public void Right()
{
if (!EmmitionEnabled)
{
return;
}
RightFoot.Play();
}
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;
}
public void SetUp()
{
_target = new RightFoot();
}
public RightLowerLimb()
{
RightFoot = new RightFoot();
}
public void setHero_RightFoot(RightFoot hero_RightFoot)
{
this.hero_RightFoot = hero_RightFoot;
}
public RightLowerLimb(RightFoot rightFoot)
{
_rightFoot = rightFoot;
}
