Exemplo n.º 1
0
        public void ActivateJoint(JointSegment parent, SideType side)
        {
            var joint = CreateJoint();

            joint.connectedBody = parent.Body;
            joint.axis          = Helper.directions[Helper.Axis(side)];
            joint.swingAxis     = Helper.directions[Helper.SwingAxis(side)];
            joint.anchor        = Helper.directions[Helper.Inverse(side)] * 0.5f;
        }
        public JointSampleCreature(JointSegment body, DNA dna)
        {
            this.target = body.transform.position + body.transform.forward * distance;

            GetAllSegments(body);

            this.body = body;
            this.dna  = dna;
            network   = new Network(GetLayersCount(), this.dna.genes);
        }
        public JointSampleCreature(JointSegment body)
        {
            this.target = body.transform.position + body.transform.forward * distance;

            GetAllSegments(body);

            this.body = body;
            this.dna  = new DNA(GetGenesCount(), new Vector2(-1f, 1f));
            network   = new Network(GetLayersCount());
        }
        void GetAllSegments(JointSegment root)
        {
            sensors.Add(new TransformAngleSensor(root.transform));
            sensors.Add(new PartContactsSensor(root));
            sensors.Add(new DirectionSensor(root.transform, target));

            effectors.Add(root);

            root.Segments.ForEach(child => {
                GetAllSegments(child);
            });
        }
Exemplo n.º 5
0
        void Build(Transform group, JointSegment parentSegment, SideType side, Node childNode)
        {
            var cur = Instantiate(segmentPrefab).GetComponent <JointSegment>();

            cur.transform.parent     = group;
            cur.transform.localScale = childNode.Size;
            cur.Connect(parentSegment, side);
            var cons = childNode.GetConnections();

            for (int i = 0, n = cons.Length; i < n; i++)
            {
                var con = cons[i];
                Build(group, cur, con.Side, con.To);
            }
        }
Exemplo n.º 6
0
        public void Init(JointSegment parent)
        {
            Body.velocity        *= 0f;
            Body.angularVelocity *= 0f;
            Body.mass             = transform.localScale.magnitude;
            // transform.position = parent.transform.position + Helper.directions[side] * 1.25f;

            var dir    = Helper.directions[side];
            var po     = Vector3.Scale(dir, parent.transform.localScale) * 0.5f;
            var lo     = Vector3.Scale(dir, transform.localScale) * 0.5f;
            var offset = po + lo + lo * 0.25f;

            transform.position = parent.transform.position + offset;

            // need to add HingeJoint after setting position
            if (this.joint == null)
            {
                ActivateJoint(parent, side);
            }

            Init();
        }
Exemplo n.º 7
0
 public void AddSegment(JointSegment segment)
 {
     segments.Add(segment);
 }
Exemplo n.º 8
0
 public void Connect(JointSegment parent, SideType side)
 {
     this.side = side;
     Init(parent);
     parent.AddSegment(this);
 }