationData);
this.LatestE = e;
this.isDirty = false;
// Debug.Log("end with e = " + this.LatestE);
}
//cal new E from RandomX2FDiscreteFunction and trajactory
return(this.LatestE);
}
public void Init()
{
this.modelData = GeometryFunctions.Load(this.modelFileName);
}