public void OnInitializeAgent()
{
Time.fixedDeltaTime = FixedDeltaTime;
_waitingForAnimation = true;
_decisionRequester = GetComponent<DecisionRequester>();
BodyParts = new List<BodyPart002> ();
BodyPart002 root = null;
foreach (var t in GetComponentsInChildren<Transform>())
{
if (BodyConfig.GetBodyPartGroup(t.name) == BodyHelper002.BodyPartGroup.None)
continue;
var bodyPart = new BodyPart002{
Rigidbody = t.GetComponent<Rigidbody>(),
Transform = t,
Name = t.name,
Group = BodyConfig.GetBodyPartGroup(t.name),
};
if (bodyPart.Group == BodyConfig.GetRootBodyPart())
root = bodyPart;
bodyPart.Root = root;
bodyPart.Init();
BodyParts.Add(bodyPart);
}
var partCount = BodyParts.Count;
Muscles = new List<Muscle002> ();
var muscles = GetComponentsInChildren<ConfigurableJoint>();
ConfigurableJoint rootConfigurableJoint = null;
var ragDoll = GetComponent<RagDoll002>();
foreach (var m in muscles)
{
var maximumForce = ragDoll.MusclePowers.First(x=>x.Muscle == m.name).PowerVector;
// maximumForce *= 2f;
var muscle = new Muscle002{
Rigidbody = m.GetComponent<Rigidbody>(),
Transform = m.GetComponent<Transform>(),
ConfigurableJoint = m,
Name = m.name,
Group = BodyConfig.GetMuscleGroup(m.name),
MaximumForce = maximumForce
};
if (muscle.Group == BodyConfig.GetRootMuscle())
rootConfigurableJoint = muscle.ConfigurableJoint;
muscle.RootConfigurableJoint = rootConfigurableJoint;
muscle.Init();
Muscles.Add(muscle);
}
var spawnableEnv = GetComponentInParent<SpawnableEnv>();
_localStyleAnimator = spawnableEnv.gameObject.GetComponentInChildren<StyleTransfer002Animator>();
_styleAnimator = _localStyleAnimator.GetFirstOfThisAnim();
// _styleAnimator = _localStyleAnimator;
_muscleAnimator = _styleAnimator;
_agent = GetComponent<StyleTransfer002Agent>();
// _trainerAgent = GetComponent<StyleTransfer002TrainerAgent>();
// _brain = FindObjectsOfType<Brain>().First(x=>x.name=="LearnFromMocapBrain");
IsInferenceMode = !Academy.Instance.IsCommunicatorOn;
}
void SetupBody()
{
_agent = GetComponent <Agent>();
_decisionRequester = GetComponent <DecisionRequester>();
Time.fixedDeltaTime = FixedDeltaTime;
BodyParts = new List <BodyPart002> ();
BodyPart002 root = null;
foreach (var t in GetComponentsInChildren <Transform>())
{
if (BodyConfig.GetBodyPartGroup(t.name) == BodyHelper002.BodyPartGroup.None)
{
continue;
}
var bodyPart = new BodyPart002 {
Rigidbody = t.GetComponent <Rigidbody>(),
Transform = t,
Name = t.name,
Group = BodyConfig.GetBodyPartGroup(t.name),
};
if (bodyPart.Group == BodyConfig.GetRootBodyPart())
{
root = bodyPart;
}
bodyPart.Root = root;
bodyPart.Init();
BodyParts.Add(bodyPart);
}
var partCount = BodyParts.Count;
Muscles = new List <Muscle002> ();
var muscles = GetComponentsInChildren <ConfigurableJoint>();
ConfigurableJoint rootConfigurableJoint = null;
var ragDoll = GetComponent <RagDoll002>();
foreach (var m in muscles)
{
var maximumForce = ragDoll.MusclePowers.First(x => x.Muscle == m.name).PowerVector;
maximumForce *= ragDoll.MotorScale;
var muscle = new Muscle002 {
Rigidbody = m.GetComponent <Rigidbody>(),
Transform = m.GetComponent <Transform>(),
ConfigurableJoint = m,
Name = m.name,
Group = BodyConfig.GetMuscleGroup(m.name),
MaximumForce = maximumForce
};
if (muscle.Group == BodyConfig.GetRootMuscle())
{
rootConfigurableJoint = muscle.ConfigurableJoint;
}
muscle.RootConfigurableJoint = rootConfigurableJoint;
muscle.Init();
Muscles.Add(muscle);
}
_startCount++;
}
public float GetUprightNormalizedReward(BodyPartGroup bodyPartGroup)
{
BodyPart002 bodyPart = GetFirstBodyPart(bodyPartGroup);
float maxBonus = 1f;
var toFocalAngle = bodyPart.ToFocalRoation * -bodyPart.Transform.forward;
var angleFromUp = Vector3.Angle(toFocalAngle, Vector3.up);
var qpos2 = (angleFromUp % 180) / 180;
var uprightBonus = maxBonus * (2 - (Mathf.Abs(qpos2) * 2) - 1);
return(uprightBonus);
}
public float GetDirectionNormalizedReward(BodyPartGroup bodyPartGroup, Vector3 direction)
{
BodyPart002 bodyPart = GetFirstBodyPart(bodyPartGroup);
float maxBonus = 1f;
var toFocalAngle = bodyPart.ToFocalRoation * bodyPart.Transform.right;
var angle = Vector3.Angle(toFocalAngle, direction);
var qpos2 = (angle % 180) / 180;
var bonus = maxBonus * (2 - (Mathf.Abs(qpos2) * 2) - 1);
return(bonus);
}
// Reset the animator.
