public Skeleton ToNetworkModel()
{
Skeleton s = new Skeleton();
s.UserId = UserId;
s.BodyLocation = BodyLocation.ToCoord();
s.BodyRotation = BodyRotation.ToCoord();
s.Head = Head.ToCoord();
s.Neck = Neck.ToCoord();
s.Spine = Spine.ToCoord();
s.Hips = Hips.ToCoord();
s.LeftShoulder = LeftShoulder.ToCoord();
s.LeftArm = LeftArm.ToCoord();
s.LeftHand = LeftHand.ToCoord();
s.RightShoulder = RightShoulder.ToCoord();
s.RightArm = RightArm.ToCoord();
s.RightHand = RightHand.ToCoord();
s.LeftKnee = LeftKnee.ToCoord();
s.LeftFoot = LeftFoot.ToCoord();
s.RightKnee = RightKnee.ToCoord();
s.RightFoot = RightFoot.ToCoord();
return(s);
}
void Update()
{
//if (transform.rotation.eulerAngles.z > 90 && transform.rotation.eulerAngles.z < 270) Kill();
//if (transform.position.x < -0.2f)
//{
// net.SetFitness(-999);
// net.SetTimeAlive(-999);
// Kill();
//}
if (dontReward)
{
return;
}
if (netInitalized && manager.Countdown > 0)
{
if (_shouldPunish < 0)
{
_shouldPunish = 0;
}
float[] inputs =
{
HeadTransform.rotation.z,
LeftArmTransform.rotation.z,
RightArmTransform.rotation.z,
LeftLegTransform.rotation.z,
LeftFootTransform.rotation.z,
RightLegTransform.rotation.z,
RightFootTransform.rotation.z,
_shouldPunish > 0f ? 100f : 0f,
transform.position.x,
Chest.transform.rotation.z,
Chest.velocity.x,
Chest.velocity.y,
LeftLeg.velocity.x,
LeftLeg.velocity.y,
LeftLeg.angularVelocity,
LeftFoot.velocity.x,
LeftFoot.velocity.y,
LeftFoot.angularVelocity,
RightLeg.velocity.x,
RightLeg.velocity.y,
RightLeg.angularVelocity,
RightFoot.velocity.x,
RightFoot.velocity.y,
RightFoot.angularVelocity,
Vector2.Distance(new Vector2(transform.position.x, 0), new Vector2(WoD.Pos, 0))
};
float[] neurons = net.FeedForward(inputs);
//HeadTransform.Rotate(Vector3.forward , neurons[(int)Neuron.Head]);
//LeftArmTransform.Rotate(Vector3.forward , neurons[(int)Neuron.LeftArm]);
//RightArmTransform.Rotate(Vector3.forward , neurons[(int)Neuron.RightArm]);
//LeftLegTransform.Rotate(Vector3.forward , neurons[(int)Neuron.LeftLeg]);
//LeftFootTransform.Rotate(Vector3.forward , neurons[(int)Neuron.LeftFoot]);
//RightLegTransform.Rotate(Vector3.forward , neurons[(int)Neuron.RightLeg]);
//RightFootTransform.Rotate(Vector3.forward , neurons[(int)Neuron.RightFoot]);
//ChestTransform.Rotate(Vector3.forward , neurons[(int)Neuron.Torso]);
Head.AddTorque(neurons[(int)Neuron.Head] * 5f, ForceMode2D.Force);
LeftArm.AddTorque(neurons[(int)Neuron.LeftArm] * 5f, ForceMode2D.Force);
RightArm.AddTorque(neurons[(int)Neuron.RightArm] * 5f, ForceMode2D.Force);
LeftLeg.AddTorque(neurons[(int)Neuron.LeftLeg] * 20f, ForceMode2D.Force);
LeftFoot.AddTorque(neurons[(int)Neuron.LeftFoot] * 20f, ForceMode2D.Force);
RightLeg.AddTorque(neurons[(int)Neuron.RightLeg] * 20f, ForceMode2D.Force);
RightFoot.AddTorque(neurons[(int)Neuron.RightFoot] * 20f, ForceMode2D.Force);
Chest.AddTorque(neurons[(int)Neuron.Torso] * 5f, ForceMode2D.Force);
if (_shouldPunish > 0)
{
if (killTimerValue > 0)
{
killTimerValue -= Time.deltaTime;
}
else
{
Kill();
}
}
else
{
net.SetFitness(transform.position.x * 2);
killTimerValue = killTimer;
}
net.SetTimeAlive(timeAlive);
currentScore = net.GetFitness();
lastPosition = transform.position.x;
if (WoD.Pos >= transform.position.x)
{
Kill();
}
}
timeAlive += Time.deltaTime;
}
/// <summary>
/// Alternates stepping forward with either leg in order to "walk" properly
/// </summary>
void WalkCycle()
{
JointMotor2D rightMotor = RightLeg.motor;
JointMotor2D leftMotor = LeftLeg.motor;
RightFoot.rotation = Quaternion.Euler(Vector2.down);
