From 68fab39633863ae3713b6c92bc7d26bffefbf131 Mon Sep 17 00:00:00 2001 From: Cailean Finn Date: Mon, 26 Feb 2024 16:10:28 +0000 Subject: [PATCH] getup model implemented, banana, treadmill --- Assets/1_House/Sections/Banana.meta | 8 + Assets/1_House/Sections/Banana/Banana.prefab | 169 +++++ .../Sections/Banana/Banana.prefab.meta | 7 + ..._SpotMini-House_2023.blend_Dupli_68.prefab | 214 ++++++- Assets/2_Chair/Chair.prefab | 4 +- .../Ikea Tray.physicMaterial | 14 + .../Ikea Tray.physicMaterial.meta | 8 + Assets/6_Scenes/Beep.unity | 595 +++++++++++++----- Assets/7_Scripts/Agent/Walker.cs | 7 +- Assets/7_Scripts/Interactable Items.meta | 8 + .../Interactable Items/GroundManager.cs | 115 ++++ .../Interactable Items/GroundManager.cs.meta | 2 + .../Interactable Items/OnChairContact.cs | 105 ++++ .../Interactable Items/OnChairContact.cs.meta | 2 + .../7_Scripts/Interactable Items/Treadmill.cs | 41 ++ .../Interactable Items/Treadmill.cs.meta | 2 + Assets/7_Scripts/Model Swapping/ModelSwap.cs | 14 +- Assets/ML-Agents/Timers/Beep_timers.json | 2 +- 18 files changed, 1132 insertions(+), 185 deletions(-) create mode 100644 Assets/1_House/Sections/Banana.meta create mode 100644 Assets/1_House/Sections/Banana/Banana.prefab create mode 100644 Assets/1_House/Sections/Banana/Banana.prefab.meta create mode 100644 Assets/3_Materials/Physics Materials/Ikea Tray.physicMaterial create mode 100644 Assets/3_Materials/Physics Materials/Ikea Tray.physicMaterial.meta create mode 100644 Assets/7_Scripts/Interactable Items.meta create mode 100644 Assets/7_Scripts/Interactable Items/GroundManager.cs create mode 100644 Assets/7_Scripts/Interactable Items/GroundManager.cs.meta create mode 100644 Assets/7_Scripts/Interactable Items/OnChairContact.cs create mode 100644 Assets/7_Scripts/Interactable Items/OnChairContact.cs.meta create mode 100644 Assets/7_Scripts/Interactable Items/Treadmill.cs create mode 100644 Assets/7_Scripts/Interactable Items/Treadmill.cs.meta diff --git 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y: 0, z: 0} --- !u!1 &8171504582502210358 GameObject: m_ObjectHideFlags: 0 @@ -16725,3 +16978,5 @@ SceneRoots: - {fileID: 479999559} - {fileID: 1956142037} - {fileID: 1518800082} + - {fileID: 955235047} + - {fileID: 1633830349} diff --git a/Assets/7_Scripts/Agent/Walker.cs b/Assets/7_Scripts/Agent/Walker.cs index 74c3d14..de5dfd6 100644 --- a/Assets/7_Scripts/Agent/Walker.cs +++ b/Assets/7_Scripts/Agent/Walker.cs @@ -166,7 +166,7 @@ public class Walker : Agent // Check if model swapper is enabled, and set model if so if (m_ModelSwap) { - m_ModelSwapper.SwitchModel("Walker", this); + m_ModelSwapper.SetInitialModel(); } m_LastXPosition = (int)GetAverageXPositionFeet(); @@ -391,17 +391,18 @@ public class Walker : Agent // If on, check its rotation, and if certain parts are touching the floor Vector2 deltaAngle = GetAngleDeltaXZ(); - if ((deltaAngle.y < 0.5 || deltaAngle.x < 0.5) && !m_FinishedSwap) + if ((deltaAngle.y < 0.3 || deltaAngle.x < 0.3) && !m_FinishedSwap) { // Swap Model m_FinishedSwap = true; + m_ModelSwapper.m_PastModel = m_ModelSwapper.m_currentModelName; m_ModelSwapper.SwitchModel("Getup", this); } else if (deltaAngle.y > 0.8 && deltaAngle.x > 0.8 && m_FinishedSwap) { // Swap to Original Model m_FinishedSwap = false; - m_ModelSwapper.SwitchModel("Walker", this); + m_ModelSwapper.SwitchModel(m_ModelSwapper.m_PastModel, this); } } diff --git a/Assets/7_Scripts/Interactable Items.meta b/Assets/7_Scripts/Interactable Items.meta new file mode 100644 index 0000000..5675f32 --- /dev/null +++ b/Assets/7_Scripts/Interactable Items.