/// <inheritdoc />
/// <summary>
/// </summary>
/// <param name="motion"></param>
protected override void InnerApplyMotion(IMotorMotion motion)
{
foreach (var indicator in this._indicators)
{
indicator.color = this._inactive_color;
}
var index = (int)motion.Strength;
#if NEODROID_DEBUG
if (this.Debugging)
{
Debug.Log($"MultiArmedBandit got index {index}");
}
#endif
this._last_index = index;
var random_value = Random.Range(0f, 1f);
if (random_value <= this._win_likelihoods[this._last_index])
{
this._indicators[this._last_index].color = this._win_color;
this._won = true;
}
else
{
this._indicators[this._last_index].color = this._lose_color;
this._won = false;
}
}
/// <inheritdoc />
/// <summary>
/// </summary>
/// <param name="motion"></param>
/// <exception cref="T:System.ArgumentOutOfRangeException"></exception>
protected override void InnerApplyMotion(IMotorMotion motion)
{
if (this._material)
{
switch ((int)motion.Strength)
{
case 1:
this._material.color = Color.blue;
break;
case 2:
this._material.color = Color.black;
break;
case 3:
this._material.color = Color.red;
break;
case 4:
this._material.color = Color.green;
break;
default:
throw new ArgumentOutOfRangeException();
}
}
}
/// <inheritdoc />
/// <summary>
/// </summary>
/// <param name="motion"></param>
protected override void InnerApplyMotion(IMotorMotion motion)
{
if (motion.MotorName == this._x)
{
this.transform.Translate(Vector3.left * motion.Strength, this._Relative_To);
}
else if (motion.MotorName == this._y)
{
this.transform.Translate(-Vector3.up * motion.Strength, this._Relative_To);
}
else if (motion.MotorName == this._z)
{
this.transform.Translate(-Vector3.forward * motion.Strength, this._Relative_To);
}
else if (motion.MotorName == this._rot_x)
{
this.transform.Rotate(Vector3.left, motion.Strength, this._Relative_To);
}
else if (motion.MotorName == this._rot_y)
{
this.transform.Rotate(Vector3.up, motion.Strength, this._Relative_To);
}
else if (motion.MotorName == this._rot_z)
{
this.transform.Rotate(Vector3.forward, motion.Strength, this._Relative_To);
}
}
/// <inheritdoc />
/// <summary>
/// </summary>
/// <param name="motion"></param>
protected override void InnerApplyMotion(IMotorMotion motion)
{
if (motion.MotorName == this._movement)
{
this.ApplyMovement(motion.Strength);
}
else if (motion.MotorName == this._turn)
{
this.ApplyRotation(motion.Strength);
}
}
static IMotorMotion[] deserialise_motions(FReaction reaction)
{
var l = reaction.MotionsLength;
var motions = new IMotorMotion[l];
for (var i = 0; i < l; i++)
{
motions[i] = deserialise_motion(reaction.Motions(i));
}
return(motions);
}
protected override void InnerApplyMotion(IMotorMotion motion)
{
var layer_mask = 1 << LayerMask.NameToLayer(this._Layer_Mask);
var vec = Vector3.zero;
switch (this._Axis_Of_Motion)
{
case Axis.X_: // Translational
vec = Vector3.right * motion.Strength;
break;
case Axis.Y_: // Translational
vec = -Vector3.up * motion.Strength;
break;
case Axis.Z_: // Translational
vec = -Vector3.forward * motion.Strength;
break;
case Axis.Rot_x_: // Rotational
this.transform.Rotate(Vector3.left, motion.Strength, this._Relative_To);
break;
case Axis.Rot_y_: // Rotational
this.transform.Rotate(Vector3.up, motion.Strength, this._Relative_To);
break;
case Axis.Rot_z_: // Rotational
this.transform.Rotate(Vector3.forward, motion.Strength, this._Relative_To);
break;
case Axis.Dir_x_: break;
case Axis.Dir_y_: break;
case Axis.Dir_z_: break;
default: throw new ArgumentOutOfRangeException();
}
if (this._No_Collisions)
{
if (!Physics.Raycast(this.transform.position, vec, Mathf.Abs(motion.Strength), layer_mask))
{
this.transform.Translate(vec, this._Relative_To);
}
}
else
{
