Updates to Teleport/TeleportFull and isStanding() #1241
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The purpose of these updates is to prevent an edge case where, when using an arm-typed agent, calling the Teleport action would cause the isStanding value to default in a weird way, causing the main camera of the arm-typed agent to be changed unexpectedly back to a default position that only has context for the high-level-agent. This was mainly due to the arm agents being derived classes of the high-level-agent's `PhysicsRemoteFPSAgentController` class - adding an override to the Teleport/TeleportFull actions in the `ArmAgentController` class so that an error can be thrown if passing in the `standing` bool since arm agents don't have a concept of a standing vs crouching camera position - updating the isStanding() helper function to throw an exception in cases where the High Level Agent's main camera is not in either the hard-coded standing or crouching local position. This has some issues as if UpdateMainCamera is called while using the HighLevelAgent, it causes an incompatible state
trying a fix where we allow returning a null value for `isStanding` for cases where the camera position has changed via UpdateMainCamera or for agents that don't have a meaningful use for isStanding like stretch agents
... that uses the high level "hand" rather than a physical arm also updating errorMessage for armed agents
AlvaroHG
reviewed
Oct 3, 2024
|
Minor comment, but LGTM! |
allowing epsilon to be parameterized, default to Unity's Vector3.kEpsilon, which apparently is built into the Vector3 class specifically because Unity's representation of floats is the 32-bit variety and that epsilon value is tuned for that??? So seems like a good default still
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The purpose of these updates is to prevent an edge case where, when using an arm-typed agent, calling the Teleport action would cause the isStanding value to default in a weird way, causing the main camera of the arm-typed agent to be changed unexpectedly back to a default position that only has context for the high-level-agent. This update also catches a case where, when using the high-level agent and calling
UpdateMainCamera, the `isStanding() return became ambiguous.adding an override to the Teleport/TeleportFull actions in the
ArmAgentControllerclass and its derived classes so that an error can be thrown if passing in thestandingbool since arm agents don't have a concept of a standing vs crouching camera positionupdating the isStanding() helper function to return
nullin cases where the High Level Agent's main camera is not in either the hard-coded standing or crouching local position.