Decompiled source of ReinforcedBots v1.0.0
Mods/ReinforcedBots.dll
Decompiled a day ago
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using System; using System.Collections.Generic; using System.Diagnostics; using System.IO; using System.Linq; using System.Reflection; using System.Runtime.CompilerServices; using System.Runtime.Versioning; using System.Security; using System.Security.Permissions; using BoneLib; using Il2CppInterop.Runtime.InteropTypes; using Il2CppInterop.Runtime.InteropTypes.Arrays; using Il2CppSLZ.Marrow; using Il2CppSLZ.Marrow.Pool; using Il2CppSLZ.Marrow.Warehouse; using MelonLoader; using MelonLoader.Preferences; using MelonLoader.Utils; using Microsoft.CodeAnalysis; using ReinforcedBots; using UnityEngine; using UnityEngine.AI; [assembly: CompilationRelaxations(8)] [assembly: RuntimeCompatibility(WrapNonExceptionThrows = true)] [assembly: Debuggable(DebuggableAttribute.DebuggingModes.IgnoreSymbolStoreSequencePoints)] [assembly: MelonInfo(typeof(ReinforcedBotsMod), "Reinforced Bots", "1.0.0", "Seth", null)] [assembly: MelonGame("Stress Level Zero", "BONELAB")] [assembly: TargetFramework(".NETCoreApp,Version=v6.0", FrameworkDisplayName = ".NET 6.0")] [assembly: SecurityPermission(SecurityAction.RequestMinimum, SkipVerification = true)] [assembly: AssemblyVersion("0.0.0.0")] [module: UnverifiableCode] [module: RefSafetyRules(11)] namespace Microsoft.CodeAnalysis { [CompilerGenerated] [Embedded] internal sealed class EmbeddedAttribute : Attribute { } } namespace System.Runtime.CompilerServices { [CompilerGenerated] [Embedded] [AttributeUsage(AttributeTargets.Module, AllowMultiple = false, Inherited = false)] internal sealed class RefSafetyRulesAttribute : Attribute { public readonly int Version; public RefSafetyRulesAttribute(int P_0) { Version = P_0; } } } namespace ReinforcedBots { public sealed class AtlasBot : IBot { private class Part { public Transform t; public Rigidbody rb; public ConfigurableJoint joint; public Collider[] colliders; public Vector3 startPos; public Quaternion startRot; public Vector2 x; public Vector2 z; public Vector2 y; public float maxTorque; public float strength = 1f; public bool touching; } public const int Observations = 227; public const int Actions = 30; private const float StandHeight = 1.9f; private const float DecisionEvery = 0.06f; private const float TargetSign = -1f; private const int ScanLines = 3; private const int ScanSteps = 12; private const int OwnLayer = 10; private const int WorldMask = -1025; private static readonly string[] PartNames = new string[12] { "Pelvis", "Torso", "ThighL", "ShinL", "FootL", "ThighR", "ShinR", "FootR", "UpperArmL", "ForearmL", "UpperArmR", "ForearmR" }; private readonly Brain _brain; private readonly List<Part> _parts = new List<Part>(); private readonly Transform _head; private readonly float[] _obs; private readonly float[] _act = new float[30]; public const int MotionObservations = 232; private static readonly float[] ClipDuration = new float[3] { 7.9583f, 1.2917f, 0.5833f }; private static readonly float[] ClipSpeed = new float[3] { 0f, 0.9714f, 5.746f }; private const float PersonPelvis = 1.0514f; private readonly bool _motion; private float _phase; private float _legRatio = 1f; private float _idleFor; private float _walkSpeed; private int _clip = 1; private readonly HashSet<int> _own = new HashSet<int>(); private Vector3 _target; private Vector3 _frameFwd = Vector3.forward; private Vector3 _home; private Quaternion _frame = Quaternion.identity; private float _sinceDecision = 1f; private float _downFor; private float _retargetIn; public float Speed; public bool Commanded; public Vector3 CommandTarget; public GameObject Root { get; } public Vector3 Position => _parts[0].rb.position; public bool Down => _downFor > 0.5f; public bool Alive { get { if ((Object)(object)Root != (Object)null && _parts.Count > 0) { return (Object)(object)_parts[0].rb != (Object)null; } return false; } } private Rigidbody Pelvis => _parts[0].rb; private Rigidbody Torso => _parts[1].rb; public AtlasBot(GameObject root, Brain brain, float speed, bool armsHitBody = false, bool motion = false) { //IL_0036: Unknown result type (might be due to invalid IL or missing references) //IL_003b: Unknown result type (might be due to invalid IL or missing references) //IL_0041: Unknown result type (might be due to invalid IL or missing references) //IL_0046: Unknown result type (might be due to invalid IL or missing references) //IL_0403: Unknown result type (might be due to invalid IL or missing references) //IL_0408: Unknown result type (might be due to invalid IL or missing references) //IL_040f: Unknown result type (might be due to invalid IL or missing references) //IL_041a: Unknown result type (might be due to invalid IL or missing references) //IL_0424: Unknown result type (might be due to invalid IL or missing references) //IL_0429: Unknown result type (might be due to invalid IL or missing references) //IL_042e: Unknown result type (might be due to invalid IL or missing references) //IL_01bf: Unknown result type (might be due to invalid IL or missing references) //IL_01c4: Unknown result type (might be due to invalid IL or missing references) //IL_01c9: Unknown result type (might be due to invalid IL or missing references) //IL_01d6: Unknown result type (might be due to invalid IL or missing references) //IL_01db: Unknown result type (might be due to invalid IL or missing references) //IL_01e2: Unknown result type (might be due to invalid IL or missing references) //IL_01e7: Unknown result type (might be due to invalid IL or missing references) //IL_01ec: Unknown result type (might be due to invalid IL or missing references) Root = root; _brain = brain; Speed = speed; _motion = motion; _walkSpeed = speed; _obs = new float[motion ? 232 : 227]; _phase = Random.value; Il2CppArrayBase<Transform> componentsInChildren = root.GetComponentsInChildren<Transform>(true); string[] partNames = PartNames; foreach (string text in partNames) { Transform val = null; foreach (Transform item in componentsInChildren) { if (((Object)item).name == text) { val = item; break; } } if ((Object)(object)val == (Object)null) { throw new Exception("the Atlas prefab has no part called " + text); } Part part = new Part { t = val, rb = ((Component)val).GetComponent<Rigidbody>(), joint = ((Component)val).GetComponent<ConfigurableJoint>(), colliders = Il2CppArrayBase<Collider>.op_Implicit(((Component)val).GetComponents<Collider>()) }; Transform val2 = null; foreach (Transform item2 in componentsInChildren) { if (((Object)item2).name == "Pose_" + text) { val2 = item2; break; } } if ((Object)(object)val2 == (Object)null) { val2 = val; } part.startPos = root.transform.InverseTransformPoint(val2.position); part.startRot = Quaternion.Inverse(root.transform.rotation) * val2.rotation; part.rb.solverIterations = 20; part.rb.solverVelocityIterations = 8; part.rb.maxAngularVelocity = 25f; Ranges(text, part); _parts.Add(part); _own.Add(((Object)part.rb).GetInstanceID()); } foreach (Transform item3 in componentsInChildren) { if (((Object)item3).name == "Head") { _head = item3; } } if ((Object)(object)_head == (Object)null) { _head = _parts[1].t; } Il2CppArrayBase<Collider> componentsInChildren2 = root.GetComponentsInChildren<Collider>(true); foreach (Collider item4 in componentsInChildren2) { foreach (Collider item5 in componentsInChildren2) { if (((Object)item4).GetInstanceID() != ((Object)item5).GetInstanceID()) { string text2 = (Object.op_Implicit((Object)(object)item4.attachedRigidbody) ? ((Object)item4.attachedRigidbody).name : ((Object)item4).name); string text3 = (Object.op_Implicit((Object)(object)item5.attachedRigidbody) ? ((Object)item5.attachedRigidbody).name : ((Object)item5).name); bool num = IsLeg(text2) && IsLeg(text3) && text2[text2.Length - 1] != text3[text3.Length - 1]; bool flag = armsHitBody && (ArmHitsBody(text2, text3) || ArmHitsBody(text3, text2)); if (!num && !flag) { Physics.IgnoreCollision(item4, item5, true); } } } } _home = _parts[0].rb.position; _target = _home + root.transform.forward * 5f; _legRatio = _parts[0].startPos.y / 1.0514f; } private static bool ArmHitsBody(string arm, string body) { if (!arm.StartsWith("Forearm") || (!(body == "Torso") && !(body == "Pelvis"))) { if (arm.StartsWith("UpperArm")) { return body == "Pelvis"; } return false; } return true; } private static bool IsLeg(string n) { if (!n.StartsWith("Thigh") && !n.StartsWith("Shin")) { return n.StartsWith("Foot"); } return true; } private static void Ranges(string name, Part p) { //IL_0018: Unknown result type (might be due to invalid IL or missing references) //IL_001d: Unknown result type (might be due to invalid IL or missing references) //IL_002d: Unknown result type (might be due to invalid IL or missing references) //IL_0032: Unknown result type (might be due to invalid IL or missing references) //IL_0042: Unknown result type (might be due to invalid IL or missing references) //IL_0047: Unknown result type (might be due to invalid IL or missing references) //IL_0070: Unknown result type (might be due to invalid IL or missing references) //IL_0075: Unknown result type (might be due to invalid IL or missing references) //IL_0085: Unknown result type (might be due to invalid IL or missing references) //IL_008a: Unknown result type (might be due to invalid IL or missing references) //IL_00b3: Unknown result type (might be due to invalid IL or missing references) //IL_00b8: Unknown result type (might be due to invalid IL or missing references) //IL_00e1: Unknown result type (might be due to invalid IL or missing references) //IL_00e6: Unknown result type (might be due to invalid IL or missing references) //IL_00f6: Unknown result type (might be due to invalid IL or missing references) //IL_00fb: Unknown result type (might be due to invalid IL or missing references) //IL_0124: Unknown result type (might be due to invalid IL or missing references) //IL_0129: Unknown result type (might be due to invalid IL or missing references) //IL_0139: Unknown result type (might be due to invalid IL or missing references) //IL_013e: Unknown result type (might be due to invalid IL or missing references) //IL_0167: Unknown result type (might be due to invalid IL or missing references) //IL_016c: Unknown result type (might be due to invalid IL or missing references) //IL_017c: Unknown result type (might be due to invalid IL or missing references) //IL_0181: Unknown result type (might be due to invalid IL or missing references) //IL_01aa: Unknown result type (might be due to invalid IL or missing references) //IL_01af: Unknown result type (might be due to invalid IL or missing references) if (name == "Torso") { p.x = new Vector2(-15f, 45f); p.z = new Vector2(-15f, 15f); p.y = new Vector2(-25f, 25f); p.maxTorque = 1200f; } else if (name.StartsWith("Thigh")) { p.x = new Vector2(-100f, 30f); p.z = new Vector2(-25f, 25f); p.maxTorque = 1500f; } else if (name.StartsWith("Shin")) { p.x = new Vector2(0f, 130f); p.maxTorque = 1500f; } else if (name.StartsWith("Foot")) { p.x = new Vector2(-35f, 40f); p.z = new Vector2(-15f, 15f); p.maxTorque = 600f; } else if (name == "UpperArmR") { p.x = new Vector2(-150f, 60f); p.z = new Vector2(-10f, 90f); p.maxTorque = 500f; } else if (name == "UpperArmL") { p.x = new Vector2(-150f, 60f); p.z = new Vector2(-90f, 10f); p.maxTorque = 500f; } else if (name.StartsWith("Forearm")) { p.x = new Vector2(-140f, 0f); p.maxTorque = 350f; } } public void FixedTick(float dt) { //IL_0001: Unknown result type (might be due to invalid IL or missing references) //IL_000c: Unknown result type (might be due to invalid IL or missing references) //IL_0011: Unknown result type (might be due to invalid IL or missing references) //IL_0016: Unknown result type (might be due to invalid IL or missing references) //IL_0040: Unknown result type (might be due to invalid IL or missing references) //IL_0045: Unknown result type (might be due to invalid IL or missing references) //IL_004a: Unknown result type (might be due to invalid IL or missing references) //IL_004f: Unknown result type (might be due to invalid IL or missing references) //IL_0034: Unknown result type (might be due to invalid IL or missing references) //IL_0039: Unknown result type (might be due to invalid IL or missing references) Vector3 val = _target - Pelvis.position; val.y = 0f; if (((Vector3)(ref val)).sqrMagnitude > 0.04f) { _frameFwd = ((Vector3)(ref val)).normalized; } _frame = Quaternion.LookRotation(_frameFwd, Vector3.up); if (_motion) { _clip = ((!