LeftFoot.rotation = Quaternion.Euler(Vector2.down);
Rigidbody2D rightRb = RightFoot.GetComponent <Rigidbody2D>();
Rigidbody2D leftRb = LeftFoot.GetComponent <Rigidbody2D>();
float moveInput;
if (playerInt == 1)//added by kate (:
{
//will be -1, 1 or 0
moveInput = Input.GetAxisRaw("P1Horizontal");
if (Input.GetKey(KeyCode.D))
{
moveInput = 1;
}
else if (Input.GetKey(KeyCode.A))
{
moveInput = -1;
}
}
else
{
moveInput = Input.GetAxisRaw("P2Horizontal");
if (Input.GetKey(KeyCode.L))
{
moveInput = 1;
}
else if (Input.GetKey(KeyCode.J))
{
moveInput = -1;
}
}
if (moveInput > 0)
{
if (!reverseStep)
{
// Debug.Log(footStartXRight - RightFoot.transform.localPosition.x);
if (footStartXRight - RightFoot.transform.localPosition.x < DistanceFromStraight)
{
leftMotor.motorSpeed = LegMotorSpeed;
LeftLeg.motor = leftMotor;
LeftLeg.useMotor = true;
RightLeg.useMotor = false;
rightRb.velocity = new Vector2(Mathf.Lerp(rightRb.velocity.x, MoveSpeed * 4, 0.1f), rightRb.velocity.y);
}
else if (footStartXRight - RightFoot.transform.localPosition.x >= DistanceFromStraight)
{
reverseStep = true;
rightMotor.motorSpeed = LegMotorSpeed;
RightLeg.motor = rightMotor;
RightLeg.useMotor = true;
LeftLeg.useMotor = false;
}
}
else if (reverseStep)
{
if (footStartXLeft - LeftFoot.transform.localPosition.x < DistanceFromStraight)
{
leftRb.velocity = new Vector2(Mathf.Lerp(leftRb.velocity.x, MoveSpeed * 4, 0.1f), leftRb.velocity.y);
}
else if (footStartXLeft - LeftFoot.transform.localPosition.x >= DistanceFromStraight)
{
reverseStep = false;
leftMotor.motorSpeed = LegMotorSpeed;
LeftLeg.motor = leftMotor;
LeftLeg.useMotor = true;
RightLeg.useMotor = false;
}
}
}
else if (moveInput < 0)
{
if (reverseStep)
{
// Debug.Log(footStartXRight - RightFoot.transform.localPosition.x);
if (footStartXRight - RightFoot.transform.localPosition.x > -DistanceFromStraight)
{
rightRb.velocity = new Vector2(Mathf.Lerp(rightRb.velocity.x, -MoveSpeed * 4, 0.1f), rightRb.velocity.y);
}
else if (footStartXRight - RightFoot.transform.localPosition.x <= -DistanceFromStraight)
{
reverseStep = false;
rightMotor.motorSpeed = -LegMotorSpeed;
RightLeg.motor = rightMotor;
RightLeg.useMotor = true;
LeftLeg.useMotor = false;
}
}
else if (!reverseStep)
{
// Debug.Log(footStartXRight - LeftFoot.transform.localPosition.x);
if (footStartXLeft - LeftFoot.transform.localPosition.x > -DistanceFromStraight)
{
rightMotor.motorSpeed = -LegMotorSpeed;
RightLeg.motor = rightMotor;
RightLeg.useMotor = true;
LeftLeg.useMotor = false;
leftRb.velocity = new Vector2(Mathf.Lerp(leftRb.velocity.x, -MoveSpeed * 4, 0.1f), leftRb.velocity.y);
}
else if (footStartXLeft - LeftFoot.transform.localPosition.x <= -DistanceFromStraight)
{
reverseStep = true;
leftMotor.motorSpeed = -LegMotorSpeed;
LeftLeg.motor = leftMotor;
LeftLeg.useMotor = true;
RightLeg.useMotor = false;
}
}
}
else
{
RightLeg.useMotor = true;
LeftLeg.useMotor = true;
rightMotor.motorSpeed = 0;
RightLeg.motor = rightMotor;
leftMotor.motorSpeed = 0;
LeftLeg.motor = leftMotor;
// LeftLeg.useMotor = false;
reverseStep = false;
}
}
public void MergeFrom(Skeleton other)
{
if (other == null)
{
return;
}
if (other.UserId != 0UL)
{
UserId = other.UserId;
}
if (other.bodyLocation_ != null)
{
if (bodyLocation_ == null)
{
bodyLocation_ = new global::VrLifeShared.Networking.NetworkingModels.Coord();
}
BodyLocation.MergeFrom(other.BodyLocation);
}
if (other.bodyRotation_ != null)
{
if (bodyRotation_ == null)
{
bodyRotation_ = new global::VrLifeShared.Networking.NetworkingModels.Coord();
}
BodyRotation.MergeFrom(other.BodyRotation);
