public void OnInitializeAgent()
{
Time.fixedDeltaTime = FixedDeltaTime;
_waitingForAnimation = true;
_decisionRequester = GetComponent<DecisionRequester>();
BodyParts = new List<BodyPart002> ();
BodyPart002 root = null;
foreach (var t in GetComponentsInChildren<Transform>())
{
if (BodyConfig.GetBodyPartGroup(t.name) == BodyHelper002.BodyPartGroup.None)
continue;
var bodyPart = new BodyPart002{
Rigidbody = t.GetComponent<Rigidbody>(),
Transform = t,
Name = t.name,
Group = BodyConfig.GetBodyPartGroup(t.name),
};
if (bodyPart.Group == BodyConfig.GetRootBodyPart())
root = bodyPart;
bodyPart.Root = root;
bodyPart.Init();
BodyParts.Add(bodyPart);
}
var partCount = BodyParts.Count;
Muscles = new List<Muscle002> ();
var muscles = GetComponentsInChildren<ConfigurableJoint>();
ConfigurableJoint rootConfigurableJoint = null;
var ragDoll = GetComponent<RagDoll002>();
foreach (var m in muscles)
{
var maximumForce = ragDoll.MusclePowers.First(x=>x.Muscle == m.name).PowerVector;
// maximumForce *= 2f;
var muscle = new Muscle002{
Rigidbody = m.GetComponent<Rigidbody>(),
Transform = m.GetComponent<Transform>(),
ConfigurableJoint = m,
Name = m.name,
Group = BodyConfig.GetMuscleGroup(m.name),
MaximumForce = maximumForce
};
if (muscle.Group == BodyConfig.GetRootMuscle())
rootConfigurableJoint = muscle.ConfigurableJoint;
muscle.RootConfigurableJoint = rootConfigurableJoint;
muscle.Init();
Muscles.Add(muscle);
}
var spawnableEnv = GetComponentInParent<SpawnableEnv>();
_localStyleAnimator = spawnableEnv.gameObject.GetComponentInChildren<StyleTransfer002Animator>();
_styleAnimator = _localStyleAnimator.GetFirstOfThisAnim();
// _styleAnimator = _localStyleAnimator;
_muscleAnimator = _styleAnimator;
_agent = GetComponent<StyleTransfer002Agent>();
// _trainerAgent = GetComponent<StyleTransfer002TrainerAgent>();
// _brain = FindObjectsOfType<Brain>().First(x=>x.name=="LearnFromMocapBrain");
IsInferenceMode = !Academy.Instance.IsCommunicatorOn;
}
void SetupBody()
{
_agent = GetComponent <Agent>();
_decisionRequester = GetComponent <DecisionRequester>();
Time.fixedDeltaTime = FixedDeltaTime;
BodyParts = new List <BodyPart002> ();
BodyPart002 root = null;
foreach (var t in GetComponentsInChildren <Transform>())
{
if (BodyConfig.GetBodyPartGroup(t.name) == BodyHelper002.BodyPartGroup.None)
{
continue;
}
var bodyPart = new BodyPart002 {
Rigidbody = t.GetComponent <Rigidbody>(),
Transform = t,
Name = t.name,
Group = BodyConfig.GetBodyPartGroup(t.name),
};
if (bodyPart.Group == BodyConfig.GetRootBodyPart())
{
root = bodyPart;
}
bodyPart.Root = root;
bodyPart.Init();
BodyParts.Add(bodyPart);
}
var partCount = BodyParts.Count;
Muscles = new List <Muscle002> ();
var muscles = GetComponentsInChildren <ConfigurableJoint>();
ConfigurableJoint rootConfigurableJoint = null;
var ragDoll = GetComponent <RagDoll002>();
foreach (var m in muscles)
{
var maximumForce = ragDoll.MusclePowers.First(x => x.Muscle == m.name).PowerVector;
maximumForce *= ragDoll.MotorScale;
var muscle = new Muscle002 {
Rigidbody = m.GetComponent <Rigidbody>(),
Transform = m.GetComponent <Transform>(),
ConfigurableJoint = m,
Name = m.name,
Group = BodyConfig.GetMuscleGroup(m.name),