(Speed < 0.2f)) ? ((Speed < 2.2f) ? 1 : 2) : 0); float num = 1f; if (_clip != 0) { float num2 = ClipSpeed[_clip] * _legRatio; num = ((_clip == 1) ? Mathf.Clamp(Speed / num2, 0.6f, 1.6f) : Mathf.Clamp(Speed / num2, 0.45f, 1.1f)); } _phase = Mathf.Repeat(_phase + dt * num / ClipDuration[_clip], 1f); } _sinceDecision += dt; if (!(_sinceDecision < 0.06f)) { _sinceDecision = 0f; Roam(0.06f); Observe(); _brain.Run(_obs, _act); Act(); } } private float GroundBelow(Vector3 p, float fallback) { //IL_0000: Unknown result type (might be due to invalid IL or missing references) //IL_0001: Unknown result type (might be due to invalid IL or missing references) //IL_000b: Unknown result type (might be due to invalid IL or missing references) //IL_0010: Unknown result type (might be due to invalid IL or missing references) //IL_0015: Unknown result type (might be due to invalid IL or missing references) //IL_0032: Unknown result type (might be due to invalid IL or missing references) RaycastHit val = default(RaycastHit); if (!Physics.Raycast(p + Vector3.up * 0.5f, Vector3.down, ref val, 6f, -1025, (QueryTriggerInteraction)1)) { return fallback; } return ((RaycastHit)(ref val)).point.y; } private void Roam(float dt) { //IL_0006: Unknown result type (might be due to invalid IL or missing references) //IL_000b: Unknown result type (might be due to invalid IL or missing references) //IL_000d: Unknown result type (might be due to invalid IL or missing references) //IL_000e: Unknown result type (might be due to invalid IL or missing references) //IL_0021: Unknown result type (might be due to invalid IL or missing references) //IL_005d: Unknown result type (might be due to invalid IL or missing references) //IL_0064: Unknown result type (might be due to invalid IL or missing references) //IL_006a: Unknown result type (might be due to invalid IL or missing references) //IL_0075: Unknown result type (might be due to invalid IL or missing references) //IL_007a: Unknown result type (might be due to invalid IL or missing references) //IL_007d: Unknown result type (might be due to invalid IL or missing references) //IL_0096: Unknown result type (might be due to invalid IL or missing references) //IL_009b: Unknown result type (might be due to invalid IL or missing references) //IL_016f: Unknown result type (might be due to invalid IL or missing references) //IL_0174: Unknown result type (might be due to invalid IL or missing references) //IL_0175: Unknown result type (might be due to invalid IL or missing references) //IL_017a: Unknown result type (might be due to invalid IL or missing references) //IL_00bd: Unknown result type (might be due to invalid IL or missing references) //IL_00c2: Unknown result type (might be due to invalid IL or missing references) //IL_00c3: Unknown result type (might be due to invalid IL or missing references) //IL_00c8: Unknown result type (might be due to invalid IL or missing references) //IL_01d0: Unknown result type (might be due to invalid IL or missing references) //IL_01ee: Unknown result type (might be due to invalid IL or missing references) //IL_01f3: Unknown result type (might be due to invalid IL or missing references) //IL_01f8: Unknown result type (might be due to invalid IL or missing references) //IL_0202: Unknown result type (might be due to invalid IL or missing references) //IL_0207: Unknown result type (might be due to invalid IL or missing references) //IL_020c: Unknown result type (might be due to invalid IL or missing references) //IL_022a: Unknown result type (might be due to invalid IL or missing references) //IL_0242: Unknown result type (might be due to invalid IL or missing references) //IL_0243: Unknown result type (might be due to invalid IL or missing references) //IL_024d: Unknown result type (might be due to invalid IL or missing references) //IL_0252: Unknown result type (might be due to invalid IL or missing references) //IL_0257: Unknown result type (might be due to invalid IL or missing references) //IL_025b: Unknown result type (might be due to invalid IL or missing references) //IL_0260: Unknown result type (might be due to invalid IL or missing references) //IL_026a: Unknown result type (might be due to invalid IL or missing references) //IL_026f: Unknown result type (might be due to invalid IL or missing references) //IL_0274: Unknown result type (might be due to invalid IL or missing references) //IL_0276: Unknown result type (might be due to invalid IL or missing references) //IL_027b: Unknown result type (might be due to invalid IL or missing references) //IL_027d: Unknown result type (might be due to invalid IL or missing references) //IL_0281: Unknown result type (might be due to invalid IL or missing references) //IL_029d: Unknown result type (might be due to invalid IL or missing references) //IL_02a2: Unknown result type (might be due to invalid IL or missing references) //IL_02ac: Unknown result type (might be due to invalid IL or missing references) //IL_02b1: Unknown result type (might be due to invalid IL or missing references) //IL_02b6: Unknown result type (might be due to invalid IL or missing references) Vector3 position = Pelvis.position; float num = GroundBelow(position, position.y - 1f); _downFor = ((position.y - num < 0.55f) ? (_downFor + dt) : 0f); if (_downFor > 15f) { _downFor = 0f; Vector3 ground = new Vector3(position.x, num, position.z); Quaternion rotation = Pelvis.rotation; Stand(ground, ((Quaternion)(ref rotation)).eulerAngles.y); } if (Commanded) { _target = CommandTarget; return; } if (_motion && _walkSpeed > 0f) { Vector3 val = _target - position; val.y = 0f; if (Speed > 0f && ((Vector3)(ref val)).magnitude < 1.2f) { Speed = 0f; _idleFor = Random.Range(3f, 8f); return; } if (Speed <= 0f) { _idleFor -= dt; if (_idleFor > 0f) { return; } Speed = _walkSpeed; _retargetIn = 0f; } } if (Speed <= 0f) { return; } _retargetIn -= dt; Vector3 val2 = _target - position; val2.y = 0f; if (!(((Vector3)(ref val2)).magnitude < 1.2f) && !(_retargetIn <= 0f)) { return; } RaycastHit val3 = default(RaycastHit); for (int i = 0; i < 12; i++) { float num2 = Random.Range(0f, (float)Math.PI * 2f); float num3 = Random.Range(4f, 12f); if (Physics.Raycast(_home + new Vector3(Mathf.Cos(num2) * num3, 0f, Mathf.Sin(num2) * num3) + Vector3.up * 2f, Vector3.down, ref val3, 4f, -1025, (QueryTriggerInteraction)1) && !(Mathf.Abs(((RaycastHit)(ref val3)).point.y - num) > 0.6f)) { Vector3 val4 = position + Vector3.up * 0.3f; Vector3 val5 = ((RaycastHit)(ref val3)).point + Vector3.up * 1f - val4; if (!Physics.Raycast(val4, ((Vector3)(ref val5)).normalized, ((Vector3)(ref val5)).magnitude, -1025, (QueryTriggerInteraction)1)) { _target = ((RaycastHit)(ref val3)).point + Vector3.up * 0.6f; break; } } } _retargetIn = 40f; } public void Stand(Vector3 ground, float yaw) { //IL_000b: Unknown result type (might be due to invalid IL or missing references) //IL_0010: Unknown result type (might be due to invalid IL or missing references) //IL_0030: Unknown result type (might be due to invalid IL or missing references) //IL_0040: Unknown result type (might be due to invalid IL or missing references) //IL_0050: Unknown result type (might be due to invalid IL or missing references) //IL_0051: Unknown result type (might be due to invalid IL or missing references) //IL_0053: Unknown result type (might be due to invalid IL or missing references) //IL_0058: Unknown result type (might be due to invalid IL or missing references) //IL_005d: Unknown result type (might be due to invalid IL or missing references) //IL_0062: Unknown result type (might be due to invalid IL or missing references) //IL_0064: Unknown result type (might be due to invalid IL or missing references) //IL_0069: Unknown result type (might be due to invalid IL or missing references) //IL_007f: Unknown result type (might be due to invalid IL or missing references) //IL_0095: Unknown result type (might be due to invalid IL or missing references) //IL_00b3: Unknown result type (might be due to invalid IL or missing references) Quaternion val = Quaternion.Euler(0f, yaw, 0f); foreach (Part part in _parts) { part.rb.velocity = Vector3.zero; part.rb.angularVelocity = Vector3.zero; part.t.SetPositionAndRotation(ground + val * part.startPos, val * part.startRot); part.rb.position = part.t.position; part.rb.rotation = part.t.rotation; if ((Object)(object)part.joint != (Object)null) { part.joint.targetRotation = Quaternion.identity; SetStrength(part, 1f); } } } private void Observe() { //IL_0011: Unknown result type (might be due to invalid IL or missing references) //IL_0016: Unknown result type (might be due to invalid IL or missing references) //IL_001b: Unknown result type (might be due to invalid IL or missing references) //IL_001c: Unknown result type (might be due to invalid IL or missing references) //IL_0021: Unknown result type (might be due to invalid IL or missing references) //IL_003a: Unknown result type (might be due to invalid IL or missing references) //IL_0042: Unknown result type (might be due to invalid IL or missing references) //IL_0047: Unknown result type (might be due to invalid IL or missing references) //IL_004c: Unknown result type (might be due to invalid IL or missing references) //IL_0066: Unknown result type (might be due to invalid IL or missing references) //IL_0073: Unknown result type (might be due to invalid IL or missing references) //IL_0078: Unknown result type (might be due to invalid IL or missing references) //IL_007a: Unknown result type (might be due to invalid IL or missing references) //IL_0085: Unknown result type (might be due to invalid IL or missing references) //IL_008a: Unknown result type (might be due to invalid IL or missing references) //IL_0091: Unknown result type (might be due to invalid IL or missing references) //IL_0096: Unknown result type (might be due to invalid IL or missing references) //IL_0099: Unknown result type (might be due to invalid IL or missing references) //IL_009b: Unknown result type (might be due to invalid IL or missing references) //IL_00b0: Unknown result type (might be due to invalid IL or missing references) //IL_00b1: Unknown result type (might be due to invalid IL or missing references) //IL_00bf: Unknown result type (might be due to invalid IL or missing references) //IL_00c0: Unknown result type (might be due to invalid IL or missing references) //IL_00c1: Unknown result type (might be due to invalid IL or missing references) //IL_00ce: Unknown result type (might be due to invalid IL or missing references) //IL_00cf: Unknown result type (might be due to invalid IL or missing references) //IL_00d0: Unknown result type (might be due to invalid IL or missing references) //IL_00e8: Unknown result type (might be due to invalid IL or missing references) //IL_00ee: Unknown result type (might be due to invalid IL or missing references) //IL_00f3: Unknown result type (might be due to invalid IL or missing references) //IL_0100: Unknown result type (might be due to invalid IL or missing references) //IL_010c: Unknown result type (might be due to invalid IL or missing references) //IL_0111: Unknown result type (might be due to invalid IL or missing references) //IL_011e: Unknown result type (might be due to invalid IL or missing references) //IL_0120: