void SetFirstPose()
{
bodyParts[( int )BodyPartsName.ArmR].angle.X = -100 + 200 * ( float )randGen.NextDouble();
bodyParts[( int )BodyPartsName.ArmR].angle.Y = -100 + 200 * ( float )randGen.NextDouble();
bodyParts[( int )BodyPartsName.ArmR].angle.Z = -100 + 200 * ( float )randGen.NextDouble();
bodyParts[( int )BodyPartsName.UpperArmR].angle.X = -100 + 200 * ( float )randGen.NextDouble();
bodyParts[( int )BodyPartsName.UpperArmR].angle.Y = -100 + 200 * ( float )randGen.NextDouble();
bodyParts[( int )BodyPartsName.UpperArmR].angle.Z = -100 + 200 * ( float )randGen.NextDouble();
//bodyParts[ ( int )BodyPartsName.Trunk ].angle.X = -40 + 80 * ( float )randGen.NextDouble();
//bodyParts[ ( int )BodyPartsName.Trunk ].angle.Y = -40 + 80 * ( float )randGen.NextDouble();
//bodyParts[ ( int )BodyPartsName.Trunk ].angle.Z = -40 + 80 * ( float )randGen.NextDouble();
drawList = new List <BodyParts>();
//drawList.Add( bodyParts[ ( int )BodyPartsName.Trunk ] );
drawList.Add(bodyParts[( int )BodyPartsName.UpperArmR]);
drawList.Add(bodyParts[( int )BodyPartsName.ArmR]);
for (int i = 0; i < 32; ++i)
{
PSOManager.SetBodyPartsToParticle(drawList.ToArray(), i);
}
//初期姿勢を記憶
for (int i = 0; i < PSOManager.particles[0].degreeCount; ++i)
{
poseLog.Write(PSOManager.particles[0].degrees[i] + ",");
}
testEnv.RememberPose(PSOManager.particles[0].degrees);
poseLog.Write("0\n");
MakeNoise();
PSOManager.SetCurrentDegreesToLocalBest();
for (int i = 0; i < 32; ++i)
{
PSOManager.SetDegreesToPrevFrame(drawList.ToArray(), i);
}
}