this.transform.Translate(vec, this._Relative_To);
}
}
public override void ApplyMotion(IMotorMotion motion)
{
if (this._is_alive)
{
base.ApplyMotion(motion);
}
else
{
#if NEODROID_DEBUG
if (this.Debugging)
{
Debug.Log("Actor is dead, cannot apply motion");
}
#endif
}
}
protected override void InnerApplyMotion(IMotorMotion motion)
{
var layer_mask = 1 << LayerMask.NameToLayer(this._Layer_Mask);
Vector3 vec;
switch ((int)motion.Strength)
{
case 1:
vec = Vector3.forward;
break;
case 2:
vec = Vector3.back;
break;
case 3:
vec = Vector3.left;
break;
case 4:
vec = Vector3.right;
break;
default:
throw new ArgumentOutOfRangeException();
}
if (this._No_Collisions)
{
if (!Physics.Raycast(this.transform.position, vec, Mathf.Abs(motion.Strength), layer_mask))
{
this.transform.Translate(vec, this._Relative_To);
}
}
else
{
this.transform.Translate(vec, this._Relative_To);
}
}
/// <summary>
///
/// </summary>
/// <param name="motion"></param>
public void ApplyMotion(IMotorMotion motion)
{
#if NEODROID_DEBUG
if (this.Debugging)
{
Debug.Log("Applying " + motion + " To " + this.name);
}
#endif
if (motion.Strength < this.MotionValueSpace._Min_Value ||
motion.Strength > this.MotionValueSpace._Max_Value)
{
Debug.LogWarning(
$"It does not accept input {motion.Strength}, outside the allowed range from {this.MotionValueSpace._Min_Value} to {this.MotionValueSpace._Max_Value}");
return; // Do nothing
}
motion.Strength = this._motion_value_space.Round(motion.Strength);
this.InnerApplyMotion(motion);
this.EnergySpendSinceReset += Mathf.Abs(this.EnergyCost * motion.Strength);
}
/// <summary>
/// </summary>
/// <param name="motion"></param>
public virtual void ApplyMotion(IMotorMotion motion)
{
#if NEODROID_DEBUG
if (this.Debugging)
{
Debug.Log("Applying " + motion + " To " + this.name + "'s motors");
}
#endif
var motion_motor_name = motion.MotorName;
if (this._Motors.ContainsKey(motion_motor_name) && this._Motors[motion_motor_name] != null)
{
this._Motors[motion_motor_name].ApplyMotion(motion);
}
else
{
#if NEODROID_DEBUG
if (this.Debugging)
{
Debug.Log("Could find not motor with the specified name: " + motion_motor_name);
}
#endif
}
}
/// <inheritdoc />
/// <summary>
/// </summary>
/// <param name="motion"></param>
protected override void InnerApplyMotion(IMotorMotion motion)
{
if (motion.Strength < this.MotionValueSpace._Min_Value ||
motion.Strength > this.MotionValueSpace._Max_Value)
{
Debug.Log(
$"It does not accept input {motion.Strength}, outside allowed range {this.MotionValueSpace._Min_Value} to {this.MotionValueSpace._Max_Value}");
return; // Do nothing
}
switch (this._Axis_Of_Motion)
{
case Axis.X_:
if (this._Relative_To == Space.World)
{
this._Rigidbody.AddForce(Vector3.left * motion.Strength);
}
else
{
this._Rigidbody.AddRelativeForce(Vector3.left * motion.Strength);
}
break;
case Axis.Y_:
if (this._Relative_To == Space.World)
{
this._Rigidbody.AddForce(Vector3.up * motion.Strength);
}
else
{
this._Rigidbody.AddRelativeForce(Vector3.up * motion.Strength);
}
break;
case Axis.Z_:
if (this._Relative_To == Space.World)
{
this._Rigidbody.AddForce(Vector3.forward * motion.Strength);
}
else
{
this._Rigidbody.AddRelativeForce(Vector3.forward * motion.Strength);
}
break;
case Axis.Rot_x_:
if (this._Relative_To == Space.World)
{
this._Rigidbody.AddTorque(Vector3.left * motion.Strength);
}
else
{
this._Rigidbody.AddRelativeTorque(Vector3.left * motion.Strength);
}
break;
case Axis.Rot_y_:
if (this._Relative_To == Space.World)
{
this._Rigidbody.AddTorque(Vector3.up * motion.Strength);
}
else
{
this._Rigidbody.AddRelativeTorque(Vector3.up * motion.Strength);
}
break;
case Axis.Rot_z_:
if (this._Relative_To == Space.World)
{