Unknown result type (might be due to invalid IL or missing references) //IL_0125: Unknown result type (might be due to invalid IL or missing references) //IL_0127: Unknown result type (might be due to invalid IL or missing references) //IL_012c: Unknown result type (might be due to invalid IL or missing references) //IL_0136: Unknown result type (might be due to invalid IL or missing references) //IL_0140: Unknown result type (might be due to invalid IL or missing references) //IL_014d: Unknown result type (might be due to invalid IL or missing references) //IL_0174: Unknown result type (might be due to invalid IL or missing references) //IL_0275: Unknown result type (might be due to invalid IL or missing references) //IL_027a: Unknown result type (might be due to invalid IL or missing references) //IL_027f: Unknown result type (might be due to invalid IL or missing references) //IL_0284: Unknown result type (might be due to invalid IL or missing references) //IL_01e1: Unknown result type (might be due to invalid IL or missing references) //IL_01e9: Unknown result type (might be due to invalid IL or missing references) //IL_01ee: Unknown result type (might be due to invalid IL or missing references) //IL_01fb: Unknown result type (might be due to invalid IL or missing references) //IL_0203: Unknown result type (might be due to invalid IL or missing references) //IL_0208: Unknown result type (might be due to invalid IL or missing references) //IL_0219: Unknown result type (might be due to invalid IL or missing references) //IL_0221: Unknown result type (might be due to invalid IL or missing references) //IL_0226: Unknown result type (might be due to invalid IL or missing references) //IL_0228: Unknown result type (might be due to invalid IL or missing references) //IL_022d: Unknown result type (might be due to invalid IL or missing references) //IL_0241: Unknown result type (might be due to invalid IL or missing references) //IL_0296: Unknown result type (might be due to invalid IL or missing references) //IL_0298: Unknown result type (might be due to invalid IL or missing references) //IL_02a3: Unknown result type (might be due to invalid IL or missing references) //IL_02a8: Unknown result type (might be due to invalid IL or missing references) //IL_02ae: Unknown result type (might be due to invalid IL or missing references) //IL_02bc: Unknown result type (might be due to invalid IL or missing references) //IL_02c1: Unknown result type (might be due to invalid IL or missing references) //IL_02c6: Unknown result type (might be due to invalid IL or missing references) //IL_02d7: Unknown result type (might be due to invalid IL or missing references) //IL_02d9: Unknown result type (might be due to invalid IL or missing references) //IL_02fb: Unknown result type (might be due to invalid IL or missing references) int n = 0; Quaternion val = Quaternion.Inverse(_frame); Vector3 val2 = Vector3.zero; foreach (Part part2 in _parts) { val2 += part2.rb.velocity; } val2 /= (float)_parts.Count; Vector3 val3 = _frameFwd * Speed; Vector3 position = Pelvis.position; float num = GroundBelow(position, position.y - 3f); F(Vector3.Distance(val3, val2)); V(val * val2); V(val * val3); Q(Quaternion.FromToRotation(((Component)Torso).transform.forward, _frameFwd)); V(val * ((Component)Torso).transform.up); V(Vector3.ClampMagnitude(val * (_target - position), 30f) / 10f); F(Mathf.Clamp(position.y - num, 0f, 3f)); F(Mathf.Clamp((_head.position.y - num) / 1.9f, 0f, 1.5f)); for (int i = 0; i < _parts.Count; i++) { Part part = _parts[i]; part.touching = Touching(part); F(part.touching ? 1f : 0f); V(val * part.rb.velocity); V(val * part.rb.angularVelocity); if (i != 0) { V(val * (part.rb.position - position)); Q(part.rb.rotation); F(part.strength); } } Vector3 val4 = _frame * Vector3.right; RaycastHit val6 = default(RaycastHit); for (int j = -1; j <= 1; j++) { for (int k = 1; k <= 12; k++) { Vector3 val5 = position + val4 * ((float)j * 0.3f) + _frameFwd * ((float)k * 0.35f); val5.y = num + 1.5f; float num2 = (Physics.Raycast(val5, Vector3.down, ref val6, 5f, -1025, (QueryTriggerInteraction)1) ? (((RaycastHit)(ref val6)).point.y - num) : (-3.5f)); F(Mathf.Clamp(num2, -3.5f, 1.5f)); } } if (_motion) { F(Mathf.Sin(_phase * (float)Math.PI * 2f)); F(Mathf.Cos(_phase * (float)Math.PI * 2f)); F((_clip == 0) ? 1f : 0f); F((_clip == 1) ? 1f : 0f); F((_clip == 2) ? 1f : 0f); } if (n != _obs.Length) { throw new Exception("observation count is " + n + ", the brain wants " + _obs.Length); } void F(float v) { _obs[n++] = v; } void Q(Quaternion q) { //IL_0017: Unknown result type (might be due to invalid IL or missing references) //IL_0035: Unknown result type (might be due to invalid IL or missing references) //IL_0053: Unknown result type (might be due to invalid IL or missing references) //IL_0071: Unknown result type (might be due to invalid IL or missing references) _obs[n++] = q.x; _obs[n++] = q.y; _obs[n++] = q.z; _obs[n++] = q.w; } void V(Vector3 v) { //IL_0017: Unknown result type (might be due to invalid IL or missing references) //IL_0035: Unknown result type (might be due to invalid IL or missing references) //IL_0053: Unknown result type (might be due to invalid IL or missing references) _obs[n++] = v.x; _obs[n++] = v.y; _obs[n++] = v.z; } } private bool Touching(Part p) { //IL_0019: Unknown result type (might be due to invalid IL or missing references) //IL_001e: Unknown result type (might be due to invalid IL or missing references) //IL_0021: Unknown result type (might be due to invalid IL or missing references) //IL_0028: Unknown result type (might be due to invalid IL or missing references) //IL_003c: Unknown result type (might be due to invalid IL or missing references) //IL_0041: Unknown result type (might be due to invalid IL or missing references) //IL_0046: Unknown result type (might be due to invalid IL or missing references) Collider[] colliders = p.colliders; foreach (Collider val in colliders) { if (!((Object)(object)val == (Object)null)) { Bounds bounds = val.bounds; if (Physics.CheckBox(((Bounds)(ref bounds)).center, ((Bounds)(ref bounds)).extents + new Vector3(0.02f, 0.02f, 0.02f), Quaternion.identity, -1025, (QueryTriggerInteraction)1)) { return true; } } } return false; } private void Act() { //IL_002d: Unknown result type (might be due to invalid IL or missing references) //IL_0045: Unknown result type (might be due to invalid IL or missing references) //IL_004a: Unknown result type (might be due to invalid IL or missing references) //IL_0057: Unknown result type (might be due to invalid IL or missing references) //IL_0077: Unknown result type (might be due to invalid IL or missing references) //IL_007c: Unknown result type (might be due to invalid IL or missing references) //IL_0089: Unknown result type (might be due to invalid IL or missing references) //IL_00c5: Unknown result type (might be due to invalid IL or missing references) int num = 0; foreach (Part part in _parts) { if (!((Object)(object)part.joint == (Object)null)) { float num2 = Pick(part.x, _act[num++]); float num3 = ((part.z == Vector2.zero) ? 0f : Pick(part.z, _act[num++])); float num4 = ((part.y == Vector2.zero) ? 0f : Pick(part.y, _act[num++])); part.joint.targetRotation = Quaternion.Euler(-1f * num2, -1f * num4, -1f * num3); } } foreach (Part part2 in _parts) { if ((Object)(object)part2.joint != (Object)null) { SetStrength(part2, (Mathf.Clamp(_act[num++], -1f, 1f) + 1f) * 0.5f); } } } private static float Pick(Vector2 range, float action) { //IL_0000: Unknown result type (might be due to invalid IL or missing references) //IL_0006: Unknown result type (might be due to invalid IL or missing references) return Mathf.Lerp(range.x, range.y, (Mathf.Clamp(action, -1f, 1f) + 1f) * 0.5f); } private static void SetStrength(Part p, float s) { //IL_000d: Unknown result type (might be due to invalid IL or missing references) //IL_0012: Unknown result type (might be due to invalid IL or missing references) //IL_0028: Unknown result type (might be due to invalid IL or missing references) p.strength = s; JointDrive slerpDrive = p.joint.slerpDrive; ((JointDrive)(ref slerpDrive)).maximumForce = s * p.maxTorque; p.joint.slerpDrive = slerpDrive; } } public sealed class Brain { private float[] _mean; private float[] _std; private float[][] _w; private float[][] _b; private int[] _rows; private int[] _cols; private float[] _a; private float[] _h; public int Inputs { get; private set; } public int Outputs { get; private set; } public static Brain Load(Stream s) { Brain brain = new Brain(); using BinaryReader binaryReader = new BinaryReader(s); brain.Inputs = binaryReader.ReadInt32(); brain._mean = ReadFloats(binaryReader, brain.Inputs); brain._std = ReadFloats(binaryReader, brain.Inputs); int num = binaryReader.ReadInt32(); brain._w = new float[num][]; brain._b = new float[num][]; brain._rows = new int[num]; brain._cols = new int[num]; int num2 = brain.Inputs; for (int i = 0; i < num; i++) { brain._rows[i] = binaryReader.ReadInt32(); brain._cols[i] = binaryReader.ReadInt32(); brain._w[i] = ReadFloats(binaryReader, brain._rows[i] * brain._cols[i]); brain._b[i] = ReadFloats(binaryReader, brain._rows[i]); num2 = Math.Max(num2, brain._rows[i]); } brain.Outputs = brain._rows[num - 1]; brain._a = new float[num2]; brain._h = new float[num2]; return brain; } private static float[] ReadFloats(BinaryReader r, int n) { byte[] array = r.ReadBytes(n * 4); if (array.Length != n * 4) { throw new EndOfStreamException("brain file is cut short"); } float[] array2 = new float[n]; Buffer.BlockCopy(array, 0, array2, 0, array.Length); return array2; } public void Run(float[] obs, float[] act) { float[] array = _a; float[] array2 = _h; for (int i = 0; i < Inputs; i++) { float num = (obs[i] - _mean[i]) / _std[i]; array[i] = ((num < -5f) ? (-5f) : ((num > 5f) ? 5f : num)); } int num2 = _w.Length; for (int j = 0; j < num2; j++) { float[] array3 = _w[j]; float[] array4 = _b[j]; int num3 = _rows[j]; int num4 = _cols[j]; bool flag = j == num2 - 1; int k = 0; int num5 = 0; for (; k < num3; k++) { float num6 = array4[k]; int num7 = 0; while (num7 < num4) { num6 += array3[num5] * array[num7]; num7++; num5++; } array2[k] = (flag ? num6 : (num6 / (1f + (float)Math.Exp(0f - num6)))); } float[] array5 = array; array = array2; array2 = array5; } for (int l = 0; l < Outputs; l++) { float num8 = array[l]; act[l] = ((num8 < -3f) ? (-3f) : ((num8 > 3f) ? 