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bunch of compiler erro making an unreal plugin (wip)
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@JulioJerez
JulioJerez committed Sep 8, 2024
1 parent d0854b5 commit 7b1e6cc
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Showing 11 changed files with 47 additions and 50 deletions.
Binary file added newton-4.00/applications/media/newtonIcon.png
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29 changes: 13 additions & 16 deletions newton-4.00/applications/ndSandbox/demos/ndAdvancedIndustrialRobot.cpp
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Expand Up @@ -526,28 +526,25 @@ namespace ndAdvancedRobot
ndFloat32 dy = m_targetLocation.m_y - currenPosit.m_y;
ndFloat32 dAzimuth = ndAnglesSub(m_targetLocation.m_azimuth, azimuth);

ndFloat32 azimuth2 = dAzimuth * dAzimuth;
ndFloat32 positError2 = dx * dx + dy * dy;
//ndFloat32 azimuth2 = dAzimuth * dAzimuth;
//ndFloat32 positError2 = dx * dx + dy * dy;

#ifdef ND_USE_EULERS
ndVector euler1;
ndVector euler(effectorMatrix.CalcPitchYawRoll(euler1));
ndFloat32 deltaYaw = ndAnglesSub(euler.m_y, m_targetLocation.m_yaw);
ndFloat32 deltaRoll = ndAnglesSub(euler.m_z, m_targetLocation.m_roll);
ndFloat32 deltaPitch = ndAnglesSub(euler.m_x, m_targetLocation.m_pitch);
//ndFloat32 angleError2 = deltaYaw * deltaYaw + deltaRoll * deltaRoll + deltaPitch * deltaPitch;

ndFloat32 positReward = ndExp(-100.0f * positError2);
ndFloat32 azimuthReward = ndExp(-100.0f * azimuth2);
ndFloat32 posit_xReward = ndExp(-100.0f * dx * dx);
ndFloat32 posit_yReward = ndExp(-100.0f * dy * dy);
ndFloat32 azimuthReward = ndExp(-100.0f * dAzimuth * dAzimuth);
ndFloat32 yawReward = ndExp(-100.0f * deltaYaw * deltaYaw);
ndFloat32 rollReward = ndExp(-100.0f * deltaRoll * deltaRoll);
ndFloat32 pitchReward = ndExp(-100.0f * deltaPitch * deltaPitch);

ndFloat32 rotatWeight = 0.7f;
ndFloat32 positWeight = 0.3f;

return positWeight * (positReward * 0.4f + azimuthReward * 0.6f) +
rotatWeight * (yawReward * 0.34f + rollReward * 0.33f + pitchReward * 0.33f);
ndFloat32 rewardWeight = 1.0 / 6.0f;
return rewardWeight * (posit_xReward + posit_yReward + azimuthReward + yawReward + rollReward + pitchReward);

#else
ndQuaternion effectorRotation(effectorMatrix);
Expand Down Expand Up @@ -1054,8 +1051,8 @@ namespace ndAdvancedRobot
,m_maxScore(ndFloat32(-1.0e10f))
,m_discountFactor(0.99f)
,m_horizon(ndFloat32(1.0f) / (ndFloat32(1.0f) - m_discountFactor))
,m_lastEpisode(-1)
,m_stopTraining(2000 * 1000000)
,m_lastEpisode(0xffffffff)
,m_stopTraining(ndUnsigned32(4000) * ndUnsigned32(1000000))
,m_modelIsTrained(false)
{
m_outFile = fopen("robotArmReach-vpg.csv", "wb");
Expand Down Expand Up @@ -1189,10 +1186,10 @@ namespace ndAdvancedRobot

virtual void Update(ndDemoEntityManager* const manager, ndFloat32)
{
ndInt32 stopTraining = m_master->GetFramesCount();
ndUnsigned32 stopTraining = m_master->GetFramesCount();
if (stopTraining <= m_stopTraining)
{
ndInt32 episodeCount = m_master->GetEposideCount();
ndUnsigned32 episodeCount = m_master->GetEposideCount();
m_master->OptimizeStep();

