public bool SaveState()
{
if (hips.localPosition.y < -5.0f)
{
MyDoneFunc(true);
return(false);
}
while (current_step >= agent_state_ids.Count)
{
agent_state_ids.Add(-1);
}
if (agent_state_ids[current_step] == -1)
{
agent_state_ids[current_step] = HighLevelGuide.GetNextFreeState(jdController.bodyPartsList.Count);
}
int _stateID = agent_state_ids[current_step];
WalkerAcademy.HumanoidState _cState = HighLevelGuide.savedStates[_stateID];
current_accumulative_reward += GetReward();
_cState.current_accumulative_reward = current_accumulative_reward;
_cState.current_step = starting_step + current_step;
for (int i = 0; i < jdController.bodyPartsList.Count; i++)
{
_cState.pos[i] = jdController.bodyPartsList[i].rb.transform.localPosition;
_cState.rot[i] = jdController.bodyPartsList[i].rb.transform.localRotation;
_cState.vel[i] = jdController.bodyPartsList[i].rb.velocity;
_cState.aVel[i] = jdController.bodyPartsList[i].rb.angularVelocity;
_cState.touchingGround[i] = jdController.bodyPartsList[i].groundContact.touchingGround;
_cState.touchingWall[i] = jdController.bodyPartsList[i].wallContact.touchingWall;
_cState.touchingHold[i] = jdController.bodyPartsList[i].holdContact.touchingHold;
_cState.touchingHoldId[i] = jdController.bodyPartsList[i].holdContact.hold_id;
_cState.touchingTarget[i] = jdController.bodyPartsList[i].targetContact.touchingTarget;
}
return(true);
}
public bool LoadState(float beta)
{
if (HighLevelGuide.sortedTrajectoriesIndices.Count <= 0)
{
return(false);
}
this.transform.position = parentPos;
this.transform.rotation = parentRotation;
// select a trajectory to fork and forking timestep among the best ones
int nBest = (int)(beta * HighLevelGuide.sortedTrajectoriesIndices.Count);
updatingTrajectoryIdx = HighLevelGuide.sortedTrajectoriesIndices[Random.Range(0, nBest + 1)];
WalkerAcademy.WalkerTrajectory forkedTrajectory = HighLevelGuide.savedTrajectories[updatingTrajectoryIdx];
int forkTimeStep = Random.Range(0, forkedTrajectory.count_valid_states);
int forkParentStateIdx = forkedTrajectory.agent_state_ids[forkTimeStep];
WalkerAcademy.HumanoidState _cState = HighLevelGuide.savedStates[forkParentStateIdx];
for (int i = 0; i < jdController.bodyPartsList.Count; i++)
{
jdController.bodyPartsList[i].rb.transform.localPosition = _cState.pos[i];
jdController.bodyPartsList[i].rb.transform.localRotation = _cState.rot[i];
jdController.bodyPartsList[i].rb.velocity = _cState.vel[i];
jdController.bodyPartsList[i].rb.angularVelocity = _cState.aVel[i];
jdController.bodyPartsList[i].groundContact.touchingGround = _cState.touchingGround[i];
jdController.bodyPartsList[i].wallContact.touchingWall = _cState.touchingWall[i];
jdController.bodyPartsList[i].holdContact.touchingHold = _cState.touchingHold[i];
jdController.bodyPartsList[i].holdContact.hold_id = _cState.touchingHoldId[i];
jdController.bodyPartsList[i].targetContact.touchingTarget = _cState.touchingTarget[i];
}
starting_step = _cState.current_step;
return(true);
}