MaximumForce = maximumForce
};
if (muscle.Group == BodyConfig.GetRootMuscle())
{
rootConfigurableJoint = muscle.ConfigurableJoint;
}
muscle.RootConfigurableJoint = rootConfigurableJoint;
muscle.Init();
Muscles.Add(muscle);
}
_startCount++;
}
// Use this for initialization
void Start()
{
_master = GetComponent <StyleTransfer002Master>();
_decisionRequester = GetComponent <DecisionRequester>();
var spawnableEnv = GetComponentInParent <SpawnableEnv>();
_localStyleAnimator = spawnableEnv.gameObject.GetComponentInChildren <StyleTransfer002Animator>();
_styleAnimator = _localStyleAnimator.GetFirstOfThisAnim();
_startCount++;
}
public void Start()
{
List <Transform> transforms = FindRecursive(root);
for (int i = 0; i < transforms.Count; i++)
{
Transform transform = transforms[i];
if (transform.gameObject.name.Contains("Tongue") || transform.gameObject.name.Contains("Teeth"))
{
continue;
}
BehaviorParameters bp = transform.GetComponent <BehaviorParameters>();
if (bp == null)
{
bp = transform.gameObject.AddComponent <BehaviorParameters>();
}
bp.BehaviorName = "SnapperController";
bp.BrainParameters.VectorObservationSize = 55;
// bp.BrainParameters.NumStackedVectorObservations = 4;
bp.BrainParameters.VectorActionSpaceType = SpaceType.Continuous;
bp.BrainParameters.VectorActionSize = new int[] { 3, 3, 3 };
bp.Model = nnModel;
RigTransformAgent rta = transform.GetComponent <RigTransformAgent>();
if (rta == null)
{
rta = transform.gameObject.AddComponent <RigTransformAgent>();
}
rta.Index = i;
rta.IndexRange = transforms.Count;
rta.MaxStep = MaxStep;
DecisionRequester dr = transform.GetComponent <DecisionRequester>();
if (dr == null)
{
dr = transform.gameObject.AddComponent <DecisionRequester>();
}
dr.DecisionPeriod = 2;
dr.TakeActionsBetweenDecisions = true;
RenderTextureSensorComponent rts = transform.GetComponent <RenderTextureSensorComponent>();
if (rts == null)
{
rts = transform.gameObject.AddComponent <RenderTextureSensorComponent>();
}
rts.RenderTexture = camTexture;
rts.Grayscale = true;
}
}
public void Reset()
{
if (this.terrain == null)
{
var parent = gameObject.transform.parent;
terrain = parent.GetComponentInChildren <Terrain>();
var sharedTerrainData = terrain.terrainData;
terrain.terrainData = new TerrainData();
terrain.terrainData.heightmapResolution = sharedTerrainData.heightmapResolution;
terrain.terrainData.baseMapResolution = sharedTerrainData.baseMapResolution;
terrain.terrainData.SetDetailResolution(sharedTerrainData.detailResolution, sharedTerrainData.detailResolutionPerPatch);
terrain.terrainData.size = sharedTerrainData.size;
terrain.terrainData.thickness = sharedTerrainData.thickness;
// terrain.terrainData.splatPrototypes = sharedTerrainData.splatPrototypes;
terrain.terrainData.terrainLayers = sharedTerrainData.terrainLayers;
var collider = terrain.GetComponent <TerrainCollider>();
collider.terrainData = terrain.terrainData;
_rowHeight = new float[terrain.terrainData.heightmapResolution, 1];
}
if (this._agent == null)
{
_agent = GetComponent <Agent>();
_decisionRequester = GetComponent <DecisionRequester>();
}
//print($"HeightMap {this.terrain.terrainData.heightmapWidth}, {this.terrain.terrainData.heightmapHeight}.