3f : num8)) / 3f; } } } public sealed class BullBot : IBot { private class Part { public Transform t; public Rigidbody rb; public ConfigurableJoint joint; public Collider[] colliders; public Vector3 startPos; public Quaternion startRot; public float strength = 1f; } private enum Mood { Idle, Wander, Chase, Search } public const int Observations = 200; public const int Actions = 20; private const float DecisionEvery = 0.06f; private const float MaxTorque = 300000f; private const int OwnLayer = 10; private const int WorldMask = -1025; private const float SightRange = 45f; private const float SightHalfAngle = 70f; private const float NoticeRange = 8f; private const float Memory = 6f; private const float WanderSpeed = 3f; private const float ChaseSpeed = 8f; private const float StopShort = 4.5f; private static readonly string[] PartNames = new string[9] { "Body", "UpperFL", "LowerFL", "UpperFR", "LowerFR", "UpperRL", "LowerRL", "UpperRR", "LowerRR" }; private readonly Brain _brain; private readonly List<Part> _parts = new List<Part>(); private readonly float[] _obs = new float[200]; private readonly float[] _act = new float[20]; private Vector3 _target; private Vector3 _frameFwd = Vector3.forward; private Vector3 _lastSeen; private Quaternion _frame = Quaternion.identity; private float _speed; private float _sinceDecision = 1f; private float _downFor; private float _moodFor; private float _sinceSeen = 999f; private Mood _mood; public GameObject Root { get; } public bool Alive { get { if ((Object)(object)Root != (Object)null && _parts.Count > 0) { return (Object)(object)_parts[0].rb != (Object)null; } return false; } } private Rigidbody Hull => _parts[0].rb; public BullBot(GameObject root, Brain brain) { //IL_0029: Unknown result type (might be due to invalid IL or missing references) //IL_002e: Unknown result type (might be due to invalid IL or missing references) //IL_0034: Unknown result type (might be due to invalid IL or missing references) //IL_0039: Unknown result type (might be due to invalid IL or missing references) //IL_021d: Unknown result type (might be due to invalid IL or missing references) //IL_0228: Unknown result type (might be due to invalid IL or missing references) //IL_0232: Unknown result type (might be due to invalid IL or missing references) //IL_0237: Unknown result type (might be due to invalid IL or missing references) //IL_023c: Unknown result type (might be due to invalid IL or missing references) //IL_0152: Unknown result type (might be due to invalid IL or missing references) //IL_0157: Unknown result type (might be due to invalid IL or missing references) //IL_015c: Unknown result type (might be due to invalid IL or missing references) //IL_0168: Unknown result type (might be due to invalid IL or missing references) //IL_016d: Unknown result type (might be due to invalid IL or missing references) //IL_0174: Unknown result type (might be due to invalid IL or missing references) //IL_0179: Unknown result type (might be due to invalid IL or missing references) //IL_017e: Unknown result type (might be due to invalid IL or missing references) Root = root; _brain = brain; Il2CppArrayBase<Transform> componentsInChildren = root.GetComponentsInChildren<Transform>(true); string[] partNames = PartNames; foreach (string text in partNames) { Transform val = null; Transform val2 = null; foreach (Transform item in componentsInChildren) { if (((Object)item).name == text) { val = item; } else if (((Object)item).name == "Pose_" + text) { val2 = item; } } if ((Object)(object)val == (Object)null) { throw new Exception("the BullCrab prefab has no part called " + text); } if ((Object)(object)val2 == (Object)null) { val2 = val; } Part part = new Part { t = val, rb = ((Component)val).GetComponent<Rigidbody>(), joint = ((Component)val).GetComponent<ConfigurableJoint>(), colliders = Il2CppArrayBase<Collider>.op_Implicit(((Component)val).GetComponents<Collider>()), startPos = root.transform.InverseTransformPoint(val2.position), startRot = Quaternion.Inverse(root.transform.rotation) * val2.rotation }; part.rb.solverIterations = 24; part.rb.solverVelocityIterations = 8; part.rb.maxAngularVelocity = 20f; _parts.Add(part); } Il2CppArrayBase<Collider> componentsInChildren2 = root.GetComponentsInChildren<Collider>(true); for (int j = 0; j < componentsInChildren2.Length; j++) { for (int k = j + 1; k < componentsInChildren2.Length; k++) { Physics.IgnoreCollision(componentsInChildren2[j], componentsInChildren2[k], true); } } _target = Hull.position + root.transform.forward * 8f; _moodFor = Random.Range(2f, 5f); } public void FixedTick(float dt) { //IL_0001: Unknown result type (might be due to invalid IL or missing references) //IL_000c: Unknown result type (might be due to invalid IL or missing references) //IL_0011: Unknown result type (might be due to invalid IL or missing references) //IL_0016: Unknown result type (might be due to invalid IL or missing references) //IL_0040: Unknown result type (might be due to invalid IL or missing references) //IL_0045: Unknown result type (might be due to invalid IL or missing references) //IL_004a: Unknown result type (might be due to invalid IL or missing references) //IL_004f: Unknown result type (might be due to invalid IL or missing references) //IL_0034: Unknown result type (might be due to invalid IL or missing references) //IL_0039: Unknown result type (might be due to invalid IL or missing references) Vector3 val = _target - Hull.position; val.y = 0f; if (((Vector3)(ref val)).sqrMagnitude > 0.01f) { _frameFwd = ((Vector3)(ref val)).normalized; } _frame = Quaternion.LookRotation(_frameFwd, Vector3.up); _sinceDecision += dt; if (!(_sinceDecision < 0.06f)) { _sinceDecision = 0f; Think(0.06f); Observe(); _brain.Run(_obs, _act); Act(); } } private void Think(float dt) { //IL_0006: Unknown result type (might be due to invalid IL or missing references) //IL_000b: Unknown result type (might be due to invalid IL or missing references) //IL_000c: Unknown result type (might be due to invalid IL or missing references) //IL_000d: Unknown result type (might be due to invalid IL or missing references) //IL_0038: Unknown result type (might be due to invalid IL or missing references) //IL_0028: Unknown result type (might be due to invalid IL or missing references) //IL_00de: Unknown result type (might be due to invalid IL or missing references) //IL_00e3: Unknown result type (might be due to invalid IL or missing references) //IL_00e4: Unknown result type (might be due to invalid IL or missing references) //IL_00e9: Unknown result type (might be due to invalid IL or missing references) //IL_00f6: Unknown result type (might be due to invalid IL or missing references) //IL_0102: Unknown result type (might be due to invalid IL or missing references) //IL_01d9: Unknown result type (might be due to invalid IL or missing references) //IL_01de: Unknown result type (might be due to invalid IL or missing references) //IL_01df: Unknown result type (might be due to invalid IL or missing references) //IL_01e4: Unknown result type (might be due to invalid IL or missing references) //IL_0210: Unknown result type (might be due to invalid IL or missing references) //IL_0215: Unknown result type (might be due to invalid IL or missing references) //IL_0265: Unknown result type (might be due to invalid IL or missing references) //IL_026a: Unknown result type (might be due to invalid IL or missing references) //IL_026b: Unknown result type (might be due to invalid IL or missing references) //IL_0270: Unknown result type (might be due to invalid IL or missing references) //IL_01ba: Unknown result type (might be due to invalid IL or missing references) //IL_01bf: Unknown result type (might be due to invalid IL or missing references) //IL_0134: Unknown result type (might be due to invalid IL or missing references) //IL_0139: Unknown result type (might be due to invalid IL or missing references) //IL_0082: Unknown result type (might be due to invalid IL or missing references) //IL_0089: Unknown result type (might be due to invalid IL or missing references) //IL_008f: Unknown result type (might be due to invalid IL or missing references) //IL_009a: Unknown result type (might be due to invalid IL or missing references) //IL_009f: Unknown result type (might be due to invalid IL or missing references) //IL_00a3: Unknown result type (might be due to invalid IL or missing references) //IL_0147: Unknown result type (might be due to invalid IL or missing references) //IL_0148: Unknown result type (might be due to invalid IL or missing references) //IL_0152: Unknown result type (might be due to invalid IL or missing references) //IL_0157: Unknown result type (might be due to invalid IL or missing references) //IL_015c: Unknown result type (might be due to invalid IL or missing references) //IL_0160: Unknown result type (might be due to invalid IL or missing references) //IL_0165: Unknown result type (might be due to invalid IL or missing references) //IL_0167: Unknown result type (might be due to invalid IL or missing references) //IL_016c: Unknown result type (might be due to invalid IL or missing references) //IL_016e: Unknown result type (might be due to invalid IL or missing references) //IL_0172: Unknown result type (might be due to invalid IL or missing references) //IL_02fd: Unknown result type (might be due to invalid IL or missing references) Vector3 position = Hull.position; RaycastHit val = default(RaycastHit); bool flag = Physics.Raycast(position, Vector3.down, ref val, 12f, -1025, (QueryTriggerInteraction)1); float num = (flag ? ((RaycastHit)(ref val)).point.y : (position.y - 1.7f)); _downFor = ((flag && ((RaycastHit)(ref val)).distance < 0.7f) ? (_downFor + dt) : 0f); if (_downFor > 6f) { _downFor = 0f; Vector3 ground = new Vector3(position.x, num, position.z); Quaternion rotation = Hull.rotation; Stand(ground, ((Quaternion)(ref rotation)).eulerAngles.y); } _sinceSeen += dt; Transform val2 = null; try { val2 = Player.Head; } catch { } if ((Object)(object)val2 != (Object)null) { Vector3 val3 = val2.position - position; float magnitude = ((Vector3)(ref val3)).magnitude; Vector3 val4 = default(Vector3); ((Vector3)(ref val4))..ctor(val3.x, 0f, val3.z); bool flag2 = magnitude < 8f; if (!flag2 && magnitude < 45f && Vector3.Angle(((Component)Hull).transform.forward, val4) < 70f) { Vector3 val5 = position + Vector3.up * 0.4f; Vector3 val6 = val2.position - val5; RaycastHit val7 = default(RaycastHit); flag2 = !Physics.Raycast(val5, ((Vector3)(ref val6)).normalized, ref val7, ((Vector3)(ref val6)).magnitude, -1025, (QueryTriggerInteraction)1) || ((RaycastHit)(ref val7)).distance > ((Vector3)(ref val6)).magnitude - 1.2f; } if (flag2) { _sinceSeen = 0f; _lastSeen = val2.position; } } if (_sinceSeen < 6f) { _mood = Mood.Chase; Vector3 val8 = _lastSeen - position; val8.y = 0f; _target = new Vector3(_lastSeen.x, num + 1f, _lastSeen.z); _speed = ((((Vector3)(ref val8)).magnitude > 4.5f) ? 8f : 0f); return; } if (_mood == Mood.Chase) { _mood = Mood.Search; _moodFor = 12f; } _moodFor -= dt; Vector3 val9 = _target - position; val9.y = 0f; switch (_mood) { case Mood.Search: _speed = 4.5f; if (((Vector3)(ref val9)).magnitude < 4f || _moodFor <= 0f) { _mood = Mood.Idle; _moodFor = Random.Range(3f, 7f); } break; case Mood.Idle: _speed = 0f; if (_moodFor <= 0f && PickWanderPoint(position, num)) { _mood = Mood.Wander; _moodFor = 25f; } break; case Mood.Wander: _speed = 3f; if (((Vector3)(ref val9)).magnitude < 3.5f || _moodFor <= 0f) { _mood = Mood.Idle; _moodFor = Random.Range(4f, 10f); } break; case Mood.Chase: break; } } private bool PickWanderPoint(Vector3 here, float ground) { //IL_0027: Unknown result type (might be due to invalid IL or missing references) //IL_003d: Unknown result type (might be due to invalid IL or missing references) //IL_0042: Unknown result type (might be due to invalid IL or missing references) //IL_0047: Unknown result type (might be due to invalid IL or missing references) //IL_0051: Unknown result type (might be due to invalid IL or missing references) //IL_0056: Unknown result type (might be due to invalid IL or missing references) //IL_005b: Unknown result type (might be due to invalid IL or missing references) //IL_0079: Unknown result type (might be due to invalid IL or missing references) //IL_0091: Unknown result type (might be due to invalid IL or missing references) //IL_0092: Unknown result type (might be due to invalid IL or missing references) //IL_009c: Unknown result type (might be due to invalid IL or missing references) //IL_00a1: Unknown result type (might be due to invalid IL or missing references) //IL_00a6: Unknown result type (might be due to invalid IL or missing references) //IL_00aa: Unknown result type (might be due to invalid IL or missing references) //IL_00af: Unknown result type (might be due to invalid IL or missing references) //IL_00b9: Unknown result type (might be due to invalid IL or missing references) //IL_00be: Unknown result type (might be due to invalid IL or missing references) //IL_00c3: Unknown result type (might be due to invalid IL or missing references) //IL_00c5: Unknown result type (might be due to invalid IL or missing references) //IL_00ca: Unknown result type (might be due to invalid IL or missing references) //IL_00cc: Unknown result type (might be due to invalid IL or missing references) //IL_00d5: Unknown result type (might be due to invalid IL or missing references) //IL_00f3: Unknown result type (might be due to invalid IL or missing references) //IL_00f8: Unknown result type (might be due to invalid IL or missing references) //IL_00fd: Unknown result type (might be due to invalid IL or missing references) //IL_0102: Unknown result type (might be due to invalid IL or missing references) RaycastHit val = default(RaycastHit); RaycastHit val4 = default(RaycastHit); for (int i = 0; i < 10; i++) { float num = Random.Range(0f, (float)Math.PI * 2f); float num2 = Random.Range(8f, 22f); if (Physics.Raycast(here + new Vector3(Mathf.Cos(num) * num2, 0f, Mathf.Sin(num) * num2) + Vector3.up * 4f, Vector3.down, ref val, 10f, -1025, (QueryTriggerInteraction)1) && !