episodeCount -= m_master->GetEposideCount();
Expand Down Expand Up @@ -1242,8 +1239,8 @@ namespace ndAdvancedRobot
ndFloat32 m_maxScore;
ndFloat32 m_discountFactor;
ndFloat32 m_horizon;
ndInt32 m_lastEpisode;
ndInt32 m_stopTraining;
ndUnsigned32 m_lastEpisode;
ndUnsigned32 m_stopTraining;
bool m_modelIsTrained;
};
}
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10 changes: 5 additions & 5 deletions newton-4.00/applications/ndSandbox/demos/ndCartpoleContinue.cpp
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Expand Up @@ -301,7 +301,7 @@ namespace ndCarpole_1
,m_maxScore(ndFloat32(-1.0e10f))
,m_discountFactor(0.99f)
,m_horizon(ndFloat32(1.0f) / (ndFloat32(1.0f) - m_discountFactor))
,m_lastEpisode(-1)
,m_lastEpisode(0xfffffff)
,m_stopTraining(100 * 1000000)
,m_modelIsTrained(false)
{
Expand Down Expand Up @@ -448,10 +448,10 @@ namespace ndCarpole_1

virtual void Update(ndDemoEntityManager* const manager, ndFloat32)
{
ndInt32 stopTraining = m_master->GetFramesCount();
ndUnsigned32 stopTraining = m_master->GetFramesCount();
if (stopTraining <= m_stopTraining)
{
ndInt32 episodeCount = m_master->GetEposideCount();
ndUnsigned32 episodeCount = m_master->GetEposideCount();
m_master->OptimizeStep();

episodeCount -= m_master->GetEposideCount();
Expand Down Expand Up @@ -503,8 +503,8 @@ namespace ndCarpole_1
ndFloat32 m_maxScore;
ndFloat32 m_discountFactor;
ndFloat32 m_horizon;
ndInt32 m_lastEpisode;
ndInt32 m_stopTraining;
ndUnsigned32 m_lastEpisode;
ndUnsigned32 m_stopTraining;
bool m_modelIsTrained;
};
}
Expand Down
10 changes: 5 additions & 5 deletions newton-4.00/applications/ndSandbox/demos/ndQuadrupedTest_1.cpp
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Expand Up @@ -1256,7 +1256,7 @@ namespace ndQuadruped_1
,m_maxScore(ndFloat32(-1.0e10f))
,m_discountFactor(0.995f)
,m_horizon(ndFloat32(1.0f) / (ndFloat32(1.0f) - m_discountFactor))
,m_lastEpisode(-1)
,m_lastEpisode(0xffffffff)
,m_stopTraining(500 * 1000000)
,m_modelIsTrained(false)
{
Expand Down Expand Up @@ -1399,10 +1399,10 @@ namespace ndQuadruped_1

virtual void Update(ndDemoEntityManager* const manager, ndFloat32)
{
ndInt32 stopTraining = m_master->GetFramesCount();
ndUnsigned32 stopTraining = m_master->GetFramesCount();
if (stopTraining <= m_stopTraining)
{
ndInt32 episodeCount = m_master->GetEposideCount();
ndUnsigned32 episodeCount = m_master->GetEposideCount();
m_master->OptimizeStep();

episodeCount -= m_master->GetEposideCount();
Expand Down Expand Up @@ -1452,8 +1452,8 @@ namespace ndQuadruped_1
ndFloat32 m_maxScore;
ndFloat32 m_discountFactor;
ndFloat32 m_horizon;
ndInt32 m_lastEpisode;
ndInt32 m_stopTraining;
ndUnsigned32 m_lastEpisode;
ndUnsigned32 m_stopTraining;
bool m_modelIsTrained;
};
}
Expand Down
10 changes: 5 additions & 5 deletions newton-4.00/applications/ndSandbox/demos/ndQuadrupedTest_2.cpp
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Expand Up @@ -1396,7 +1396,7 @@ namespace ndQuadruped_2
,m_maxScore(ndFloat32(-1.0e10f))
,m_discountFactor(0.995f)
,m_horizon(ndFloat32(1.0f) / (ndFloat32(1.0f) - m_discountFactor))
,m_lastEpisode(-1)
,m_lastEpisode(0xffffffff)
,m_stopTraining(300 * 1000000)
,m_modelIsTrained(false)
{
Expand Down Expand Up @@ -1541,10 +1541,10 @@ namespace ndQuadruped_2

virtual void Update(ndDemoEntityManager* const manager, ndFloat32)
{
ndInt32 stopTraining = m_master->GetFramesCount();
ndUnsigned32 stopTraining = m_master->GetFramesCount();
if (stopTraining <= m_stopTraining)
{
ndInt32 episodeCount = m_master->GetEposideCount();
ndUnsigned32 episodeCount = m_master->GetEposideCount();
m_master->OptimizeStep();

