/// <summary>
/// Configures the agent. Given an integer config, the wall will have
/// different height and a different brain will be assigned to the agent.
/// </summary>
/// <param name="config">Config.
/// If 0 : No wall and noWallBrain.
/// If 1: Small wall and smallWallBrain.
/// Other : Tall wall and BigWallBrain.
/// </param>
void ConfigureAgent(int config)
{
var localScale = wall.transform.localScale;
if (config == 0)
{
localScale = new Vector3(
localScale.x,
m_FloatProperties.GetPropertyWithDefault("no_wall_height", 0),
localScale.z);
wall.transform.localScale = localScale;
SetModel("SmallWallJump", noWallBrain);
}
else if (config == 1)
{
localScale = new Vector3(
localScale.x,
m_FloatProperties.GetPropertyWithDefault("small_wall_height", 4),
localScale.z);
wall.transform.localScale = localScale;
SetModel("SmallWallJump", smallWallBrain);
}
else
{
var min = m_FloatProperties.GetPropertyWithDefault("big_wall_min_height", 8);
var max = m_FloatProperties.GetPropertyWithDefault("big_wall_max_height", 8);
var height = min + Random.value * (max - min);
localScale = new Vector3(
localScale.x,
height,
localScale.z);
wall.transform.localScale = localScale;
SetModel("BigWallJump", bigWallBrain);
}
}
public void SetEnvironment()
{
transform.position = m_InitialPosition * (m_ResetParameters.GetPropertyWithDefault("gridSize", 5f) + 1);
var playersList = new List <int>();
for (var i = 0; i < (int)m_ResetParameters.GetPropertyWithDefault("numObstacles", 1); i++)
{
playersList.Add(1);
}
for (var i = 0; i < (int)m_ResetParameters.GetPropertyWithDefault("numGoals", 1f); i++)
{
playersList.Add(0);
}
players = playersList.ToArray();
var gridSize = (int)m_ResetParameters.GetPropertyWithDefault("gridSize", 5f);
m_Plane.transform.localScale = new Vector3(gridSize / 10.0f, 1f, gridSize / 10.0f);
m_Plane.transform.localPosition = new Vector3((gridSize - 1) / 2f, -0.5f, (gridSize - 1) / 2f);
m_Sn.transform.localScale = new Vector3(1, 1, gridSize + 2);
m_Ss.transform.localScale = new Vector3(1, 1, gridSize + 2);
m_Sn.transform.localPosition = new Vector3((gridSize - 1) / 2f, 0.0f, gridSize);
m_Ss.transform.localPosition = new Vector3((gridSize - 1) / 2f, 0.0f, -1);
m_Se.transform.localScale = new Vector3(1, 1, gridSize + 2);
m_Sw.transform.localScale = new Vector3(1, 1, gridSize + 2);
m_Se.transform.localPosition = new Vector3(gridSize, 0.0f, (gridSize - 1) / 2f);
m_Sw.transform.localPosition = new Vector3(-1, 0.0f, (gridSize - 1) / 2f);
m_AgentCam.orthographicSize = (gridSize) / 2f;
m_AgentCam.transform.localPosition = new Vector3((gridSize - 1) / 2f, gridSize + 1f, (gridSize - 1) / 2f);
}
public void SetBall()
{
//Set the attributes of the ball by fetching the information from the academy
m_BallRb.mass = m_ResetParams.GetPropertyWithDefault("mass", 1.0f);
var scale = m_ResetParams.GetPropertyWithDefault("scale", 1.0f);
ball.transform.localScale = new Vector3(scale, scale, scale);
}
public void SetRacket()
{
angle = m_ResetParams.GetPropertyWithDefault("angle", 55);
gameObject.transform.eulerAngles = new Vector3(