// Scale {this.terrain.terrainData.heightmapScale}. Resolution {this.terrain.terrainData.heightmapResolution}");
_mapScaleY = this.terrain.terrainData.heightmapScale.y;
// get the normalized position of this game object relative to the terrain
Vector3 tempCoord = (transform.position - terrain.gameObject.transform.position);
Vector3 coord;
tempCoord.x = Mathf.Clamp(tempCoord.x, 0f, terrain.terrainData.size.x - 0.000001f);
tempCoord.z = Mathf.Clamp(tempCoord.z, 0f, terrain.terrainData.size.z - 0.000001f);
coord.x = (tempCoord.x - 1) / terrain.terrainData.size.x;
coord.y = tempCoord.y / terrain.terrainData.size.y;
coord.z = tempCoord.z / terrain.terrainData.size.z;
// get the position of the terrain heightmap where this game object is
posXInTerrain = (int)(coord.x * terrain.terrainData.heightmapResolution);
posYInTerrain = (int)(coord.z * terrain.terrainData.heightmapResolution);
// we set an offset so that all the raising terrain is under this game object
int offset = 0 / 2;
// get the heights of the terrain under this game object
_heights = terrain.terrainData.GetHeights(posXInTerrain - offset, posYInTerrain - offset, 100, 1);
curHeight = _midHeight;
heightIndex = posXInTerrain;
actionReward = 0f;
ResetHeights();
}
// Use this for initialization
public void OnInitializeAgent()
{
_decisionRequester = GameObject.Find("MarathonMan").GetComponent <DecisionRequester>();
anim = GetComponent <Animator>();
anim.Play("Record", 0, NormalizedTime);
anim.Update(0f);
AnimationSteps = new List <AnimationStep>();
if (_rigidbodies == null || _transforms == null)
{
_rigidbodies = GetComponentsInChildren <Rigidbody>().ToList();
_transforms = GetComponentsInChildren <Transform>().ToList();
}
SetupSensors();
}
// Resets the agent. Initialize the style animator and master if not initialized.
public override void AgentReset()
{
if (!_hasLazyInitialized)
{
_master = GetComponent <StyleTransfer002Master>();
_master.BodyConfig = MarathonManAgent.BodyConfig;
_decisionRequester = GetComponent <DecisionRequester>();
var spawnableEnv = GetComponentInParent <SpawnableEnv>();
_localStyleAnimator = spawnableEnv.gameObject.GetComponentInChildren <StyleTransfer002Animator>();
_styleAnimator = _localStyleAnimator.GetFirstOfThisAnim();
_styleAnimator.BodyConfig = MarathonManAgent.BodyConfig;
_styleAnimator.OnInitializeAgent();
_master.OnInitializeAgent();
_hasLazyInitialized = true;
_localStyleAnimator.DestoryIfNotFirstAnim();
}
_isDone = true;
_ignorScoreForThisFrame = true;
_master.ResetPhase();
_sensors = GetComponentsInChildren <SensorBehavior>()
.Select(x => x.gameObject)
.ToList();
SensorIsInTouch = Enumerable.Range(0, _sensors.Count).Select(x => 0f).ToList();
if (_scoreHistogramData != null)
{
var column = _master.StartAnimationIndex;
if (_decisionRequester?.DecisionPeriod > 1)
{
column /= _decisionRequester.DecisionPeriod;
}
if (_ignorScoreForThisFrame)
{
_ignorScoreForThisFrame = false;
}
else
{
_scoreHistogramData.SetItem(column, AverageReward);
}
}
}
// Initialize
public void Init()
{
_decisionRequester = GameObject.Find("MarathonMan").GetComponent <DecisionRequester>();
_firstRunComplete = false;
if (Rigidbody != null)
{
Rigidbody.angularVelocity = Vector3.zero;
Rigidbody.velocity = Vector3.zero;
}
if (!_hasRanVeryFirstInit)
