implementation of drecon in unity 2022 lts forked from: https://github.com/joanllobera/marathon-envs
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
 
 
 
 

195 lines
7.1 KiB

using System.Linq;
using UnityEngine;
namespace Unity.MLAgents
{
public static class MarathonHelper
{
static readonly bool FlipMarathonX = false;
public static Vector3 RightToLeft(Vector3 rightHanded, bool hackFlipZ = false)
{
if (FlipMarathonX)
return new Vector3(rightHanded.x, rightHanded.z,
rightHanded.y); // use if fliping marathon's X direction
return new Vector3(-rightHanded.x, rightHanded.z, -rightHanded.y); // use to maintain marathon's X direction
}
static char[] _delimiterChars = {' ', ',', ':', '\t'};
static string RemoveDuplicateWhitespace(string input)
{
while (input.Contains(" "))
input = input.Replace(" ", " ");
while (input.Contains("\t\t"))
input = input.Replace("\t\t", "\t");
return input;
}
static float Evaluate(string expression)
{
var doc = new System.Xml.XPath.XPathDocument(new System.IO.StringReader("<r/>"));
var nav = doc.CreateNavigator();
var newString = expression;
newString = (new System.Text.RegularExpressions.Regex(@"([\+\-\*])")).Replace(newString, " ${1} ");
newString = newString.Replace("/", " div ").Replace("%", " mod ");
var res = nav.Evaluate("number(" + newString + ")");
double d = (double) res;
return (float) d;
}
static public Vector3 ParseVector3NoFlipYZ(string str)
{
str = RemoveDuplicateWhitespace(str);
string[] words = str.Split(_delimiterChars);
float x = Evaluate(words[0]);
float y = Evaluate(words[1]);
float z = Evaluate(words[2]);
var vec3 = new Vector3(x, y, z);
return vec3;
}
static public Quaternion ParseQuaternion(string str)
{
str = RemoveDuplicateWhitespace(str);
string[] words = str.Split(_delimiterChars);
float w = Evaluate(words[0]);
float x = Evaluate(words[1]);
float y = Evaluate(words[2]);
float z = Evaluate(words[3]);
var q = new Quaternion(x, y, z, w);
return q;
}
static public Vector3 ParseAxis(string str)
{
var axis = MarathonHelper.ParseVector3NoFlipYZ(str);
if (FlipMarathonX)
axis = new Vector3(-axis.x, -axis.z, -axis.y); // use if fliping marathon's X direction
else
axis = new Vector3(axis.x, -axis.z, axis.y); // use to maintain marathon's X direction
return axis;
}
static public Vector3 JointParsePosition(string str, bool hackFlipZ)
{
str = RemoveDuplicateWhitespace(str);
string[] words = str.Split(_delimiterChars);
float x = Evaluate(words[0]);
float y = Evaluate(words[1]);
float z = Evaluate(words[2]);
Vector3 vec3 = new Vector3(x, y, z);
return RightToLeft(vec3, hackFlipZ);
}
public static Vector3 ParsePosition(string str)
{
str = RemoveDuplicateWhitespace(str);
string[] words = str.Split(_delimiterChars);
float x = Evaluate(words[0]);
float y = Evaluate(words[1]);
float z = Evaluate(words[2]);
Vector3 vec3 = new Vector3(x, y, z);
return RightToLeft(vec3);
}
public static Vector3 ParseFrom(string fromTo)
{
return ParseVector3NoFlipYZ(fromTo);
}
public static Vector3 ParseTo(string fromTo)
{
fromTo = RemoveDuplicateWhitespace(fromTo);
string[] words = fromTo.Split(_delimiterChars);
float x = Evaluate(words[3]);
float y = Evaluate(words[4]);
float z = Evaluate(words[5]);
Vector3 vec3 = new Vector3(x, y, z);
return vec3;
}
public static Vector2 ParseVector2(string str)
{
str = RemoveDuplicateWhitespace(str);
string[] words = str.Split(_delimiterChars);
float x = Evaluate(words[0]);
float y = Evaluate(words[1]);
var vec2 = new Vector2(x, y);
return vec2;
}
public static float ParseGetMin(string rangeAsText)
{
rangeAsText = RemoveDuplicateWhitespace(rangeAsText);
string[] words = rangeAsText.Split(_delimiterChars);
var range = words.Select(x => Evaluate(x));
return range.Min();
}
public static float ParseGetMax(string rangeAsText)
{
rangeAsText = RemoveDuplicateWhitespace(rangeAsText);
string[] words = rangeAsText.Split(_delimiterChars);
var range = words.Select(x => Evaluate(x));
return range.Max();
}
public static GameObject CreateBetweenPoints(this GameObject parent, Vector3 start, Vector3 end, float width,
bool useWorldSpace, GameObject root)
{
start = RightToLeft(start);
end = RightToLeft(end);
var instance = new GameObject();
var procCap = instance.AddComponent<ProceduralCapsule>();
var handleOverlap = instance.AddComponent<HandleOverlap>();
handleOverlap.Parent = root;
var collider = instance.AddComponent<CapsuleCollider>();
var offset = start - end;
var position = start - (offset / 2.0f);
var height = offset.magnitude;
collider.height = height + (width * 2) * .90f;
collider.radius = width * .90f;
procCap.height = height + (width);
procCap.radius = width;
procCap.CreateMesh();
instance.transform.parent = root.transform;
instance.transform.up = offset;
if (useWorldSpace)
{
instance.transform.position = position;
}
else
{
instance.transform.position = position + parent.transform.position;
instance.transform.rotation = instance.transform.rotation * parent.transform.rotation;
}
// UnityEngine.GameObject.Destroy(handleOverlap);
return instance;
}
public static GameObject CreateAtPoint(this GameObject parent, Vector3 position, float width,
bool useWorldSpace, GameObject root)
{
var scale = new Vector3(width, width, width);
var instance = GameObject.CreatePrimitive(PrimitiveType.Sphere);
instance.transform.parent = root.transform;
instance.transform.localScale = scale * 2;
if (useWorldSpace)
{
instance.transform.position = position;
}
else
{
instance.transform.position = position + parent.transform.position;
instance.transform.rotation = instance.transform.rotation * parent.transform.rotation;
}
return instance;
}
}
}