(Mathf.Abs(((RaycastHit)(ref val)).point.y - ground) > 1.5f)) { Vector3 val2 = here + Vector3.up * 0.5f; Vector3 val3 = ((RaycastHit)(ref val)).point + Vector3.up * 2f - val2; if (!Physics.SphereCast(val2, 1.2f, ((Vector3)(ref val3)).normalized, ref val4, ((Vector3)(ref val3)).magnitude, -1025, (QueryTriggerInteraction)1)) { _target = ((RaycastHit)(ref val)).point + Vector3.up; return true; } } } _moodFor = 2f; return false; } public void Stand(Vector3 ground, float yaw) { //IL_000b: Unknown result type (might be due to invalid IL or missing references) //IL_0010: Unknown result type (might be due to invalid IL or missing references) //IL_0030: Unknown result type (might be due to invalid IL or missing references) //IL_0040: Unknown result type (might be due to invalid IL or missing references) //IL_0050: Unknown result type (might be due to invalid IL or missing references) //IL_0051: Unknown result type (might be due to invalid IL or missing references) //IL_0053: Unknown result type (might be due to invalid IL or missing references) //IL_0058: Unknown result type (might be due to invalid IL or missing references) //IL_005d: Unknown result type (might be due to invalid IL or missing references) //IL_0062: Unknown result type (might be due to invalid IL or missing references) //IL_0064: Unknown result type (might be due to invalid IL or missing references) //IL_0069: Unknown result type (might be due to invalid IL or missing references) //IL_007f: Unknown result type (might be due to invalid IL or missing references) //IL_0095: Unknown result type (might be due to invalid IL or missing references) //IL_00b3: Unknown result type (might be due to invalid IL or missing references) Quaternion val = Quaternion.Euler(0f, yaw, 0f); foreach (Part part in _parts) { part.rb.velocity = Vector3.zero; part.rb.angularVelocity = Vector3.zero; part.t.SetPositionAndRotation(ground + val * part.startPos, val * part.startRot); part.rb.position = part.t.position; part.rb.rotation = part.t.rotation; if ((Object)(object)part.joint != (Object)null) { part.joint.targetRotation = Quaternion.identity; SetStrength(part, 1f); } } } private void Observe() { //IL_0011: Unknown result type (might be due to invalid IL or missing references) //IL_0016: Unknown result type (might be due to invalid IL or missing references) //IL_001b: Unknown result type (might be due to invalid IL or missing references) //IL_001c: Unknown result type (might be due to invalid IL or missing references) //IL_0021: Unknown result type (might be due to invalid IL or missing references) //IL_003a: Unknown result type (might be due to invalid IL or missing references) //IL_0042: Unknown result type (might be due to invalid IL or missing references) //IL_0047: Unknown result type (might be due to invalid IL or missing references) //IL_004c: Unknown result type (might be due to invalid IL or missing references) //IL_0066: Unknown result type (might be due to invalid IL or missing references) //IL_0073: Unknown result type (might be due to invalid IL or missing references) //IL_0078: Unknown result type (might be due to invalid IL or missing references) //IL_007a: Unknown result type (might be due to invalid IL or missing references) //IL_0085: Unknown result type (might be due to invalid IL or missing references) //IL_008a: Unknown result type (might be due to invalid IL or missing references) //IL_0091: Unknown result type (might be due to invalid IL or missing references) //IL_0096: Unknown result type (might be due to invalid IL or missing references) //IL_0099: Unknown result type (might be due to invalid IL or missing references) //IL_009a: Unknown result type (might be due to invalid IL or missing references) //IL_00a8: Unknown result type (might be due to invalid IL or missing references) //IL_00a9: Unknown result type (might be due to invalid IL or missing references) //IL_00aa: Unknown result type (might be due to invalid IL or missing references) //IL_00b7: Unknown result type (might be due to invalid IL or missing references) //IL_00b8: Unknown result type (might be due to invalid IL or missing references) //IL_00b9: Unknown result type (might be due to invalid IL or missing references) //IL_00d1: Unknown result type (might be due to invalid IL or missing references) //IL_00d7: Unknown result type (might be due to invalid IL or missing references) //IL_00dc: Unknown result type (might be due to invalid IL or missing references) //IL_00e9: Unknown result type (might be due to invalid IL or missing references) //IL_00f5: Unknown result type (might be due to invalid IL or missing references) //IL_00fa: Unknown result type (might be due to invalid IL or missing references) //IL_0107: Unknown result type (might be due to invalid IL or missing references) //IL_0109: Unknown result type (might be due to invalid IL or missing references) //IL_010e: Unknown result type (might be due to invalid IL or missing references) //IL_0110: Unknown result type (might be due to invalid IL or missing references) //IL_0115: Unknown result type (might be due to invalid IL or missing references) //IL_011f: Unknown result type (might be due to invalid IL or missing references) //IL_0129: Unknown result type (might be due to invalid IL or missing references) //IL_0136: Unknown result type (might be due to invalid IL or missing references) //IL_0138: Unknown result type (might be due to invalid IL or missing references) //IL_0235: Unknown result type (might be due to invalid IL or missing references) //IL_023a: Unknown result type (might be due to invalid IL or missing references) //IL_023f: Unknown result type (might be due to invalid IL or missing references) //IL_0244: Unknown result type (might be due to invalid IL or missing references) //IL_0247: Unknown result type (might be due to invalid IL or missing references) //IL_024c: Unknown result type (might be due to invalid IL or missing references) //IL_01a1: Unknown result type (might be due to invalid IL or missing references) //IL_01a9: Unknown result type (might be due to invalid IL or missing references) //IL_01ae: Unknown result type (might be due to invalid IL or missing references) //IL_01bb: Unknown result type (might be due to invalid IL or missing references) //IL_01c3: Unknown result type (might be due to invalid IL or missing references) //IL_01c8: Unknown result type (might be due to invalid IL or missing references) //IL_01d9: Unknown result type (might be due to invalid IL or missing references) //IL_01e1: Unknown result type (might be due to invalid IL or missing references) //IL_01e6: Unknown result type (might be due to invalid IL or missing references) //IL_01e8: Unknown result type (might be due to invalid IL or missing references) //IL_01ed: Unknown result type (might be due to invalid IL or missing references) //IL_0201: Unknown result type (might be due to invalid IL or missing references) //IL_025e: Unknown result type (might be due to invalid IL or missing references) //IL_0260: Unknown result type (might be due to invalid IL or missing references) //IL_026d: Unknown result type (might be due to invalid IL or missing references) //IL_0272: Unknown result type (might be due to invalid IL or missing references) //IL_0277: Unknown result type (might be due to invalid IL or missing references) //IL_0284: Unknown result type (might be due to invalid IL or missing references) //IL_0289: Unknown result type (might be due to invalid IL or missing references) //IL_028e: Unknown result type (might be due to invalid IL or missing references) //IL_0298: Unknown result type (might be due to invalid IL or missing references) //IL_029d: Unknown result type (might be due to invalid IL or missing references) //IL_02a2: Unknown result type (might be due to invalid IL or missing references) //IL_02a4: Unknown result type (might be due to invalid IL or missing references) //IL_02c1: Unknown result type (might be due to invalid IL or missing references) //IL_02c3: Unknown result type (might be due to invalid IL or missing references) //IL_02de: Unknown result type (might be due to invalid IL or missing references) //IL_02e8: Unknown result type (might be due to invalid IL or missing references) //IL_0346: Unknown result type (might be due to invalid IL or missing references) //IL_0348: Unknown result type (might be due to invalid IL or missing references) //IL_0355: Unknown result type (might be due to invalid IL or missing references) //IL_035a: Unknown result type (might be due to invalid IL or missing references) //IL_035f: Unknown result type (might be due to invalid IL or missing references) //IL_036a: Unknown result type (might be due to invalid IL or missing references) //IL_036f: Unknown result type (might be due to invalid IL or missing references) //IL_0374: Unknown result type (might be due to invalid IL or missing references) //IL_037e: Unknown result type (might be due to invalid IL or missing references) //IL_0383: Unknown result type (might be due to invalid IL or missing references) //IL_0388: Unknown result type (might be due to invalid IL or missing references) //IL_038a: Unknown result type (might be due to invalid IL or missing references) //IL_03a7: Unknown result type (might be due to invalid IL or missing references) //IL_03a9: Unknown result type (might be due to invalid IL or missing references) int n = 0; Quaternion val = Quaternion.Inverse(_frame); Vector3 val2 = Vector3.zero; foreach (Part part2 in _parts) { val2 += part2.rb.velocity; } val2 /= (float)_parts.Count; Vector3 val3 = _frameFwd * _speed; Vector3 position = Hull.position; F(Vector3.Distance(val3, val2)); V(val * val2); V(val * val3); Q(Quaternion.FromToRotation(((Component)Hull).transform.forward, _frameFwd)); V(val * ((Component)Hull).transform.up); V(Vector3.ClampMagnitude(val * (_target - position), 60f) / 10f); RaycastHit val4 = default(RaycastHit); F((Physics.Raycast(position, Vector3.down, ref val4, 12f, -1025, (QueryTriggerInteraction)1) ? ((RaycastHit)(ref val4)).distance : 12f) / 12f); for (int i = 0; i < _parts.Count; i++) { Part part = _parts[i]; F(Touching(part) ? 