}
if (other.head_ != null)
{
if (head_ == null)
{
head_ = new global::VrLifeShared.Networking.NetworkingModels.Coord();
}
Head.MergeFrom(other.Head);
}
if (other.neck_ != null)
{
if (neck_ == null)
{
neck_ = new global::VrLifeShared.Networking.NetworkingModels.Coord();
}
Neck.MergeFrom(other.Neck);
}
if (other.spine_ != null)
{
if (spine_ == null)
{
spine_ = new global::VrLifeShared.Networking.NetworkingModels.Coord();
}
Spine.MergeFrom(other.Spine);
}
if (other.hips_ != null)
{
if (hips_ == null)
{
hips_ = new global::VrLifeShared.Networking.NetworkingModels.Coord();
}
Hips.MergeFrom(other.Hips);
}
if (other.leftShoulder_ != null)
{
if (leftShoulder_ == null)
{
leftShoulder_ = new global::VrLifeShared.Networking.NetworkingModels.Coord();
}
LeftShoulder.MergeFrom(other.LeftShoulder);
}
if (other.leftArm_ != null)
{
if (leftArm_ == null)
{
leftArm_ = new global::VrLifeShared.Networking.NetworkingModels.Coord();
}
LeftArm.MergeFrom(other.LeftArm);
}
if (other.leftHand_ != null)
{
if (leftHand_ == null)
{
leftHand_ = new global::VrLifeShared.Networking.NetworkingModels.Coord();
}
LeftHand.MergeFrom(other.LeftHand);
}
if (other.rightShoulder_ != null)
{
if (rightShoulder_ == null)
{
rightShoulder_ = new global::VrLifeShared.Networking.NetworkingModels.Coord();
}
RightShoulder.MergeFrom(other.RightShoulder);
}
if (other.rightArm_ != null)
{
if (rightArm_ == null)
{
rightArm_ = new global::VrLifeShared.Networking.NetworkingModels.Coord();
}
RightArm.MergeFrom(other.RightArm);
}
if (other.rightHand_ != null)
{
if (rightHand_ == null)
{
rightHand_ = new global::VrLifeShared.Networking.NetworkingModels.Coord();
}
RightHand.MergeFrom(other.RightHand);
}
if (other.leftKnee_ != null)
{
if (leftKnee_ == null)
{
leftKnee_ = new global::VrLifeShared.Networking.NetworkingModels.Coord();
}
LeftKnee.MergeFrom(other.LeftKnee);
}
if (other.leftFoot_ != null)
{
if (leftFoot_ == null)
{
leftFoot_ = new global::VrLifeShared.Networking.NetworkingModels.Coord();
}
LeftFoot.MergeFrom(other.LeftFoot);
}
if (other.rightKnee_ != null)
{
if (rightKnee_ == null)
{
rightKnee_ = new global::VrLifeShared.Networking.NetworkingModels.Coord();
}
RightKnee.MergeFrom(other.RightKnee);
}
if (other.rightFoot_ != null)
{
if (rightFoot_ == null)
{
rightFoot_ = new global::VrLifeShared.Networking.NetworkingModels.Coord();
}
RightFoot.MergeFrom(other.RightFoot);
}
}
public override int GetHashCode()
{
int hash = 1;
if (UserId != 0UL)
{
hash ^= UserId.GetHashCode();
}
if (bodyLocation_ != null)
{
hash ^= BodyLocation.GetHashCode();
}
if (bodyRotation_ != null)
{
hash ^= BodyRotation.GetHashCode();
}
if (head_ != null)
{
hash ^= Head.GetHashCode();
}
if (neck_ != null)
{
hash ^= Neck.GetHashCode();
}
if (spine_ != null)
{
hash ^= Spine.GetHashCode();
}
if (hips_ != null)
{
hash ^= Hips.GetHashCode();
}
if (leftShoulder_ != null)
{
hash ^= LeftShoulder.GetHashCode();
}
if (leftArm_ != null)
{
hash ^= LeftArm.GetHashCode();
}
if (leftHand_ != null)
{
hash ^= LeftHand.GetHashCode();
}
if (rightShoulder_ != null)
{
hash ^= RightShoulder.GetHashCode();
}
if (rightArm_ != null)
{
hash ^= RightArm.GetHashCode();
}
if (rightHand_ != null)
{
hash ^= RightHand.GetHashCode();
}
if (leftKnee_ != null)
{
hash ^= LeftKnee.GetHashCode();
}
if (leftFoot_ != null)
{
hash ^= LeftFoot.GetHashCode();
}
if (rightKnee_ != null)
{
hash ^= RightKnee.GetHashCode();
}
if (rightFoot_ != null)
{
hash ^= RightFoot.GetHashCode();
}
return(hash);
}
public void setHero_LeftFoot(LeftFoot hero_LeftFoot)
{
this.hero_LeftFoot = hero_LeftFoot;
}