void Update()
{
//if (transform.rotation.eulerAngles.z > 90 && transform.rotation.eulerAngles.z < 270) Kill();
//if (transform.position.x < -0.2f)
//{
// net.SetFitness(-999);
// net.SetTimeAlive(-999);
// Kill();
//}
if (dontReward)
{
return;
}
if (netInitalized && manager.Countdown > 0)
{
if (_shouldPunish < 0)
{
_shouldPunish = 0;
}
float[] inputs =
{
HeadTransform.rotation.z,
LeftArmTransform.rotation.z,
RightArmTransform.rotation.z,
LeftLegTransform.rotation.z,
LeftFootTransform.rotation.z,
RightLegTransform.rotation.z,
RightFootTransform.rotation.z,
_shouldPunish > 0f ? 100f : 0f,
transform.position.x,
Chest.transform.rotation.z,
Chest.velocity.x,
Chest.velocity.y,
LeftLeg.velocity.x,
LeftLeg.velocity.y,
LeftLeg.angularVelocity,
LeftFoot.velocity.x,
LeftFoot.velocity.y,
LeftFoot.angularVelocity,
RightLeg.velocity.x,
RightLeg.velocity.y,
RightLeg.angularVelocity,
RightFoot.velocity.x,
RightFoot.velocity.y,
RightFoot.angularVelocity,
Vector2.Distance(new Vector2(transform.position.x, 0), new Vector2(WoD.Pos, 0))
};
float[] neurons = net.FeedForward(inputs);
//HeadTransform.Rotate(Vector3.forward , neurons[(int)Neuron.Head]);
//LeftArmTransform.Rotate(Vector3.forward , neurons[(int)Neuron.LeftArm]);
//RightArmTransform.Rotate(Vector3.forward , neurons[(int)Neuron.RightArm]);
//LeftLegTransform.Rotate(Vector3.forward , neurons[(int)Neuron.LeftLeg]);
//LeftFootTransform.Rotate(Vector3.forward , neurons[(int)Neuron.LeftFoot]);
//RightLegTransform.Rotate(Vector3.forward , neurons[(int)Neuron.RightLeg]);
//RightFootTransform.Rotate(Vector3.forward , neurons[(int)Neuron.RightFoot]);
//ChestTransform.Rotate(Vector3.forward , neurons[(int)Neuron.Torso]);
Head.AddTorque(neurons[(int)Neuron.Head] * 5f, ForceMode2D.Force);
LeftArm.AddTorque(neurons[(int)Neuron.LeftArm] * 5f, ForceMode2D.Force);
RightArm.AddTorque(neurons[(int)Neuron.RightArm] * 5f, ForceMode2D.Force);
LeftLeg.AddTorque(neurons[(int)Neuron.LeftLeg] * 20f, ForceMode2D.Force);
LeftFoot.AddTorque(neurons[(int)Neuron.LeftFoot] * 20f, ForceMode2D.Force);
RightLeg.AddTorque(neurons[(int)Neuron.RightLeg] * 20f, ForceMode2D.Force);
RightFoot.AddTorque(neurons[(int)Neuron.RightFoot] * 20f, ForceMode2D.Force);
Chest.AddTorque(neurons[(int)Neuron.Torso] * 5f, ForceMode2D.Force);
if (_shouldPunish > 0)
{
if (killTimerValue > 0)
{
killTimerValue -= Time.deltaTime;
}
else
{
Kill();
}
}
else
{
net.SetFitness(transform.position.x * 2);
killTimerValue = killTimer;
}
net.SetTimeAlive(timeAlive);
currentScore = net.GetFitness();
lastPosition = transform.position.x;
if (WoD.Pos >= transform.position.x)
{
Kill();
}
}
timeAlive += Time.deltaTime;
}
private void FixedUpdate()
{
if (Controller == null)
{
return;
}
if (!IsMenuPlayer && GameplayManager.Instance != null && !GameplayManager.Instance.IsGameRunning)
{
return;
}
UpdateLeg(LegLeft, Controller.LeftStick.Vector, Controller.LeftTrigger, Controller.LeftBumper);
UpdateLeg(LegRight, Controller.RightStick.Vector, Controller.RightTrigger, Controller.RightBumper);
{ // pick up items
var tryEquipLeft = Controller.LeftStickButton.IsPressed && !LegLeft.TryEquip; // disallow simultaneous equip
var tryEquipRight = !tryEquipLeft && Controller.RightStickButton.IsPressed && !LegRight.TryEquip;
if (tryEquipLeft || tryEquipRight)
{
var availableItems = new List <Shoe>();
var itemFilter = new ContactFilter2D();
itemFilter.SetLayerMask(LayerMask.GetMask("Pickups"));
foreach (var zone in ItemPickupZones) // query pickup zones
{
var colliders = new Collider2D[5];
var count = zone.OverlapCollider(itemFilter, colliders);
for (int i = 0; i < count; i++)
{
var shoe = colliders[i].GetComponent <Shoe>();
if (shoe.IsEquipped)
{
continue; // skip already equipped shoes
}
availableItems.Add(shoe); // accumulate into list
}
}
if (availableItems.Count > 0)
{
Leg targetLeg;
if (tryEquipLeft)
{
targetLeg = LegLeft;
}
else
{
targetLeg = LegRight;
}
var toePos = targetLeg.ToePos;
var closest = availableItems
.OrderBy(shoe => Vector2.Distance(shoe.transform.position, toePos))
.First();
targetLeg.EquipShoe(closest);
targetLeg.TryEquip = true;
}
}
// only reset hold status to false here: allow player to pre-emptively hold equip button
if (!Controller.LeftStickButton.IsPressed)
{
LegLeft.TryEquip = false;
}
if (!Controller.RightStickButton.IsPressed)
{
LegRight.TryEquip = false;
}
}
#if false
{ // head stabilization
// angular velocity (omega)
var omega = Head.angularVelocity;
var omegaTarget = 0;
var omegaStabilizer = Mathf.Sign(omegaTarget - omega);
// orientation (theta)
var dirFacing = Head.transform.up;
var dirUpright = Vector2.up;
if (Controller.LeftTrigger || Controller.RightTrigger) // user head tilt
{
var rollDir = Controller.LeftTrigger.Value - Controller.RightTrigger.Value;
dirUpright = Quaternion.Euler(0, 0, rollDir * HeadTiltThetaMax) * dirUpright;
}
var thetaStabilizer = Vector2.SignedAngle(dirFacing, dirUpright) / 180;
// interpolate between stabilizers to create dynamic equilibrium
omega = Mathf.Abs(omega);
omega *= HeadStabilizerCurve;
Head.AddTorque(HeadTorqueMax * Mathf.Lerp(thetaStabilizer, omegaStabilizer, omega / (omega + 1)));
}
#endif
}
