public void SetupAgent(CmvAgMan cmvAgMan)
{
Debug.Log($" SetupAgent for {name}");
this.cmvAgMan = cmvAgMan;
SetupAgentSpaceType(SpaceType.Continuous);
//LazyInitialize();// gets called when component is added in OnEnable
area = cmvAgMan.area;
ground = cmvAgMan.ground;
redGoal = cmvAgMan.redGoal;
//useVectorObs = true;
// Create body
avatar = GameObject.CreatePrimitive(PrimitiveType.Capsule);
avatar.name = "body";
avatar.transform.parent = transform;
cmvagbod = avatar.AddComponent <CmvAgentBody>();
var visor = GameObject.CreatePrimitive(PrimitiveType.Cube);
var clder = visor.GetComponent <Collider>();
clder.enabled = false;
visor.transform.parent = avatar.transform;
visor.transform.localScale = new Vector3(0.95f, 0.25f, 0.5f);
visor.transform.position = new Vector3(0, 0.5f, -0.25f);
CmvAgentBody.SetColorOfGo(visor, Color.black);
maxStep = cmvAgMan.cmvSettings.maxstep;
cmvagbod.Init(this);
groundRenderer = ground.GetComponent <Renderer>();
groundMaterial = groundRenderer.material;
cmvagbod.InitializeAgentBody();
}
public void SetupAgent(CmvAgMan cmvAgMan)
{
this.cmvAgMan = cmvAgMan;
// Initialize agent parameters
//brain = cmvAgMan.brain;
area = cmvAgMan.area;
ground = cmvAgMan.ground;
redGoal = cmvAgMan.redGoal;
agentParameters = cmvAgMan.agentParameters;
useVectorObs = true;
// Create body
avatar = GameObject.CreatePrimitive(PrimitiveType.Capsule);
avatar.name = "body";
avatar.transform.parent = transform;
cmvagbod = avatar.AddComponent <CmvAgentBody>();
var visor = GameObject.CreatePrimitive(PrimitiveType.Cube);
var clder = visor.GetComponent <Collider>();
clder.enabled = false;
visor.transform.parent = avatar.transform;
visor.transform.localScale = new Vector3(0.95f, 0.25f, 0.5f);
visor.transform.position = new Vector3(0, 0.5f, -0.25f);
CmvAgentBody.SetColorOfGo(visor, Color.black);
cmvagbod.Init(this);
//var bhp = GetComponent<BehaviorParameters>();
//bhp.m_BehaviorName = "CrowdMove";
////bhp.m_UseHeuristic = true;
//var bp = bhp.brainParameters;
//bp.vectorActionSpaceType = SpaceType.Continuous;
//bp.vectorObservationSize = 36;
//bp.vectorActionSize = new int[] { 2 };
//bp.vectorActionDescriptions = new string[] { "action1", "action2" };
//this.sType = bp.vectorActionSpaceType;
//SetupAgentSpaceType(SpaceType.Continuous);
// Create banner textmeshpro
//var text = name + "\n" + name;
////bannertmp = GraphAlgos.GraphUtil.MakeTextGo(gameObject, text, 1.5f, fvek: Vector3.back);
//bannergo = bannertmp.transform.parent.gameObject;
//bannergo.name = "banner";
groundRenderer = ground.GetComponent <Renderer>();
groundMaterial = groundRenderer.material;
cmvagbod.InitializeAgentBody();
}
public void MoveAgent(float[] act)
{
Vector3 dirToGo = Vector3.zero;
Vector3 rotateDir = Vector3.zero;
Vector3 fwdDir = avatar.transform.forward;
Vector3 upDir = avatar.transform.up;
if (sType == SpaceType.Continuous)
{
dirToGo = fwdDir * Mathf.Clamp(act[0], -1f, 1f);
rotateDir = upDir * Mathf.Clamp(act[1], -1f, 1f);
}
else
{
int action = Mathf.FloorToInt(act[0]);
switch (action)
{
case 1:
dirToGo = fwdDir * 1f;
break;
case 2:
dirToGo = fwdDir * -1f;
break;
case 3:
rotateDir = upDir * 1f;
break;
case 4:
rotateDir = upDir * -1f;
break;
}
}
var forceVek = dirToGo * cmvAgMan.cmvSettings.agentRunSpeed;
var dist = Vector3.Magnitude(avatar.transform.position - lastpos);
var force = Vector3.Magnitude(forceVek);
//Debug.Log("Move "+name+" "+sType+" rot:"+rotateDir.ToString("F1")+" force:"+forceVek.ToString("F3")+" dst:"+dist.ToString("f1"));
if (bannertmp != null)
{
var hitstring = cmvagbod.rpi.GetHitObs();
bannertmp.text = name + "\n" + hitstring + "\n" + hitFlashTimeMark.ToString("f1");
}
if (avatar != null)
{
Color c = c0;
var stepCount = StepCount;
if (Time.time - hitFlashTimeMark < flashTime)
{
c = c4;
}
else if (stepCount < 0.05f * maxStep)
{
var lamb = stepCount / (0.05f * maxStep);
c = Color.Lerp(c0, c1, lamb);
}
else
{
var lamb = stepCount / (1.0f * maxStep);
c = Color.Lerp(c1, c2, lamb);
}
CmvAgentBody.SetColorOfGo(avatar, c);
}
cmvagbod.AddMovement(rotateDir, forceVek, ForceMode.VelocityChange);
cmvagbod.SyncToBody(bannergo);
lastpos = avatar.transform.position;
nmoves++;
}
