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);
});
}
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);
}
}
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();
}
public void AddSegment(JointSegment segment)
{
segments.Add(segment);
}
public void Connect(JointSegment parent, SideType side)
{
this.side = side;
Init(parent);
parent.AddSegment(this);
}