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using System.Collections.Generic;
using UnityEngine;
using UnityEngine.Serialization;
using Unity.MLAgents;
namespace Unity.MLAgentsExamples
{
/// <summary>
/// Used to store relevant information for acting and learning for each body part in agent.
/// </summary>
[System.Serializable]
public class BodyPart
{
[Header("Body Part Info")][Space(10)] public ConfigurableJoint joint;
public Rigidbody rb;
[HideInInspector] public Vector3 startingPos;
[HideInInspector] public Quaternion startingRot;
[Header("Ground & Target Contact")]
[Space(10)]
public GroundContact groundContact;
public TargetContact targetContact;
[FormerlySerializedAs("thisJDController")]
[HideInInspector] public JointDriveController thisJdController;
[Header("Current Joint Settings")]
[Space(10)]
public Vector3 currentEularJointRotation;
[HideInInspector] public float currentStrength;
public float currentXNormalizedRot;
public float currentYNormalizedRot;
public float currentZNormalizedRot;
[Header("Other Debug Info")]
[Space(10)]
public Vector3 currentJointForce;
public float currentJointForceSqrMag;
public Vector3 currentJointTorque;
public float currentJointTorqueSqrMag;
public AnimationCurve jointForceCurve = new AnimationCurve();
public AnimationCurve jointTorqueCurve = new AnimationCurve();
/// <summary>
/// Reset body part to initial configuration.
/// </summary>
public void Reset(BodyPart bp)
{
bp.rb.transform.position = bp.startingPos;
bp.rb.transform.rotation = bp.startingRot;
bp.rb.velocity = Vector3.zero;
bp.rb.angularVelocity = Vector3.zero;
if (bp.groundContact)
{
bp.groundContact.touchingGround = false;
}
if (bp.targetContact)
{
bp.targetContact.touchingTarget = false;
}
}
/// <summary>
/// Apply torque according to defined goal `x, y, z` angle and force `strength`.
/// </summary>
public void SetJointTargetRotation(float x, float y, float z)
{
x = (x + 1f) * 0.5f;
y = (y + 1f) * 0.5f;
z = (z + 1f) * 0.5f;
var xRot = Mathf.Lerp(joint.lowAngularXLimit.limit, joint.highAngularXLimit.limit, x);
var yRot = Mathf.Lerp(-joint.angularYLimit.limit, joint.angularYLimit.limit, y);
var zRot = Mathf.Lerp(-joint.angularZLimit.limit, joint.angularZLimit.limit, z);
currentXNormalizedRot =
Mathf.InverseLerp(joint.lowAngularXLimit.limit, joint.highAngularXLimit.limit, xRot);
currentYNormalizedRot = Mathf.InverseLerp(-joint.angularYLimit.limit, joint.angularYLimit.limit, yRot);
currentZNormalizedRot = Mathf.InverseLerp(-joint.angularZLimit.limit, joint.angularZLimit.limit, zRot);
joint.targetRotation = Quaternion.Euler(xRot, yRot, zRot);
currentEularJointRotation = new Vector3(xRot, yRot, zRot);
}
public void SetJointStrength(float strength)
{
var rawVal = (strength + 1f) * 0.5f * thisJdController.maxJointForceLimit;
var jd = new JointDrive
{
positionSpring = thisJdController.maxJointSpring,
positionDamper = thisJdController.jointDampen,
maximumForce = rawVal
};
joint.slerpDrive = jd;
currentStrength = jd.maximumForce;
}
}
public class JointDriveController : MonoBehaviour
{
[Header("Joint Drive Settings")]
[Space(10)]
public float maxJointSpring;
public float jointDampen;
public float maxJointForceLimit;
[HideInInspector] public Dictionary<Transform, BodyPart> bodyPartsDict = new Dictionary<Transform, BodyPart>();
[HideInInspector] public List<BodyPart> bodyPartsList = new List<BodyPart>();
const float k_MaxAngularVelocity = 50.0f;
/// <summary>
/// Create BodyPart object and add it to dictionary.
/// </summary>
public void SetupBodyPart(Transform t)
{
var bp = new BodyPart
{
rb = t.GetComponent<Rigidbody>(),
joint = t.GetComponent<ConfigurableJoint>(),
startingPos = t.position,
startingRot = t.rotation
};
bp.rb.maxAngularVelocity = k_MaxAngularVelocity;
// Add & setup the ground contact script
bp.groundContact = t.GetComponent<GroundContact>();
if (!bp.groundContact)
{
bp.groundContact = t.gameObject.AddComponent<GroundContact>();
bp.groundContact.agent = gameObject.GetComponent<Agent>();
}
else
{
bp.groundContact.agent = gameObject.GetComponent<Agent>();
}
if (bp.joint)
{
var jd = new JointDrive
{
positionSpring = maxJointSpring,
positionDamper = jointDampen,
maximumForce = maxJointForceLimit
};
bp.joint.slerpDrive = jd;
}
bp.thisJdController = this;
bodyPartsDict.Add(t, bp);
bodyPartsList.Add(bp);
}
public void GetCurrentJointForces()
{
foreach (var bodyPart in bodyPartsDict.Values)
{
if (bodyPart.joint)
{
bodyPart.currentJointForce = bodyPart.joint.currentForce;
bodyPart.currentJointForceSqrMag = bodyPart.joint.currentForce.magnitude;
bodyPart.currentJointTorque = bodyPart.joint.currentTorque;
bodyPart.currentJointTorqueSqrMag = bodyPart.joint.currentTorque.magnitude;
if (Application.isEditor)
{
if (bodyPart.jointForceCurve.length > 1000)
{
bodyPart.jointForceCurve = new AnimationCurve();
}
if (bodyPart.jointTorqueCurve.length > 1000)
{
bodyPart.jointTorqueCurve = new AnimationCurve();
}
bodyPart.jointForceCurve.AddKey(Time.time, bodyPart.currentJointForceSqrMag);
bodyPart.jointTorqueCurve.AddKey(Time.time, bodyPart.currentJointTorqueSqrMag);
}
}
}
}
}
}
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