this._Rigidbody.AddTorque(Vector3.forward * motion.Strength);
}
else
{
this._Rigidbody.AddRelativeTorque(Vector3.forward * motion.Strength);
}
break;
case Axis.Dir_x_: break;
case Axis.Dir_y_: break;
case Axis.Dir_z_: break;
default: throw new ArgumentOutOfRangeException();
}
this._fired_this_step = true;
}
/// <summary>
///
/// </summary>
/// <param name="motion"></param>
protected override void InnerApplyMotion(IMotorMotion motion)
{
if (this._Relative_To == Space.World)
{
if (motion.MotorName == this._x)
{
this._Rigidbody.AddForce(Vector3.left * motion.Strength, this._ForceMode);
}
else if (motion.MotorName == this._y)
{
this._Rigidbody.AddForce(Vector3.up * motion.Strength, this._ForceMode);
}
else if (motion.MotorName == this._z)
{
this._Rigidbody.AddForce(Vector3.forward * motion.Strength, this._ForceMode);
}
else if (motion.MotorName == this._rot_x)
{
this._Rigidbody.AddTorque(Vector3.left * motion.Strength, this._ForceMode);
}
else if (motion.MotorName == this._rot_y)
{
this._Rigidbody.AddTorque(Vector3.up * motion.Strength, this._ForceMode);
}
else if (motion.MotorName == this._rot_z)
{
this._Rigidbody.AddTorque(Vector3.forward * motion.Strength, this._ForceMode);
}
}
else if (this._Relative_To == Space.Self)
{
if (motion.MotorName == this._x)
{
this._Rigidbody.AddRelativeForce(Vector3.left * motion.Strength, this._ForceMode);
}
else if (motion.MotorName == this._y)
{
this._Rigidbody.AddRelativeForce(Vector3.up * motion.Strength, this._ForceMode);
}
else if (motion.MotorName == this._z)
{
this._Rigidbody.AddRelativeForce(Vector3.forward * motion.Strength, this._ForceMode);
}
else if (motion.MotorName == this._rot_x)
{
this._Rigidbody.AddRelativeTorque(Vector3.left * motion.Strength, this._ForceMode);
}
else if (motion.MotorName == this._rot_y)
{
this._Rigidbody.AddRelativeTorque(Vector3.up * motion.Strength, this._ForceMode);
}
else if (motion.MotorName == this._rot_z)
{
this._Rigidbody.AddRelativeTorque(Vector3.forward * motion.Strength, this._ForceMode);
}
}
else
{
Debug.LogWarning($"Not applying force in space {this._Relative_To}");
}
}
/// <inheritdoc />
/// <summary>
/// </summary>
protected override void InnerApplyMotion(IMotorMotion motion)
{
this._wheel_collider.motorTorque = motion.Strength;
}
/// <summary>
/// </summary>
/// <param name="motion"></param>
protected override void InnerApplyMotion(IMotorMotion motion)
{
if (!this._Angular_Motors)
{
if (motion.MotorName == this._x)
{
if (this._Relative_To == Space.World)
{
this._Rigidbody.AddForce(Vector3.left * motion.Strength, this._ForceMode);
}
else
{
this._Rigidbody.AddRelativeForce(Vector3.left * motion.Strength, this._ForceMode);
}
}
else if (motion.MotorName == this._y)
{
if (this._Relative_To == Space.World)
{
this._Rigidbody.AddForce(Vector3.up * motion.Strength, this._ForceMode);
}
else
{
this._Rigidbody.AddRelativeForce(Vector3.up * motion.Strength, this._ForceMode);
}
}
else if (motion.MotorName == this._z)
{
if (this._Relative_To == Space.World)
{
this._Rigidbody.AddForce(Vector3.forward * motion.Strength, this._ForceMode);
}
else
{
this._Rigidbody.AddRelativeForce(Vector3.forward * motion.Strength, this._ForceMode);
}
}
}
else
{
if (motion.MotorName == this._x)
{
if (this._Relative_To == Space.World)
{
this._Rigidbody.AddTorque(Vector3.left * motion.Strength, this._ForceMode);
}
else
{
this._Rigidbody.AddRelativeTorque(Vector3.left * motion.Strength, this._ForceMode);
}
}
else if (motion.MotorName == this._y)
{
if (this._Relative_To == Space.World)
{
this._Rigidbody.AddTorque(Vector3.up * motion.Strength, this._ForceMode);
}
else
{
this._Rigidbody.AddRelativeTorque(Vector3.up * motion.Strength, this._ForceMode);
}
}
