public void AddObstacle(int index)
{
if (NextDistance > path.length)
{
++cont;
NextDistance = NextDistance % path.length;
}
if (NextDistance > middle_point)
{
half = 1;
}
else
{
half = 0;
}
string name = "Obstacles" + cont + half;
GetParentObject(name);
Vector3 position = path.GetPointAtDistance(NextDistance, endOfPathInstruction);
Vector3 upward = path.GetDirectionAtDistance(NextDistance, endOfPathInstruction);
Vector3 forward = path.GetNormalAtDistance(NextDistance, endOfPathInstruction);
Quaternion rotation = Quaternion.LookRotation(forward, upward);
Instantiate(obstacles[index], position, rotation, obstacles_object.transform);
NextDistance += DistanceGap;
}
private void Update_Internal(float delta)
{
if (!stopped)
{
if (pathCreator != null)
{
path = pathCreator.path;
}
if (path == null)
{
return;
}
distanceTravelled += speed * delta;
transform.position = path.GetPointAtDistance(distanceTravelled, endOfPathInstruction);
if (updateRotation)
{
if (useDirectionToRotate)
{
var rot = path
.GetDirectionAtDistance(distanceTravelled, endOfPathInstruction).LookRotation();
rot.Set(x: 0, z: 0);
transform.rotation = rot;
}
else
{
transform.rotation = path.GetRotationAtDistance(distanceTravelled, endOfPathInstruction);
}
}
}
}
void Update()
{
_distanceTravelled += _speed * Time.deltaTime;
var travelPercent = _distanceTravelled / _path.length;
if (travelPercent > _startToFleePercent)
{
_startToFleeParticle.gameObject.SetActive(true);
}
if (travelPercent >= 1f)
{
OnDuckFlee?.Invoke(this);
_OnDuckFlee.Invoke();
Destroy(gameObject);
return;
}
transform.position = _path.GetPointAtDistance(_distanceTravelled);
var forward = _path.GetDirectionAtDistance(_distanceTravelled);
var rot = Quaternion.LookRotation(forward, Vector3.up);
transform.rotation = rot;
}
public void GenerateTube(bool file)
{
string name = "Tube";
var generated_tranform = transform.Find(name);
if (generated_tranform != null)
{
DestroyImmediate(generated_tranform.gameObject);
Debug.Log("destroyed");
}
tube = Create(name, gameObject);
Debug.Log("create tube");
PathCreator path_creator = gameObject.GetComponent <PathCreator>();
if (path_creator != null)
{
VertexPath path = path_creator.path;
/*if (file)
* {
* BezierPath bp = path_creator.LoadPath();
* path = new VertexPath(bp, transform);
* }
* else
* {
* path = path_creator.path;
* }*/
Debug.Log("got path");
for (float distance = 0; distance < path.length; distance += 0.2f)
{
Vector3 position = path.GetPointAtDistance(distance, endOfPathInstruction);
Vector3 upward = path.GetDirectionAtDistance(distance, endOfPathInstruction);
Vector3 forward = path.GetNormalAtDistance(distance, endOfPathInstruction);
Quaternion rotation = Quaternion.LookRotation(forward, upward);
Instantiate(segment, position, rotation, tube.transform);
}
}
}
//public override void CollectObservations(VectorSensor sensor)
//{
// // # Basic information
// Rigidbody rBody = GetComponent<Rigidbody>();
// // Agent positions & velocity
// sensor.AddObservation(this.transform.localPosition);
// sensor.AddObservation(rBody.velocity);
// // # Collect Path's observations
// float centerDistance = vertexPath.GetClosestDistanceAlongPath(this.transform.localPosition);
// for (int d = tickerStart; d <= tickerEnd; d++)
// {
// float distance = centerDistance + d * tickerSpace;
// Vector3 point = vertexPath.GetPointAtDistance(distance, EndOfPathInstruction.Loop);
// Vector3 normal = vertexPath.GetNormalAtDistance(distance, EndOfPathInstruction.Loop);
// AddObservationInXYZMode(sensor, point);
// AddObservationInXYZMode(sensor, normal);
// }
// // # Padding observations
// // If custom setting will have too more observations and cause the buffer overflow, We
// // must warn user (in Pyhon interface level).
// // Here we are padding the observation buffer with all zero
// int MaxObservationSize = GetComponent<BehaviorParameters>().BrainParameters.VectorObservationSize;
// for (int i = 0; i < MaxObservationSize - ObservationSize; i++)
// sensor.AddObservation(0);
//}
public override void CollectObservations(VectorSensor sensor)
{
// # Basic information
Rigidbody rBody = GetComponent <Rigidbody>();
// Agent velocity
sensor.AddObservation(this.transform.localPosition);
sensor.AddObservation(rBody.velocity);
// # Collect Path's basic information
float centerDistance = vertexPath.GetClosestDistanceAlongPath(this.transform.localPosition);
Vector3 direction = vertexPath.GetDirectionAtDistance(centerDistance);
// Check clockwise direction & determine ticker's start and end
bool clockwise = (Vector3.Dot(rBody.velocity, direction) >= 0);
int t_s = clockwise ? tickerStart : -tickerEnd;
int t_e = clockwise ? tickerEnd : -tickerStart;
// # Collect Path's observations
for (int d = t_s; d <= t_e; d++)
{
float distance = centerDistance + d * tickerSpace;
Vector3 point = vertexPath.GetPointAtDistance(distance, EndOfPathInstruction.Loop);
Vector3 normal = vertexPath.GetNormalAtDistance(distance, EndOfPathInstruction.Loop);
AddObservationInXYZMode(sensor, point - this.transform.localPosition);
AddObservationInXYZMode(sensor, normal);
}
// # Padding observations
// If custom setting will have too more observations and cause the buffer overflow, We
// must warn user (in Pyhon interface level).
// Here we are padding the observation buffer with all zero
int MaxObservationSize = GetComponent <BehaviorParameters>().BrainParameters.VectorObservationSize;
for (int i = 0; i < MaxObservationSize - ObservationSize; i++)
{
sensor.AddObservation(0);
}
}