gameObject.transform.eulerAngles.x,
gameObject.transform.eulerAngles.y,
m_InvertMult * angle
);
}
public void TestFloatPropertiesSideChannel()
{
var k1 = "gravity";
var k2 = "length";
int wasCalled = 0;
var propA = new FloatPropertiesChannel();
var propB = new FloatPropertiesChannel();
var dictReceiver = new Dictionary <Guid, SideChannel> {
{ propA.ChannelId, propA }
};
var dictSender = new Dictionary <Guid, SideChannel> {
{ propB.ChannelId, propB }
};
propA.RegisterCallback(k1, f => { wasCalled++; });
var tmp = propB.GetPropertyWithDefault(k2, 3.0f);
Assert.AreEqual(tmp, 3.0f);
propB.SetProperty(k2, 1.0f);
tmp = propB.GetPropertyWithDefault(k2, 3.0f);
Assert.AreEqual(tmp, 1.0f);
byte[] fakeData = SideChannelUtils.GetSideChannelMessage(dictSender);
SideChannelUtils.ProcessSideChannelData(dictReceiver, fakeData);
tmp = propA.GetPropertyWithDefault(k2, 3.0f);
Assert.AreEqual(tmp, 1.0f);
Assert.AreEqual(wasCalled, 0);
propB.SetProperty(k1, 1.0f);
Assert.AreEqual(wasCalled, 0);
fakeData = SideChannelUtils.GetSideChannelMessage(dictSender);
SideChannelUtils.ProcessSideChannelData(dictReceiver, fakeData);
Assert.AreEqual(wasCalled, 1);
var keysA = propA.ListProperties();
Assert.AreEqual(2, keysA.Count);
Assert.IsTrue(keysA.Contains(k1));
Assert.IsTrue(keysA.Contains(k2));
var keysB = propA.ListProperties();
Assert.AreEqual(2, keysB.Count);
Assert.IsTrue(keysB.Contains(k1));
Assert.IsTrue(keysB.Contains(k2));
}
public void TestFloatPropertiesSideChannel()
{
var k1 = "gravity";
var k2 = "length";
int wasCalled = 0;
var propA = new FloatPropertiesChannel();
var propB = new FloatPropertiesChannel();
var dictReceiver = new Dictionary <Guid, SideChannel> {
{ propA.ChannelId, propA }
};
var dictSender = new Dictionary <Guid, SideChannel> {
{ propB.ChannelId, propB }
};
propA.RegisterCallback(k1, f => { wasCalled++; });
var tmp = propB.GetPropertyWithDefault(k2, 3.0f);
Assert.AreEqual(tmp, 3.0f);
propB.SetProperty(k2, 1.0f);
tmp = propB.GetPropertyWithDefault(k2, 3.0f);
Assert.AreEqual(tmp, 1.0f);
byte[] fakeData = RpcCommunicator.GetSideChannelMessage(dictSender);
RpcCommunicator.ProcessSideChannelData(dictReceiver, fakeData);
tmp = propA.GetPropertyWithDefault(k2, 3.0f);
Assert.AreEqual(tmp, 1.0f);
Assert.AreEqual(wasCalled, 0);
propB.SetProperty(k1, 1.0f);
Assert.AreEqual(wasCalled, 0);
fakeData = RpcCommunicator.GetSideChannelMessage(dictSender);
RpcCommunicator.ProcessSideChannelData(dictReceiver, fakeData);
Assert.AreEqual(wasCalled, 1);
}
public void SetTargetScale()
{
var targetScale = m_ResetParams.GetPropertyWithDefault("target_scale", 1.0f);
target.transform.localScale = new Vector3(targetScale, targetScale, targetScale);
}
public void SetTorsoMass()
{
m_ChestRb.mass = m_ResetParams.GetPropertyWithDefault("chest_mass", 8);
m_SpineRb.mass = m_ResetParams.GetPropertyWithDefault("spine_mass", 10);
m_HipsRb.mass = m_ResetParams.GetPropertyWithDefault("hip_mass", 15);
}
//時間で定期的に呼ばれる。詳しいことはわかんない
void FixedUpdate()
{
curic = (int)curriculum.GetPropertyWithDefault("ChallengeComplexity", 0); //右の数字なんもわかってない
}