else if (motion.MotorName == this._z)
{
if (this._Relative_To == Space.World)
{
this._Rigidbody.AddTorque(Vector3.forward * motion.Strength, this._ForceMode);
}
else
{
this._Rigidbody.AddRelativeTorque(Vector3.forward * motion.Strength, this._ForceMode);
}
}
}
}
/// <summary> /// /// </summary> /// <param name="motion"></param> protected abstract void InnerApplyMotion(IMotorMotion motion);
/// <summary>
/// </summary>
/// <param name="motion"></param>
/// <exception cref="ArgumentOutOfRangeException"></exception>
protected override void InnerApplyMotion(IMotorMotion motion)
{
switch (this._Axis_Of_Motion)
{
case Axis.X_:
if (this._Relative_To == Space.World)
{
this._Rigidbody.AddForce(Vector3.left * motion.Strength, this._ForceMode);
}
else
{
this._Rigidbody.AddRelativeForce(Vector3.left * motion.Strength, this._ForceMode);
}
break;
case Axis.Y_:
if (this._Relative_To == Space.World)
{
this._Rigidbody.AddForce(Vector3.up * motion.Strength, this._ForceMode);
}
else
{
this._Rigidbody.AddRelativeForce(Vector3.up * motion.Strength, this._ForceMode);
}
break;
case Axis.Z_:
if (this._Relative_To == Space.World)
{
this._Rigidbody.AddForce(Vector3.forward * motion.Strength, this._ForceMode);
}
else
{
this._Rigidbody.AddRelativeForce(Vector3.forward * motion.Strength, this._ForceMode);
}
break;
case Axis.Rot_x_:
if (this._Relative_To == Space.World)
{
this._Rigidbody.AddTorque(Vector3.left * motion.Strength, this._ForceMode);
}
else
{
this._Rigidbody.AddRelativeTorque(Vector3.left * motion.Strength, this._ForceMode);
}
break;
case Axis.Rot_y_:
if (this._Relative_To == Space.World)
{
this._Rigidbody.AddTorque(Vector3.up * motion.Strength, this._ForceMode);
}
else
{
this._Rigidbody.AddRelativeTorque(Vector3.up * motion.Strength, this._ForceMode);
}
break;
case Axis.Rot_z_:
if (this._Relative_To == Space.World)
{
this._Rigidbody.AddTorque(Vector3.forward * motion.Strength, this._ForceMode);
}
else
{
this._Rigidbody.AddRelativeTorque(Vector3.forward * motion.Strength, this._ForceMode);
}
break;
case Axis.Dir_x_: break;
case Axis.Dir_y_: break;
case Axis.Dir_z_: break;
default:
throw new ArgumentOutOfRangeException();
}
}
/// <summary>
/// </summary>
/// <param name="motion"></param>
protected override void InnerApplyMotion(IMotorMotion motion)
{
var layer_mask = 1 << LayerMask.NameToLayer(this._Layer_Mask);
if (!this._Rotational_Motors)
{
if (motion.MotorName == this._x)
{
var vec = Vector3.right * motion.Strength;
if (this._No_Collisions)
{
if (!Physics.Raycast(this.transform.position, vec, Mathf.Abs(motion.Strength), layer_mask))
{
this.transform.Translate(vec, this._Relative_To);
}
}
else
{
this.transform.Translate(vec, this._Relative_To);
}
}
else if (motion.MotorName == this._y)
{
var vec = -Vector3.up * motion.Strength;
if (this._No_Collisions)
{
if (!Physics.Raycast(this.transform.position, vec, Mathf.Abs(motion.Strength), layer_mask))
{
this.transform.Translate(vec, this._Relative_To);
}
}
else
{
this.transform.Translate(vec, this._Relative_To);
}
}
else if (motion.MotorName == this._z)
{
var vec = -Vector3.forward * motion.Strength;
if (this._No_Collisions)
{
if (!Physics.Raycast(this.transform.position, vec, Mathf.Abs(motion.Strength), layer_mask))
{
this.transform.Translate(vec, this._Relative_To);
}
}
else
{
this.transform.Translate(vec, this._Relative_To);
}
}
}
else
{
if (motion.MotorName == this._x)
{
this.transform.Rotate(Vector3.left, motion.Strength, this._Relative_To);
}
else if (motion.MotorName == this._y)
{
this.transform.Rotate(Vector3.up, motion.Strength, this._Relative_To);
}
else if (motion.MotorName == this._z)
{
this.transform.Rotate(Vector3.forward, motion.Strength, this._Relative_To);
}
}
}
