void FixedUpdate()
{
msgDelayCount++;
if (msgDelayCount % 17 == 0)
{
msgDelayCount = 0;
if (body.GameReset() != body.RIGHT)
{ //这里游戏重置
InfoSend = "GameOver_";
client.SendMessage(InfoSend);
Debug.Log("***********GameOver***********");
GameReset(); //环境重置
}
else
{
InfoSend = body.GetXSpeedState().ToString() + "_" + //X轴的速度奖励
body.GetXRotationState().ToString() + "_" + //X轴的角度
body.GetZRotationState().ToString() + "_" + //Z轴的角度
lf_leg.Thigh_GetAngle().ToString() + "_" + //左前腿的大腿角度
lf_leg.Calf_GetAngle().ToString() + "_" + //左前腿的小腿角度
rf_leg.Thigh_GetAngle().ToString() + "_" + //左后腿的大腿角度
rf_leg.Calf_GetAngle().ToString() + "_" + //左后腿的小腿角度
lb_leg.Thigh_GetAngle().ToString() + "_" + //右前腿的大腿角度
lb_leg.Calf_GetAngle().ToString() + "_" + //右前腿的小腿角度
rb_leg.Thigh_GetAngle().ToString() + "_" + //右后腿的大腿角度
rb_leg.Calf_GetAngle().ToString(); //右后腿的小腿角度
client.SendMessage(InfoSend);
Debug.Log(InfoSend);
}
}
while (client.MsgReceived)
{
client.MsgReceived = false;
string[] msg_splited = client.strMsg.Split('_'); //分离行为信息
if (msg_splited.Length == 8)
{
lf_leg.Thigh_RunAngle(float.Parse(msg_splited[0]));
lf_leg.Calf_RunAngle(float.Parse(msg_splited[1]));
rf_leg.Thigh_RunAngle(float.Parse(msg_splited[2]));
rf_leg.Calf_RunAngle(float.Parse(msg_splited[3]));
lb_leg.Thigh_RunAngle(float.Parse(msg_splited[4]));
lb_leg.Calf_RunAngle(float.Parse(msg_splited[5]));
rb_leg.Thigh_RunAngle(float.Parse(msg_splited[6]));
rb_leg.Calf_RunAngle(float.Parse(msg_splited[7]));
}
else
{
GameReset(); //训练环境重置
}
}
}