1f : 0f); V(val * part.rb.velocity); V(val * part.rb.angularVelocity); if (i != 0) { V(val * (part.rb.position - position)); Q(part.rb.rotation); F(part.strength); } } Vector3 val5 = _frame * Vector3.right; Vector3 frameFwd = _frameFwd; RaycastHit val7 = default(RaycastHit); for (int j = 0; j < 7; j++) { for (int k = 0; k < 7; k++) { Vector3 val6 = position + val5 * ((float)(k - 3) * 1.5f) + frameFwd * ((float)(j - 2) * 1.5f) + Vector3.up * 0.5f; float v = ((!Physics.CheckSphere(val6, 0.05f, -1025, (QueryTriggerInteraction)1)) ? ((!Physics.Raycast(val6, Vector3.down, ref val7, 10f, -1025, (QueryTriggerInteraction)1)) ? (-1.5f) : Mathf.Clamp((((RaycastHit)(ref val7)).point.y - position.y) / 6f, -1.5f, 0.5f)) : 0.5f); F(v); } } RaycastHit val9 = default(RaycastHit); for (int l = 0; l < 2; l++) { for (int m = 0; m < 3; m++) { Vector3 val8 = position + val5 * ((float)(m - 1) * 2f) + frameFwd * ((float)l * 3f) + Vector3.up * 1.6f; float v2 = ((!Physics.CheckSphere(val8, 0.05f, -1025, (QueryTriggerInteraction)1)) ? (Physics.Raycast(val8, Vector3.up, ref val9, 5f, -1025, (QueryTriggerInteraction)1) ? (((RaycastHit)(ref val9)).distance / 5f) : 1f) : 0f); F(v2); } } if (n != 200) { throw new Exception("observation count is " + n + ", the brain wants " + 200); } void F(float num) { _obs[n++] = num; } void Q(Quaternion q) { //IL_0017: Unknown result type (might be due to invalid IL or missing references) //IL_0035: Unknown result type (might be due to invalid IL or missing references) //IL_0053: Unknown result type (might be due to invalid IL or missing references) //IL_0071: Unknown result type (might be due to invalid IL or missing references) _obs[n++] = q.x; _obs[n++] = q.y; _obs[n++] = q.z; _obs[n++] = q.w; } void V(Vector3 val10) { //IL_0017: Unknown result type (might be due to invalid IL or missing references) //IL_0035: Unknown result type (might be due to invalid IL or missing references) //IL_0053: Unknown result type (might be due to invalid IL or missing references) _obs[n++] = val10.x; _obs[n++] = val10.y; _obs[n++] = val10.z; } } private static bool Touching(Part p) { //IL_0034: Unknown result type (might be due to invalid IL or missing references) //IL_0056: Unknown result type (might be due to invalid IL or missing references) //IL_005b: Unknown result type (might be due to invalid IL or missing references) //IL_0064: Unknown result type (might be due to invalid IL or missing references) //IL_0069: Unknown result type (might be due to invalid IL or missing references) //IL_006e: Unknown result type (might be due to invalid IL or missing references) //IL_0070: Unknown result type (might be due to invalid IL or missing references) //IL_0072: Unknown result type (might be due to invalid IL or missing references) //IL_0074: Unknown result type (might be due to invalid IL or missing references) //IL_0079: Unknown result type (might be due to invalid IL or missing references) //IL_007b: Unknown result type (might be due to invalid IL or missing references) //IL_007d: Unknown result type (might be due to invalid IL or missing references) //IL_00ba: Unknown result type (might be due to invalid IL or missing references) //IL_00bf: Unknown result type (might be due to invalid IL or missing references) //IL_00fa: Unknown result type (might be due to invalid IL or missing references) //IL_00ff: Unknown result type (might be due to invalid IL or missing references) //IL_0106: Unknown result type (might be due to invalid IL or missing references) //IL_0110: Unknown result type (might be due to invalid IL or missing references) //IL_0124: Unknown result type (might be due to invalid IL or missing references) //IL_0129: Unknown result type (might be due to invalid IL or missing references) //IL_0134: Unknown result type (might be due to invalid IL or missing references) Collider[] colliders = p.colliders; foreach (Collider val in colliders) { if ((Object)(object)val == (Object)null) { continue; } CapsuleCollider val2 = ((Il2CppObjectBase)val).TryCast<CapsuleCollider>(); if ((Object)(object)val2 != (Object)null) { Vector3 val3 = ((Component)val).transform.up * Mathf.Max(0f, val2.height * 0.5f - val2.radius); Vector3 val4 = ((Component)val).transform.TransformPoint(val2.center); if (Physics.CheckCapsule(val4 - val3, val4 + val3, val2.radius + 0.03f, -1025, (QueryTriggerInteraction)1)) { return true; } continue; } SphereCollider val5 = ((Il2CppObjectBase)val).TryCast<SphereCollider>(); if ((Object)(object)val5 != (Object)null) { if (Physics.CheckSphere(((Component)val).transform.TransformPoint(val5.center), val5.radius + 0.03f, -1025, (QueryTriggerInteraction)1)) { return true; } continue; } BoxCollider val6 = ((Il2CppObjectBase)val).TryCast<BoxCollider>(); if ((Object)(object)val6 != (Object)null && Physics.CheckBox(((Component)val).transform.TransformPoint(val6.center), val6.size * 0.5f + new Vector3(0.03f, 0.03f, 0.03f), ((Component)val).transform.rotation, -1025, (QueryTriggerInteraction)1)) { return true; } } return false; } private void Act() { int num = 0; for (int i = 0; i < 4; i++) { Part p = _parts[1 + i * 2]; Part p2 = _parts[2 + i * 2]; SetTarget(p, _act[num++], _act[num++]); SetTarget(p2, _act[num++], 0f); SetStrength(p, (Mathf.Clamp(_act[num++], -1f, 1f) + 1f) * 0.5f); SetStrength(p2, (Mathf.Clamp(_act[num++], -1f, 1f) + 1f) * 0.5f); } } private static void SetTarget(Part p, float x, float z) { //IL_0008: Unknown result type (might be due to invalid IL or missing references) //IL_000d: Unknown result type (might be due to invalid IL or missing references) //IL_0016: Unknown result type (might be due to invalid IL or missing references) //IL_001b: Unknown result type (might be due to invalid IL or missing references) //IL_0046: Unknown result type (might be due to invalid IL or missing references) //IL_004b: Unknown result type (might be due to invalid IL or missing references) //IL_006d: Unknown result type (might be due to invalid IL or missing references) ConfigurableJoint joint = p.joint; SoftJointLimit val = joint.lowAngularXLimit; float limit = ((SoftJointLimit)(ref val)).limit; val = joint.highAngularXLimit; float num = Mathf.Lerp(limit, ((SoftJointLimit)(ref val)).limit, (Mathf.Clamp(x, -1f, 1f) + 1f) * 0.5f); val = joint.angularZLimit; float num2 = ((SoftJointLimit)(ref val)).limit * Mathf.Clamp(z, -1f, 1f); joint.targetRotation = Quaternion.Euler(num, 0f, num2); } private static void SetStrength(Part p, float s) { //IL_000d: Unknown result type (might be due to invalid IL or missing references) //IL_0012: Unknown result type (might be due to invalid IL or missing references) //IL_0031: Unknown result type (might be due to invalid IL or missing references) p.strength = s; JointDrive slerpDrive = p.joint.slerpDrive; ((JointDrive)(ref slerpDrive)).maximumForce = Mathf.Max(0.02f, s) * 300000f; p.joint.slerpDrive = slerpDrive; } } public interface IBot { GameObject Root { get; } bool Alive { get; } void FixedTick(float dt); void Stand(Vector3 ground, float yaw); } public sealed class DroneBot : IBot { private class Part { public Transform t; public Rigidbody rb; public ConfigurableJoint joint; public Vector3 startPos; public Quaternion startRot; public Quaternion restRel; public float power = 1f; public float wanted = 1f; } public const int Observations = 50; public const int Actions = 12; private const float DecisionEvery = 0.04f; private const int OwnLayer = 10; private const int WorldMask = -1025; private const float BodyMass = 500f; private const float ThrusterMass = 40f; private const float TotalMass = 660f; private const float HoverThrust = 1618.65f; private const float SwivelX = 60f; private const float SwivelZ = 25f; private const float SpinUp = 0.15f; private const float RoamRadius = 28f; private static readonly string[] PartNames = new string[5] { "Body", "ThrusterFL", "ThrusterFR", "ThrusterRL", "ThrusterRR" }; private readonly Brain _brain; private readonly List<Part> _parts = new List<Part>(); private readonly float[] _obs = new float[50]; private readonly float[] _act = new float[12]; private Vector3 _target; private Vector3 _home; private Vector3 _frameFwd = Vector3.forward; private Quaternion _frame = Quaternion.identity; private float _speed = 5f; private float _sinceDecision = 1f; private float _holdFor; private float _legFor; private bool _holding; public GameObject Root { get; } public bool Alive { get { if ((Object)(object)Root != (Object)null && _parts.Count > 0) { return (Object)(object)_parts[0].rb != (Object)null; } return false; } } private Rigidbody Body => _parts[0].rb; public DroneBot(GameObject root, Brain brain) { //IL_0026: Unknown result type (might be due to invalid IL or missing references) //IL_002b: Unknown result type (might be due to invalid IL or missing references) //IL_0031: Unknown result type (might be due to invalid IL or missing references) //IL_0036: Unknown result type (might be due to invalid IL or missing references) //IL_01e1: Unknown result type (might be due to invalid IL or missing references) //IL_01e6: Unknown result type (might be due to invalid IL or missing references) //IL_01f8: Unknown result type (might be due to invalid IL or missing references) //IL_01fd: Unknown result type (might be due to invalid IL or missing references) //IL_0202: Unknown result type (might be due to invalid IL or missing references) //IL_0222: Unknown result type (might be due to invalid IL or missing references) //IL_0241: Unknown result type (might be due to invalid IL or missing references) //IL_0251: Unknown result type (might be due to invalid IL or missing references) //IL_02ad: Unknown result type (might be due to invalid IL or missing references) //IL_02b8: Unknown result type (might be due to invalid IL or missing references) //IL_02bd: Unknown result type (might be due to invalid IL or missing references) //IL_02c1: Unknown result type (might be due to invalid IL or missing references) //IL_013d: Unknown result type (might be due to invalid IL or missing references) //IL_0142: Unknown result type (might be due to invalid IL or missing references) //IL_0147: Unknown result type (might be due to invalid IL or missing references) //IL_0153: Unknown result type (might be due to invalid IL or missing references) //IL_0158: Unknown result type (might be due to invalid IL or missing references) //IL_015f: Unknown result type (might be due to invalid IL or missing references) //IL_0164: Unknown result type (might be due to invalid IL or missing references) //IL_0169: Unknown result type (might be due to invalid IL or missing references) Root = root; _brain = brain; Il2CppArrayBase<Transform> componentsInChildren = root.GetComponentsInChildren<Transform>(true); string[] partNames = PartNames; foreach (string text in partNames) { Transform val = null; Transform val2 = null; foreach (Transform item in componentsInChildren) { if (((Object)item).name == text) { val = item; } else if (((Object)item).name == "Pose_" + text) { val2 = item; } } if ((Object)(object)val == (Object)null) { throw new Exception("the Heavy Drone prefab has no part called " + text); } if ((Object)(object)val2 == (Object)null) { val2 = val; } Part part = new Part { t = val, rb = ((Component)val).GetComponent<Rigidbody>(), joint = ((Component)val).GetComponent<ConfigurableJoint>(), startPos = root.transform.InverseTransformPoint(val2.position), startRot = Quaternion.Inverse(root.transform.rotation) * val2.rotation }; part.rb.solverIterations = 16; part.rb.solverVelocityIterations = 6; part.rb.maxAngularVelocity = 20f; part.rb.useGravity = true; _parts.Add(part); } for (int j = 1; j < _parts.Count; j++) { _parts[j].restRel = Quaternion.Inverse(_parts[0].startRot) * _parts[j].startRot; } Body.centerOfMass = Vector3.zero; Body.inertiaTensor = new Vector3(900f, 1400f, 900f); Body.inertiaTensorRotation = Quaternion.identity; Il2CppArrayBase<Collider> componentsInChildren2 = root.GetComponentsInChildren<Collider>(true); for (int k = 0; k < componentsInChildren2.Length; k++) { for (int l = k + 1; l < componentsInChildren2.Length; l++) { Physics.IgnoreCollision(componentsInChildren2[k], componentsInChildren2[l], true); } } Vector3 position = root.transform.position; Quaternion rotation = root.transform.rotation; Stand(position, ((Quaternion)(ref rotation)).eulerAngles.y); } public void FixedTick(float dt) { //IL_0049: Unknown result type (might be due to invalid IL or missing references) //IL_005a: Unknown result type (might be due to invalid IL or missing references) //IL_0077: Unknown result type (might be due to invalid IL or missing references) //IL_0082: Unknown result type (might be due to invalid IL or missing references) //IL_0087: Unknown result type (might be due to invalid IL or missing references) //IL_008c: Unknown result type (might be due to invalid IL or missing references) //IL_00b6: Unknown result type (might be due to invalid IL or missing references) //IL_00bb: Unknown result type (might be due to invalid IL or missing references) //IL_00c0: Unknown result type (might be due to invalid IL or missing references) //IL_00c5: Unknown result type (might be due to invalid IL or missing references) //IL_00aa: Unknown result type (might be due to invalid IL or missing references) //IL_00af: Unknown result type (might be due to invalid IL or missing references) float num = 1f - Mathf.Exp((0f - dt) / 0.15f); for (int i = 1; i < _parts.Count; i++) { Part part = _parts[i]; part.power = Mathf.Lerp(part.power, part.wanted, num); part.rb.AddForce(part.t.up * (part.power * 1618.65f)); } Vector3 val = _target - Body.position; val.y = 0f; if (((Vector3)(ref val)).sqrMagnitude > 9f) { _frameFwd = ((Vector3)(ref val)).normalized; } _frame = Quaternion.LookRotation(_frameFwd, Vector3.up); _sinceDecision += dt; if (!