void Reset()
{
BodyParts = new List <BodyPart002> ();
BodyPart002 root = null;
if (_rigidbodies == null || _transforms == null)
{
_rigidbodies = GetComponentsInChildren <Rigidbody>().ToList();
_transforms = GetComponentsInChildren <Transform>().ToList();
}
foreach (var t in _transforms)
{
if (BodyConfig.GetBodyPartGroup(t.name) == BodyHelper002.BodyPartGroup.None)
{
continue;
}
var bodyPart = new BodyPart002 {
Rigidbody = t.GetComponent <Rigidbody>(),
Transform = t,
Name = t.name,
Group = BodyConfig.GetBodyPartGroup(t.name),
};
if (bodyPart.Group == BodyConfig.GetRootBodyPart())
{
root = bodyPart;
}
bodyPart.Root = root;
bodyPart.Init();
BodyParts.Add(bodyPart);
}
var partCount = BodyParts.Count;
SetupSensors();
_lastPosition = Enumerable.Repeat(Vector3.zero, partCount).ToList();
_lastRotation = Enumerable.Repeat(Quaternion.identity, partCount).ToList();
_lastPositionLocal = Enumerable.Repeat(Vector3.zero, partCount).ToList();
_lastRotationLocal = Enumerable.Repeat(Quaternion.identity, partCount).ToList();
_lastCenterOfMass = transform.position;
_initialRotations = BodyParts
.Select(x => x.Transform.rotation)
.ToList();
BecomeAnimated();
}
void Reset()
{
BodyParts = new List <BodyPart002> ();
BodyPart002 root = null;
foreach (var t in GetComponentsInChildren <Transform>())
{
if (BodyHelper002.GetBodyPartGroup(t.name) == BodyHelper002.BodyPartGroup.None)
{
continue;
}
var bodyPart = new BodyPart002 {
Rigidbody = t.GetComponent <Rigidbody>(),
Transform = t,
Name = t.name,
Group = BodyHelper002.GetBodyPartGroup(t.name),
};
if (bodyPart.Group == BodyHelper002.BodyPartGroup.Hips)
{
root = bodyPart;
}
bodyPart.Root = root;
bodyPart.Init();
BodyParts.Add(bodyPart);
}
var partCount = BodyParts.Count;
SetupSensors();
_lastPosition = Enumerable.Repeat(Vector3.zero, partCount).ToList();
_lastRotation = Enumerable.Repeat(Quaternion.identity, partCount).ToList();
_lastVelocityPosition = transform.position;
var anims = GetComponentsInChildren <Transform>();
//_bodyParts = _master.Muscles.Select(x=> anims.First(y=>y.name == x.Name).transform).ToList();
_initialRotations = BodyParts
.Select(x => x.Transform.rotation)
.ToList();
BecomeAnimated();
}
void Start()
{
Time.fixedDeltaTime = FixedDeltaTime;
_waitingForAnimation = true;
BodyParts = new List <BodyPart002> ();
BodyPart002 root = null;
foreach (var t in GetComponentsInChildren <Transform>())
{
if (BodyHelper002.GetBodyPartGroup(t.name) == BodyHelper002.BodyPartGroup.None)
{
continue;
}
var bodyPart = new BodyPart002 {
Rigidbody = t.GetComponent <Rigidbody>(),
Transform = t,
Name = t.name,
Group = BodyHelper002.GetBodyPartGroup(t.name),
};
if (bodyPart.Group == BodyHelper002.BodyPartGroup.Hips)
{
root = bodyPart;
}
bodyPart.Root = root;
bodyPart.Init();
BodyParts.Add(bodyPart);
}
var partCount = BodyParts.Count;
Muscles = new List <Muscle002> ();
var muscles = GetComponentsInChildren <ConfigurableJoint>();
ConfigurableJoint rootConfigurableJoint = null;
var ragDoll = GetComponent <RagDoll002>();
foreach (var m in muscles)
{
var maximumForce = ragDoll.MusclePowers.First(x => x.Muscle == m.name).PowerVector;
// maximumForce *= 2f;
var muscle = new Muscle002 {
Rigidbody = m.GetComponent <Rigidbody>(),
Transform = m.GetComponent <Transform>(),
ConfigurableJoint = m,
Name = m.name,
Group = BodyHelper002.GetMuscleGroup(m.name),
MaximumForce = maximumForce
};
if (muscle.Group == BodyHelper002.MuscleGroup.Hips)
{
rootConfigurableJoint = muscle.ConfigurableJoint;
}
muscle.RootConfigurableJoint = rootConfigurableJoint;
muscle.Init();
Muscles.Add(muscle);
}
_muscleAnimator = FindObjectOfType <StyleTransfer002Animator>();
_agent = GetComponent <StyleTransfer002Agent>();
// _trainerAgent = GetComponent<StyleTransfer002TrainerAgent>();
_brain = FindObjectsOfType <Brain>().First(x => x.name == "LearnFromMocapBrain");
_academy = FindObjectOfType <Academy>();
_styleAnimator = FindObjectOfType <StyleTransfer002Animator>();
switch (_brain.brainType)
{
case BrainType.External:
IsInferenceMode = false;
break;
case BrainType.Player:
case BrainType.Internal:
case BrainType.Heuristic:
IsInferenceMode = true;
break;
default:
throw new System.NotImplementedException();
}
}
