/// <summary>
/// This method validates that all <see cref="IActuator"/>s have unique names and equivalent action space types
/// if the `DEBUG` preprocessor macro is defined, and allocates the appropriate buffers to manage the actions for
/// all of the <see cref="IActuator"/>s that may live on a particular object.
/// </summary>
/// <param name="actuators">The list of actuators to validate and allocate buffers for.</param>
/// <param name="numContinuousActions">The total number of continuous actions for all of the actuators.</param>
/// <param name="sumOfDiscreteBranches">The total sum of the discrete branches for all of the actuators in order
/// to be able to allocate an <see cref="IDiscreteActionMask"/>.</param>
/// <param name="numDiscreteBranches">The number of discrete branches for all of the actuators.</param>
internal void ReadyActuatorsForExecution(IList <IActuator> actuators, int numContinuousActions, int sumOfDiscreteBranches, int numDiscreteBranches)
{
if (m_ReadyForExecution)
{
return;
}
#if DEBUG
// Make sure the names are actually unique
// Make sure all Actuators have the same SpaceType
ValidateActuators();
#endif
// Sort the Actuators by name to ensure determinism
SortActuators();
StoredContinuousActions = numContinuousActions == 0 ? Array.Empty <float>() : new float[numContinuousActions];
StoredDiscreteActions = numDiscreteBranches == 0 ? Array.Empty <int>() : new int[numDiscreteBranches];
m_DiscreteActionMask = new ActuatorDiscreteActionMask(actuators, sumOfDiscreteBranches, numDiscreteBranches);
m_ReadyForExecution = true;
}
/// <summary>
/// This method validates that all <see cref="IActuator"/>s have unique names
/// if the `DEBUG` preprocessor macro is defined, and allocates the appropriate buffers to manage the actions for
/// all of the <see cref="IActuator"/>s that may live on a particular object.
/// </summary>
/// <param name="actuators">The list of actuators to validate and allocate buffers for.</param>
/// <param name="numContinuousActions">The total number of continuous actions for all of the actuators.</param>
/// <param name="sumOfDiscreteBranches">The total sum of the discrete branches for all of the actuators in order
/// to be able to allocate an <see cref="IDiscreteActionMask"/>.</param>
/// <param name="numDiscreteBranches">The number of discrete branches for all of the actuators.</param>
internal void ReadyActuatorsForExecution(IList <IActuator> actuators, int numContinuousActions, int sumOfDiscreteBranches, int numDiscreteBranches)
{
if (m_ReadyForExecution)
{
return;
}
#if DEBUG
// Make sure the names are actually unique
ValidateActuators();
#endif
// Sort the Actuators by name to ensure determinism
SortActuators();
var continuousActions = numContinuousActions == 0 ? ActionSegment <float> .Empty :
new ActionSegment <float>(new float[numContinuousActions]);
var discreteActions = numDiscreteBranches == 0 ? ActionSegment <int> .Empty : new ActionSegment <int>(new int[numDiscreteBranches]);
StoredActions = new ActionBuffers(continuousActions, discreteActions);
m_CombinedActionSpec = CombineActionSpecs(actuators);
m_DiscreteActionMask = new ActuatorDiscreteActionMask(actuators, sumOfDiscreteBranches, numDiscreteBranches, m_CombinedActionSpec.BranchSizes);
m_ReadyForExecution = true;
}