(_sinceDecision < 0.04f)) { _sinceDecision = 0f; Think(0.04f); Observe(); _brain.Run(_obs, _act); Act(); } } private void Think(float dt) { //IL_0001: Unknown result type (might be due to invalid IL or missing references) //IL_000c: Unknown result type (might be due to invalid IL or missing references) float num = Vector3.Distance(_target, Body.position); _legFor -= dt; if (!_holding && (num < 2f || _legFor <= 0f)) { _holding = true; _holdFor = Random.Range(1f, 7f); } if (_holding) { _holdFor -= dt; if (_holdFor <= 0f) { NextPoint(); } } } private void NextPoint() { //IL_0006: Unknown result type (might be due to invalid IL or missing references) //IL_000b: Unknown result type (might be due to invalid IL or missing references) //IL_0013: Unknown result type (might be due to invalid IL or missing references) //IL_001d: Unknown result type (might be due to invalid IL or missing references) //IL_0022: Unknown result type (might be due to invalid IL or missing references) //IL_0024: Unknown result type (might be due to invalid IL or missing references) //IL_0029: Unknown result type (might be due to invalid IL or missing references) //IL_0034: Unknown result type (might be due to invalid IL or missing references) //IL_003a: Unknown result type (might be due to invalid IL or missing references) //IL_003f: Unknown result type (might be due to invalid IL or missing references) //IL_0044: Unknown result type (might be due to invalid IL or missing references) //IL_0045: Unknown result type (might be due to invalid IL or missing references) //IL_0046: Unknown result type (might be due to invalid IL or missing references) //IL_0050: Unknown result type (might be due to invalid IL or missing references) //IL_0055: Unknown result type (might be due to invalid IL or missing references) //IL_005a: Unknown result type (might be due to invalid IL or missing references) //IL_0075: Unknown result type (might be due to invalid IL or missing references) //IL_007a: Unknown result type (might be due to invalid IL or missing references) //IL_008e: Unknown result type (might be due to invalid IL or missing references) //IL_0093: Unknown result type (might be due to invalid IL or missing references) //IL_0098: Unknown result type (might be due to invalid IL or missing references) //IL_0099: Unknown result type (might be due to invalid IL or missing references) //IL_00ac: Unknown result type (might be due to invalid IL or missing references) //IL_00ad: Unknown result type (might be due to invalid IL or missing references) //IL_00ae: Unknown result type (might be due to invalid IL or missing references) //IL_00b3: Unknown result type (might be due to invalid IL or missing references) //IL_00c3: Unknown result type (might be due to invalid IL or missing references) //IL_00cb: Unknown result type (might be due to invalid IL or missing references) //IL_00e7: Unknown result type (might be due to invalid IL or missing references) //IL_00e8: Unknown result type (might be due to invalid IL or missing references) Vector3 position = Body.position; RaycastHit val3 = default(RaycastHit); RaycastHit val5 = default(RaycastHit); for (int i = 0; i < 16; i++) { Vector2 val = Random.insideUnitCircle * 28f; Vector3 val2 = _home + new Vector3(val.x, 0f, val.y); if (!Physics.Raycast(val2 + Vector3.up * 40f, Vector3.down, ref val3, 80f, -1025, (QueryTriggerInteraction)1)) { continue; } val2 = ((RaycastHit)(ref val3)).point + Vector3.up * Random.Range(6f, 20f); if (!Physics.CheckSphere(val2, 4f, -1025, (QueryTriggerInteraction)1)) { Vector3 val4 = val2 - position; if (!(((Vector3)(ref val4)).magnitude < 8f) && !Physics.SphereCast(position, 2.2f, ((Vector3)(ref val4)).normalized, ref val5, ((Vector3)(ref val4)).magnitude, -1025, (QueryTriggerInteraction)1)) { _target = val2; break; } } } _speed = Random.Range(3f, 8f); _holding = false; _legFor = 30f; } public void Stand(Vector3 ground, float yaw) { //IL_000b: Unknown result type (might be due to invalid IL or missing references) //IL_0010: Unknown result type (might be due to invalid IL or missing references) //IL_0011: Unknown result type (might be due to invalid IL or missing references) //IL_0012: Unknown result type (might be due to invalid IL or missing references) //IL_001c: Unknown result type (might be due to invalid IL or missing references) //IL_0021: Unknown result type (might be due to invalid IL or missing references) //IL_0026: Unknown result type (might be due to invalid IL or missing references) //IL_0046: Unknown result type (might be due to invalid IL or missing references) //IL_0056: Unknown result type (might be due to invalid IL or missing references) //IL_0066: Unknown result type (might be due to invalid IL or missing references) //IL_0067: Unknown result type (might be due to invalid IL or missing references) //IL_0069: Unknown result type (might be due to invalid IL or missing references) //IL_006e: Unknown result type (might be due to invalid IL or missing references) //IL_0073: Unknown result type (might be due to invalid IL or missing references) //IL_0078: Unknown result type (might be due to invalid IL or missing references) //IL_007a: Unknown result type (might be due to invalid IL or missing references) //IL_007f: Unknown result type (might be due to invalid IL or missing references) //IL_0095: Unknown result type (might be due to invalid IL or missing references) //IL_00ab: Unknown result type (might be due to invalid IL or missing references) //IL_00c9: Unknown result type (might be due to invalid IL or missing references) //IL_010c: Unknown result type (might be due to invalid IL or missing references) //IL_0111: Unknown result type (might be due to invalid IL or missing references) //IL_011d: Unknown result type (might be due to invalid IL or missing references) //IL_0122: Unknown result type (might be due to invalid IL or missing references) Quaternion val = Quaternion.Euler(0f, yaw, 0f); Vector3 val2 = ground + Vector3.up * 4f; foreach (Part part in _parts) { part.rb.velocity = Vector3.zero; part.rb.angularVelocity = Vector3.zero; part.t.SetPositionAndRotation(val2 + val * part.startPos, val * part.startRot); part.rb.position = part.t.position; part.rb.rotation = part.t.rotation; if ((Object)(object)part.joint != (Object)null) { part.joint.targetRotation = Quaternion.identity; } part.power = (part.wanted = 1f); } _home = Body.position; _target = Body.position; _holding = true; _holdFor = 3f; } private static float Ray(Vector3 from, Vector3 dir, float range) { //IL_0000: Unknown result type (might be due to invalid IL or missing references) //IL_0006: Unknown result type (might be due to invalid IL or missing references) RaycastHit val = default(RaycastHit); if (!Physics.SphereCast(from, 0.4f, dir, ref val, range, -1025, (QueryTriggerInteraction)1)) { return 1f; } return ((RaycastHit)(ref val)).distance / range; } private Vector3 GoalVelocity() { //IL_0001: Unknown result type (might be due to invalid IL or missing references) //IL_000c: Unknown result type (might be due to invalid IL or missing references) //IL_0011: Unknown result type (might be due to invalid IL or missing references) //IL_0016: Unknown result type (might be due to invalid IL or missing references) //IL_008c: Unknown result type (might be due to invalid IL or missing references) //IL_0072: Unknown result type (might be due to invalid IL or missing references) //IL_0074: Unknown result type (might be due to invalid IL or missing references) //IL_0086: Unknown result type (might be due to invalid IL or missing references) //IL_0064: Unknown result type (might be due to invalid IL or missing references) //IL_0045: Unknown result type (might be due to invalid IL or missing references) //IL_0047: Unknown result type (might be due to invalid IL or missing references) //IL_005e: Unknown result type (might be due to invalid IL or missing references) Vector3 val = _target - Body.position; float magnitude = ((Vector3)(ref val)).magnitude; float num = (_holding ? 0f : _speed); if (_holding) { if (!(magnitude < 0.01f)) { return val / magnitude * Mathf.Min(_speed, magnitude * 0.9f); } return Vector3.zero; } if (!(magnitude < 0.01f)) { return val / magnitude * Mathf.Min(num, magnitude * 0.9f); } return Vector3.zero; } private void Observe() { //IL_0011: Unknown result type (might be due to invalid IL or missing references) //IL_0016: Unknown result type (might be due to invalid IL or missing references) //IL_001b: Unknown result type (might be due to invalid IL or missing references) //IL_0024: Unknown result type (might be due to invalid IL or missing references) //IL_0029: Unknown result type (might be due to invalid IL or missing references) //IL_002b: Unknown result type (might be due to invalid IL or missing references) //IL_0035: Unknown result type (might be due to invalid IL or missing references) //IL_003a: Unknown result type (might be due to invalid IL or missing references) //IL_0041: Unknown result type (might be due to invalid IL or missing references) //IL_0055: Unknown result type (might be due to invalid IL or missing references) //IL_005f: Unknown result type (might be due to invalid IL or missing references) //IL_0064: Unknown result type (might be due to invalid IL or missing references) //IL_0069: Unknown result type (might be due to invalid IL or missing references) //IL_0081: Unknown result type (might be due to invalid IL or missing references) //IL_0083: Unknown result type (might be due to invalid IL or missing references) //IL_0088: Unknown result type (might be due to invalid IL or missing references) //IL_0092: Unknown result type (might be due to invalid IL or missing references) //IL_009f: Unknown result type (might be due to invalid IL or missing references) //IL_00a0: Unknown result type (might be due to invalid IL or missing references) //IL_00a7: Unknown result type (might be due to invalid IL or missing references) //IL_00ac: Unknown result type (might be due to invalid IL or missing references) //IL_00b6: Unknown result type (might be due to invalid IL or missing references) //IL_00c3: Unknown result type (might be due to invalid IL or missing references) //IL_00ca: Unknown result type (might be due to invalid IL or missing references) //IL_00cf: Unknown result type (might be due to invalid IL or missing references) //IL_00e2: Unknown result type (might be due to invalid IL or missing references) //IL_00e8: Unknown result type (might be due to invalid IL or missing references) //IL_00ed: Unknown result type (might be due to invalid IL or missing references) //IL_00fa: Unknown result type (might be due to invalid IL or missing references) //IL_00fc: Unknown result type (might be due to invalid IL or missing references) //IL_0101: Unknown result type (might be due to invalid IL or missing references) //IL_010e: Unknown result type (might be due to invalid IL or missing references) //IL_0110: Unknown result type (might be due to invalid IL or missing references) //IL_0115: Unknown result type (might be due to invalid IL or missing references) //IL_0116: Unknown result type (might be