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looping of text & audio, statistics/model info text added

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cailean
2024-04-29 12:16:16 +01:00
parent 2b7b7fb9ca
commit 024200a8a7
14 changed files with 784 additions and 29 deletions
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12
Assets/3_MarathonEnvs/Scripts/Ragdoll004/DReConRewards.cs
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@@ -11,6 +11,7 @@ public class DReConRewards : MonoBehaviour
[Header("Reward")]
public float SumOfSubRewards;
public float Reward;
public float m_CumulativeReward;
[Header("Position Reward")]
public float SumOfDistances;
@@ -72,6 +73,10 @@ public class DReConRewards : MonoBehaviour
public string targetedRootName = "articulation:Hips";
// Unity Events //
public delegate void onUpdateStatDelegate(float value, int statIndex);
public static onUpdateStatDelegate m_UpdateStat;
public void OnAgentInitialize()
{
@@ -189,10 +194,17 @@ public class DReConRewards : MonoBehaviour
// reward
SumOfSubRewards = PositionReward+ComReward+PointsVelocityReward+LocalPoseReward;
Reward = DistanceFactor*SumOfSubRewards;
m_CumulativeReward += Reward;
m_UpdateStat?.Invoke(m_CumulativeReward/10f, 0);
//m_UpdateStat?.Invoke(LocalPoseReward, 1);
//m_UpdateStat?.Invoke(PointsVelocityReward, 2);
//m_UpdateStat?.Invoke(PositionReward, 3);
// Reward = (DirectionFactor*SumOfSubRewards) * DistanceFactor;
}
public void OnReset()
{
m_CumulativeReward = 0f;
Assert.IsTrue(_hasLazyInitialized);
_mocapBodyStats.OnReset();