{
InitialRootRotation = Root.Transform.transform.rotation;
InitialRootPosition = Root.Transform.transform.position;
BaseRotation = Root.Transform.transform.rotation;
BasePosition = Root.Transform.transform.position;
DefaultLocalRotation = LocalRotation;
Vector3 forward = this.Transform.forward;
Vector3 up = this.Transform.up;
Quaternion toJointSpace = Quaternion.LookRotation(forward, up);
ToJointSpaceInverse = Quaternion.Inverse(toJointSpace);
ToJointSpaceDefault = DefaultLocalRotation * toJointSpace;
// set body part direction
Vector3 focalOffset = new Vector3(10, 0, 0);
if (Rigidbody != null)
{
var focalPoint = Rigidbody.position + focalOffset;
ToFocalRoation = Rigidbody.rotation;
ToFocalRoation.SetLookRotation(focalPoint - Rigidbody.position);
}
_hasRanVeryFirstInit = true;
}
}
public override void AgentReset()
{
if (!_hasLazyInitialized)
{
_decisionRequester = GetComponent <DecisionRequester>();
_debugController = FindObjectOfType <MarathonTestBedController>();
Time.fixedDeltaTime = FixedDeltaTime;
_spawnableEnv = GetComponentInParent <SpawnableEnv>();
_mocapController = _spawnableEnv.GetComponentInChildren <MocapController>();
_mocapBodyParts = _mocapController.GetComponentsInChildren <Rigidbody>().ToList();
_bodyParts = GetComponentsInChildren <ArticulationBody>().ToList();
_dReConObservations = GetComponent <DReConObservations>();
_dReConRewards = GetComponent <DReConRewards>();
var mocapController = _spawnableEnv.GetComponentInChildren <MocapController>();
_trackBodyStatesInWorldSpace = mocapController.GetComponent <TrackBodyStatesInWorldSpace>();
_ragDollSettings = GetComponent <RagDoll003>();
_inputController = _spawnableEnv.GetComponentInChildren <InputController>();
_sensorObservations = GetComponent <SensorObservations>();
foreach (var body in GetComponentsInChildren <ArticulationBody>())
{
body.solverIterations = 255;
body.solverVelocityIterations = 255;
}
_motors = GetComponentsInChildren <ArticulationBody>()
.Where(x => x.jointType == ArticulationJointType.SphericalJoint)
.Where(x => !x.isRoot)
.Distinct()
.ToList();
var individualMotors = new List <float>();
foreach (var m in _motors)
{
if (m.twistLock == ArticulationDofLock.LimitedMotion)
{
individualMotors.Add(0f);
}
if (m.swingYLock == ArticulationDofLock.LimitedMotion)
{
individualMotors.Add(0f);
}
if (m.swingZLock == ArticulationDofLock.LimitedMotion)
{
individualMotors.Add(0f);
}
}
_dReConObservations.PreviousActions = individualMotors.ToArray();
_hasLazyInitialized = true;
}
_smoothedActions = null;
debugCopyMocap = false;
_inputController.OnReset();
_mocapController.GetComponentInChildren <MocapAnimatorController>().OnReset();
var angle = Vector3.SignedAngle(Vector3.forward, _inputController.HorizontalDirection, Vector3.up);
var rotation = Quaternion.Euler(0f, angle, 0f);
_mocapController.OnReset(rotation);
_mocapController.CopyStatesTo(this.gameObject);
// _trackBodyStatesInWorldSpace.CopyStatesTo(this.gameObject);
float timeDelta = float.MinValue;
_dReConObservations.OnReset();
_dReConRewards.OnReset();
_dReConObservations.OnStep(timeDelta);
_dReConRewards.OnStep(timeDelta);
_skipRewardAfterTeleport = false;
#if UNITY_EDITOR
if (DebugPauseOnReset)
{
UnityEditor.EditorApplication.isPaused = true;
}
#endif
}