due to invalid IL or missing references) //IL_011b: Unknown result type (might be due to invalid IL or missing references) //IL_0125: Unknown result type (might be due to invalid IL or missing references) //IL_012f: Unknown result type (might be due to invalid IL or missing references) //IL_013c: Unknown result type (might be due to invalid IL or missing references) //IL_013d: Unknown result type (might be due to invalid IL or missing references) //IL_0154: Unknown result type (might be due to invalid IL or missing references) //IL_0159: Unknown result type (might be due to invalid IL or missing references) //IL_015e: Unknown result type (might be due to invalid IL or missing references) //IL_0175: Unknown result type (might be due to invalid IL or missing references) //IL_017e: Unknown result type (might be due to invalid IL or missing references) //IL_0183: Unknown result type (might be due to invalid IL or missing references) //IL_018a: Unknown result type (might be due to invalid IL or missing references) //IL_018f: Unknown result type (might be due to invalid IL or missing references) //IL_0194: Unknown result type (might be due to invalid IL or missing references) //IL_01d0: Unknown result type (might be due to invalid IL or missing references) //IL_01d2: Unknown result type (might be due to invalid IL or missing references) //IL_01ea: Unknown result type (might be due to invalid IL or missing references) //IL_01ef: Unknown result type (might be due to invalid IL or missing references) //IL_01f4: Unknown result type (might be due to invalid IL or missing references) //IL_01f9: Unknown result type (might be due to invalid IL or missing references) //IL_021b: Unknown result type (might be due to invalid IL or missing references) //IL_021c: Unknown result type (might be due to invalid IL or missing references) //IL_0233: Unknown result type (might be due to invalid IL or missing references) //IL_0235: Unknown result type (might be due to invalid IL or missing references) //IL_023a: Unknown result type (might be due to invalid IL or missing references) //IL_023f: Unknown result type (might be due to invalid IL or missing references) //IL_0244: Unknown result type (might be due to invalid IL or missing references) //IL_0248: Unknown result type (might be due to invalid IL or missing references) int n = 0; Quaternion val = Quaternion.Inverse(_frame); Rigidbody body = Body; Vector3 position = body.position; Vector3 val2 = body.velocity * 500f; for (int i = 1; i < _parts.Count; i++) { val2 += _parts[i].rb.velocity * 40f; } V(val * GoalVelocity() / 5f); V(val * (val2 / 660f) / 5f); V(val * ((Component)body).transform.up); Q(Quaternion.FromToRotation(((Component)body).transform.forward, _frameFwd)); V(val * body.angularVelocity); V(Vector3.ClampMagnitude(val * (_target - position), 60f) / 10f); F(Ray(position, Vector3.down, 30f)); Quaternion val3 = Quaternion.Inverse(body.rotation); for (int j = 1; j < _parts.Count; j++) { Part part = _parts[j]; Q(val3 * part.rb.rotation * Quaternion.Inverse(part.restRel)); F(part.power - 1f); } for (int k = 0; k < 8; k++) { F(Ray(position, _frame * Quaternion.Euler(0f, (float)k * 45f, 0f) * Vector3.forward, 20f)); } F(Ray(position, Vector3.up, 20f)); Vector3 val4 = _frameFwd + Vector3.down; F(Ray(position, ((Vector3)(ref val4)).normalized, 20f)); if (n != 50) { throw new Exception("observation count is " + n + ", the brain wants " + 50); } void F(float v) { _obs[n++] = v; } void Q(Quaternion q) { //IL_0017: Unknown result type (might be due to invalid IL or missing references) //IL_0035: Unknown result type (might be due to invalid IL or missing references) //IL_0053: Unknown result type (might be due to invalid IL or missing references) //IL_0071: Unknown result type (might be due to invalid IL or missing references) _obs[n++] = q.x; _obs[n++] = q.y; _obs[n++] = q.z; _obs[n++] = q.w; } void V(Vector3 v) { //IL_0017: Unknown result type (might be due to invalid IL or missing references) //IL_0035: Unknown result type (might be due to invalid IL or missing references) //IL_0053: Unknown result type (might be due to invalid IL or missing references) _obs[n++] = v.x; _obs[n++] = v.y; _obs[n++] = v.z; } } private void Act() { //IL_0066: Unknown result type (might be due to invalid IL or missing references) int num = 0; for (int i = 1; i < _parts.Count; i++) { Part part = _parts[i]; float num2 = 60f * Mathf.Clamp(_act[num++], -1f, 1f); float num3 = 25f * Mathf.Clamp(_act[num++], -1f, 1f); part.joint.targetRotation = Quaternion.Euler(num2, 0f, num3); part.wanted = 1f + Mathf.Clamp(_act[num++], -1f, 1f); } } } public sealed class IzhBot : IBot { private class Part { public Transform t; public Rigidbody rb; public ConfigurableJoint joint; public Collider[] colliders; public Vector3 startPos; public Quaternion startRot; public float strength = 1f; public float maxTorque; } public const int Observations = 200; public const int Actions = 20; private const float DecisionEvery = 0.06f; private const float UpperTorque = 3200f; private const float LowerTorque = 4200f; private const int OwnLayer = 10; private const int WorldMask = -1025; private static readonly string[] PartNames = new string[9] { "Body", "UpperFL", "LowerFL", "UpperFR", "LowerFR", "UpperRL", "LowerRL", "UpperRR", "LowerRR" }; private readonly Brain _brain; private readonly List<Part> _parts = new List<Part>(); private readonly float[] _obs = new float[200]; private readonly float[] _act = new float[20]; private Vector3 _target; private Vector3 _home; private Vector3 _frameFwd = Vector3.forward; private Quaternion _frame = Quaternion.identity; private float _speed; private float _sinceDecision = 1f; private float _downFor; private float _moodFor; private bool _walking; public GameObject Root { get; } public bool Alive { get { if ((Object)(object)Root != (Object)null && _parts.Count > 0) { return (Object)(object)_parts[0].rb != (Object)null; } return false; } } private Rigidbody Body => _parts[0].rb; public IzhBot(GameObject root, Brain brain) { //IL_0029: Unknown result type (might be due to invalid IL or missing references) //IL_002e: Unknown result type (might be due to invalid IL or missing references) //IL_0034: Unknown result type (might be due to invalid IL or missing references) //IL_0039: Unknown result type (might be due to invalid IL or missing references) //IL_025d: Unknown result type (might be due to invalid IL or missing references) //IL_0262: Unknown result type (might be due to invalid IL or missing references) //IL_026e: Unknown result type (might be due to invalid IL or missing references) //IL_0279: Unknown result type (might be due to invalid IL or missing references) //IL_0283: Unknown result type (might be due to invalid IL or missing references) //IL_0288: Unknown result type (might be due to invalid IL or missing references) //IL_028d: Unknown result type (might be due to invalid IL or missing references) //IL_024c: Unknown result type (might be due to invalid IL or missing references) //IL_0149: Unknown result type (might be due to invalid IL or missing references) //IL_014e: Unknown result type (might be due to invalid IL or missing references) //IL_0153: Unknown result type (might be due to invalid IL or missing references) //IL_015f: Unknown result type (might be due to invalid IL or missing references) //IL_0164: Unknown result type (might be due to invalid IL or missing references) //IL_016b: Unknown result type (might be due to invalid IL or missing references) //IL_0170: Unknown result type (might be due to invalid IL or missing references) //IL_0175: Unknown result type (might be due to invalid IL or missing references) Root = root; _brain = brain; Il2CppArrayBase<Transform> componentsInChildren = root.GetComponentsInChildren<Transform>(true); string[] partNames = PartNames; foreach (string text in partNames) { Transform val = null; Transform val2 = null; foreach (Transform item in componentsInChildren) { if (((Object)item).name == text) { val = item; } else if (((Object)item).name == "Pose_" + text) { val2 = item; } } if ((Object)(object)val == (Object)null) { throw new Exception("the Izhevsk prefab has no part called " + text); } if ((Object)(object)val2 == (Object)null) { val2 = val; } Part part = new Part { t = val, rb = ((Component)val).GetComponent<Rigidbody>(), joint = ((Component)val).GetComponent<ConfigurableJoint>(), colliders = Il2CppArrayBase<Collider>.op_Implicit(((Component)val).GetComponents<Collider>()), startPos = root.transform.InverseTransformPoint(val2.position), startRot = Quaternion.Inverse(root.transform.rotation) * val2.rotation, maxTorque = (text.StartsWith("Upper") ? 3200f : 4200f) }; part.rb.solverIterations = 20; part.rb.solverVelocityIterations = 8; part.rb.maxAngularVelocity = 20f; _parts.Add(part); } Il2CppArrayBase<Collider> componentsInChildren2 = root.GetComponentsInChildren<Collider>(true); for (int j = 0; j < componentsInChildren2.Length; j++) { for (int k = j + 1; k < componentsInChildren2.Length; k++) { Physics.IgnoreCollision(componentsInChildren2[j], componentsInChildren2[k], true); } } BoxCollider component = ((Component)Body).GetComponent<BoxCollider>(); if ((Object)(object)component != (Object)null) { Body.centerOfMass = component.center; } _home = Body.position; _target = Body.position + root.transform.forward * 6f; _moodFor = Random.Range(2f, 5f); } public void FixedTick(float dt) { //IL_0001: Unknown result type (might be due to invalid IL or missing references) //IL_000c: Unknown result type (might be due to invalid IL or missing references) //IL_0011: Unknown result type (might be due to invalid IL or missing references) //IL_0016: Unknown result type (might be due to invalid IL or missing references) //IL_0040: Unknown result type (might be due to invalid IL or missing references) //IL_0045: Unknown result type (might be due to invalid IL or missing references) //IL_004a: Unknown result type (might be due to invalid IL or missing references) //IL_004f: Unknown result type (might be due to invalid IL or missing references) //IL_0034: Unknown result type (might be due to invalid IL or missing references) //IL_0039: Unknown result type (might be due to invalid IL or missing references) Vector3 val = _target - Body.position; val.y = 0f; if (((Vector3)(ref val)).sqrMagnitude > 0.01f) { _frameFwd = ((Vector3)(ref val)).normalized; } _frame = Quaternion.LookRotation(_frameFwd, Vector3.up); _sinceDecision += dt; if (!(_sinceDecision < 0.06f)) { _sinceDecision = 0f; Think(0.06f); Observe(); _brain.Run(_obs, _act); Act(); } } private void Think(float dt) { //IL_0006: Unknown result type (might be due to invalid IL or missing references) //IL_000b: Unknown result type (might be due to invalid IL or missing references) //IL_000c: Unknown result type (might be due to invalid IL or missing references) //IL_000d: Unknown result type (might be due to invalid IL or missing references) //IL_0038: Unknown result type (might be due to invalid IL or missing references) //IL_0028: Unknown result type (might be due to invalid IL or missing references) //IL_004e: Unknown result type (might be due to invalid IL or missing references) //IL_00e9: Unknown result type (might be due to invalid IL or missing references) //IL_00ee: Unknown result type (might be due to invalid IL or missing references) //IL_00ef: Unknown result type (might be due to invalid IL or missing references) //IL_00f4: Unknown result type (might be due to invalid IL or missing references) //IL_00aa: Unknown result type (might be due to invalid IL or missing references) //IL_00b1: Unknown result type (might be due to invalid IL or missing references) //IL_00b7: Unknown result type (might be due to invalid IL or missing references) //IL_00c2: Unknown result type (might be due to invalid IL or missing references) //IL_00c7: Unknown result type (might be due to invalid IL or missing references) //IL_00cb: Un