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 3a9904a2493a1464e935a38490221bc6 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/7_Scripts/Interactable Items/GroundManager.cs b/Assets/7_Scripts/Interactable Items/GroundManager.cs new file mode 100644 index 0000000..bb1466d --- /dev/null +++ b/Assets/7_Scripts/Interactable Items/GroundManager.cs @@ -0,0 +1,115 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public class GroundManager : MonoBehaviour +{ + public PhysicMaterial m_Floor; + public PhysicMaterial m_Agent; + public float m_Timer; + public float m_TimerTray; + public bool m_HasChanged; + + // Start is called before the first frame update + private void OnEnable() + { + m_Timer = 5f; + m_HasChanged = false; + m_Floor.staticFriction = 1000f; + m_Floor.dynamicFriction = 1000f; + m_Agent.staticFriction = 2f; + m_Agent.dynamicFriction = 2f; + } + + void Start() + { + if (m_Floor == null || m_Agent == null) + Debug.Log($"Physics Material of Floor/Agent was never set in FloorManager"); + } + + public void ActivateSlipperySurface() + { + if (!m_HasChanged) + Debug.Log($"Starting Cortouine on Banana for {m_Timer} seconds."); + StartCoroutine(ChangeSurface()); + } + + public void ActivateSlipperyChair() + { + if (!m_HasChanged) + Debug.Log($"Starting Cortouine on Chair for {m_Timer} seconds."); + StartCoroutine(ChangeChair()); + } + + public void ActivateSlipperyTray() + { + if (!m_HasChanged) + Debug.Log($"Starting Cortouine on Tray for {m_TimerTray} seconds."); + StartCoroutine(IkeaTrayAttach()); + } + + IEnumerator ChangeSurface() + { + + m_HasChanged = true; + + m_Floor.staticFriction = 0f; + m_Floor.dynamicFriction = 0f; + + m_Agent.staticFriction = 0f; + m_Agent.dynamicFriction = 0f; + + yield return new WaitForSeconds(m_Timer); + + m_Floor.staticFriction = 1000f; + m_Floor.dynamicFriction = 1000f; + + m_Agent.staticFriction = 2f; + m_Agent.dynamicFriction = 2f; + + m_HasChanged = false; + Debug.Log($"Coroutine has ended for Banana"); + } + + IEnumerator ChangeChair() + { + + m_HasChanged = true; + + + + yield return new WaitForSeconds(m_Timer / 2); + + m_Agent.staticFriction = 0f; + m_Agent.dynamicFriction = 0f; + + yield return new WaitForSeconds(m_Timer / 2); + + m_Agent.staticFriction = 2f; + m_Agent.dynamicFriction = 2f; + + m_HasChanged = false; + Debug.Log($"Coroutine has ended for Banana"); + } + + IEnumerator IkeaTrayAttach() + { + m_HasChanged = true; + + m_Floor.staticFriction = 0f; + m_Floor.dynamicFriction = 0f; + + m_Agent.staticFriction = 0f; + m_Agent.dynamicFriction = 0f; + + yield return new WaitForSeconds(m_TimerTray); + + m_Floor.staticFriction = 1000f; + m_Floor.dynamicFriction = 1000f; + + m_Agent.staticFriction = 2f; + m_Agent.dynamicFriction = 2f; + + Debug.Log($"Coroutine has ended for Tray"); + } +} diff --git a/Assets/7_Scripts/Interactable Items/GroundManager.cs.meta b/Assets/7_Scripts/Interactable Items/GroundManager.cs.meta new file mode 100644 index 0000000..72f1321 --- /dev/null +++ b/Assets/7_Scripts/Interactable Items/GroundManager.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 458ff8f25e7cfa14a9e197776f252cf6 \ No newline at end of file diff --git a/Assets/7_Scripts/Interactable Items/OnChairContact.cs b/Assets/7_Scripts/Interactable Items/OnChairContact.cs new file mode 100644 index 0000000..cb626dc --- /dev/null +++ b/Assets/7_Scripts/Interactable Items/OnChairContact.cs @@ -0,0 +1,105 @@ +using System.Collections; +using System.Collections.Generic; +using Unity.MLAgents; +using Unity.MLAgentsExamples; +using UnityEngine; +using UnityEngine.Events; + +public class OnChairContact : MonoBehaviour +{ + public UnityEvent m_CollisionEvent; + public UnityEvent m_CollisionStayEvent; + public UnityEvent m_CollisionExitEvent; + + public UnityEvent m_TriggerStayEvent; + public UnityEvent m_TriggerExitEvent; + + public bool m_IsTouching; + public bool m_IsAttached; + public float m_TrayTimeout; + private string m_Tag = "agent"; + + [SerializeField] + public FixedJoint m_FixedJoint; + + + void OnEnable() + { + m_IsTouching = false; + m_IsAttached = false; + } + + private void Start() + { + if (this.TryGetComponent(out FixedJoint component)) + { + m_FixedJoint = component; + } + else + { + m_FixedJoint = null; + } + } + + private void OnCollisionEnter(Collision col) + { + if (col.transform.CompareTag(m_Tag)) + { + if (col.gameObject.GetComponent().isFoot && m_FixedJoint && !m_IsAttached) + { + m_IsAttached = true; + // Attach Joint + Rigidbody rbFoot = col.gameObject.GetComponent(); + Debug.Log($"Attached to {col.gameObject.name}"); + m_FixedJoint.connectedBody = rbFoot; + StartCoroutine(WaitToDetatch()); + } + + m_IsTouching = true; + m_CollisionEvent?.Invoke(); + } + } + + private void OnCollisionStay(Collision col) + { + if (col.transform.CompareTag(m_Tag)) + { + m_IsTouching = true; + m_CollisionStayEvent?.Invoke(); + } + } + + private void OnCollisionExit(Collision other) + { + if (other.transform.CompareTag(m_Tag)) + { + m_IsTouching = false; + m_CollisionExitEvent?.Invoke(); + } + } + + private void OnTriggerStay(Collider other) + { + if (other.transform.CompareTag(m_Tag)) + { + m_IsTouching = true; + m_TriggerStayEvent?.Invoke(); + } + } + + private void OnTriggerExit(Collider other) + { + if (other.transform.CompareTag(m_Tag)) + { + m_IsTouching = false; + m_TriggerExitEvent?.Invoke(); + } + } + + IEnumerator WaitToDetatch() + { + Debug.Log("Waiting for detatch"); + yield return new WaitForSeconds(m_TrayTimeout); + Destroy(m_FixedJoint); + } +} diff --git a/Assets/7_Scripts/Interactable Items/OnChairContact.cs.meta b/Assets/7_Scripts/Interactable Items/OnChairContact.cs.meta new file mode 100644 index 0000000..007a5a7 --- /dev/null +++ b/Assets/7_Scripts/Interactable Items/OnChairContact.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: fbae295f3eff4ef4ca5fcf6954250d1e \ No newline at end of file diff --git a/Assets/7_Scripts/Interactable Items/Treadmill.cs b/Assets/7_Scripts/Interactable Items/Treadmill.cs new file mode 100644 index 0000000..c2ab007 --- /dev/null +++ b/Assets/7_Scripts/Interactable Items/Treadmill.cs @@ -0,0 +1,41 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public class Treadmill : MonoBehaviour +{ + public Rigidbody m_Body; + private float m_Force; + private float m_angleOffset; + + private void OnEnable() + { + m_Force = 0f; + m_angleOffset = 20f; + } + + public void ApplyForce() + { + // m_Force += 0.1f; + // float m_ClampedForce = Mathf.Clamp(m_Force, 0f, 100f); + m_Force += 0.2f; + Debug.Log($"Applying Force {m_Force}"); + Vector3 forceDirection = Quaternion.Euler(0, -m_angleOffset, 0) * Vector3.back; + m_Body.AddForce(forceDirection * m_Force); + } + + public void RemoveForce() + { + Debug.Log("Removing Treadmill Force"); + m_Force = 0; + } + + private void FixedUpdate() + { + m_Force -= 0.05f; + if (m_Force < 0f) + { + m_Force = 0; + } + } +} diff --git a/Assets/7_Scripts/Interactable Items/Treadmill.cs.meta b/Assets/7_Scripts/Interactable Items/Treadmill.cs.meta new file mode 100644 index 0000000..df9fec9 --- /dev/null +++ b/Assets/7_Scripts/Interactable Items/Treadmill.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: be3a6d75d30448c428c5f28690b0f96f \ No newline at end of file diff --git a/Assets/7_Scripts/Model Swapping/ModelSwap.cs b/Assets/7_Scripts/Model Swapping/ModelSwap.cs index 3a43b94..6b7e7b6 100644 --- a/Assets/7_Scripts/Model Swapping/ModelSwap.cs +++ b/Assets/7_Scripts/Model Swapping/ModelSwap.cs @@ -20,7 +20,8 @@ public class ModelSwap : MonoBehaviour [HideInInspector] public Walker agent; [HideInInspector] public int currentModel = 0; - [HideInInspector] public int m_PastModel = 0; + [HideInInspector] public string m_currentModelName = string.Empty; + [HideInInspector] public string m_PastModel = string.Empty; // Path to .onnx files string m_relPath = string.Empty; @@ -49,18 +50,22 @@ public class ModelSwap : MonoBehaviour if (modelName.Equals("Walker")) { agent.m_SelectedBrain = Walker.Brain.Walker; + m_currentModelName = modelName; } else if (modelName.Equals("Stairs")) { agent.m_SelectedBrain = Walker.Brain.DMScrambler; + m_currentModelName = modelName; } else if (modelName.Equals("Climber")) { - agent.m_SelectedBrain = Walker.Brain.DMScrambler; + agent.m_SelectedBrain = Walker.Brain.Climber; + m_currentModelName = modelName; } else if (modelName.Equals("Getup")) { agent.m_SelectedBrain = Walker.Brain.Getup; + m_currentModelName = modelName; } Debug.Log("Current Model: " + nnModelList[currentModel].name); @@ -84,4 +89,9 @@ public class ModelSwap : MonoBehaviour { SwitchModel(modelName, agent); } + + public void SetInitialModel() + { + SwitchModel(m_InitialModel.name, agent); + } }; diff --git a/Assets/ML-Agents/Timers/Beep_timers.json b/Assets/ML-Agents/Timers/Beep_timers.json index 262bfb4..cdc9511 100644 --- a/Assets/ML-Agents/Timers/Beep_timers.json +++ b/Assets/ML-Agents/Timers/Beep_timers.json @@ -1 +1 @@ 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