public void UpdateObservations(float timeDelta)
{
MocapCOMVelocity = _mocapBodyStats.CenterOfMassVelocity;
RagDollCOMVelocity = _ragDollBodyStats.CenterOfMassVelocity;
InputDesiredHorizontalVelocity = new Vector2(
_ragDollBodyStats.DesiredCenterOfMassVelocity.x,
_ragDollBodyStats.DesiredCenterOfMassVelocity.z);
InputJump = _inputController.Jump;
InputBackflip = _inputController.Backflip;
HorizontalVelocityDifference = new Vector2(
_ragDollBodyStats.CenterOfMassVelocityDifference.x,
_ragDollBodyStats.CenterOfMassVelocityDifference.z);
MocapBodyStats = BodyPartsToTrack
.Select(x => _mocapBodyStats.Stats.First(y => y.Name == x))
.ToList();
RagDollBodyStats = BodyPartsToTrack
.Select(x => _ragDollBodyStats.Stats.First(y => y.Name == x))
.ToList();
// BodyPartStats =
foreach (var differenceStats in BodyPartDifferenceStats)
{
var mocapStats = _mocapBodyStats.Stats.First(x => x.Name == differenceStats.Name);
var ragDollStats = _ragDollBodyStats.Stats.First(x => x.Name == differenceStats.Name);
differenceStats.Position = mocapStats.Position - ragDollStats.Position;
differenceStats.Velocity = mocapStats.Velocity - ragDollStats.Velocity;
differenceStats.AngualrVelocity = mocapStats.AngualrVelocity - ragDollStats.AngualrVelocity;
differenceStats.Rotation = DReConObservationStats.GetAngularVelocity(mocapStats.Rotation, ragDollStats.Rotation, timeDelta);
}
}
void FixedUpdate()
{
float timeDelta = Time.fixedDeltaTime;
foreach (var rb in _rigidbodies)
{
Stat stat = Stats.First(x => x.Name == rb.name);
if (!stat.LastIsSet)
{
stat.LastPosition = rb.transform.position;
stat.LastRotation = rb.transform.rotation;
}
stat.Position = rb.transform.position;
stat.Rotation = rb.transform.rotation;
stat.Velocity = rb.transform.position - stat.LastPosition;
stat.Velocity /= timeDelta;
stat.AngualrVelocity = DReConObservationStats.GetAngularVelocity(stat.LastRotation, rb.transform.rotation, timeDelta);
stat.LastPosition = rb.transform.position;
stat.LastRotation = rb.transform.rotation;
stat.LastIsSet = true;
}
}