episodeCount -= m_master->GetEposideCount();
Expand Down Expand Up @@ -1594,8 +1594,8 @@ namespace ndQuadruped_2
ndFloat32 m_maxScore;
ndFloat32 m_discountFactor;
ndFloat32 m_horizon;
ndInt32 m_lastEpisode;
ndInt32 m_stopTraining;
ndUnsigned32 m_lastEpisode;
ndUnsigned32 m_stopTraining;
bool m_modelIsTrained;
};
}
Expand Down
10 changes: 5 additions & 5 deletions newton-4.00/applications/ndSandbox/demos/ndQuadrupedTest_3.cpp
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Expand Up @@ -1321,7 +1321,7 @@ namespace ndQuadruped_3
,m_maxScore(ndFloat32(-1.0e10f))
,m_discountFactor(0.99f)
,m_horizon(ndFloat32(1.0f) / (ndFloat32(1.0f) - m_discountFactor))
,m_lastEpisode(-1)
,m_lastEpisode(0xffffffff)
,m_stopTraining(500 * 1000000)
,m_modelIsTrained(false)
{
Expand Down Expand Up @@ -1485,10 +1485,10 @@ namespace ndQuadruped_3

virtual void Update(ndDemoEntityManager* const manager, ndFloat32)
{
ndInt32 stopTraining = m_master->GetFramesCount();
ndUnsigned32 stopTraining = m_master->GetFramesCount();
if (stopTraining <= m_stopTraining)
{
ndInt32 episodeCount = m_master->GetEposideCount();
ndUnsigned32 episodeCount = m_master->GetEposideCount();
m_master->OptimizeStep();

episodeCount -= m_master->GetEposideCount();
Expand Down Expand Up @@ -1539,8 +1539,8 @@ namespace ndQuadruped_3
ndFloat32 m_maxScore;
ndFloat32 m_discountFactor;
ndFloat32 m_horizon;
ndInt32 m_lastEpisode;
ndInt32 m_stopTraining;
ndUnsigned32 m_lastEpisode;
ndUnsigned32 m_stopTraining;
bool m_modelIsTrained;
};
#else
Expand Down
10 changes: 5 additions & 5 deletions newton-4.00/applications/ndSandbox/demos/ndUnicycle.cpp
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Expand Up @@ -494,7 +494,7 @@ namespace ndUnicycle
,m_maxScore(ndFloat32(-1.0e10f))
,m_discountFactor(0.99f)
,m_horizon(ndFloat32(1.0f) / (ndFloat32(1.0f) - m_discountFactor))
,m_lastEpisode(-1)
,m_lastEpisode(0xffffffff)
,m_stopTraining(200 * 1000000)
,m_modelIsTrained(false)
{
Expand Down Expand Up @@ -637,10 +637,10 @@ namespace ndUnicycle

virtual void Update(ndDemoEntityManager* const manager, ndFloat32)
{
ndInt32 stopTraining = m_master->GetFramesCount();
ndUnsigned32 stopTraining = m_master->GetFramesCount();
if (stopTraining <= m_stopTraining)
{
ndInt32 episodeCount = m_master->GetEposideCount();
ndUnsigned32 episodeCount = m_master->GetEposideCount();
m_master->OptimizeStep();

episodeCount -= m_master->GetEposideCount();
Expand Down Expand Up @@ -690,8 +690,8 @@ namespace ndUnicycle
ndFloat32 m_maxScore;
ndFloat32 m_discountFactor;
ndFloat32 m_horizon;
ndInt32 m_lastEpisode;
ndInt32 m_stopTraining;
ndUnsigned32 m_lastEpisode;
ndUnsigned32 m_stopTraining;
bool m_modelIsTrained;
};
}
Expand Down
6 changes: 3 additions & 3 deletions newton-4.00/sdk/dBrain/ndBrainAgentContinuePolicyGradient_Trainer.cpp
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Expand Up @@ -342,8 +342,8 @@ ndBrainAgentContinuePolicyGradient_TrainerMaster::ndBrainAgentContinuePolicyGrad
,m_criticLearnRate(hyperParameters.m_criticLearnRate)
,m_numberOfActions(hyperParameters.m_numberOfActions)
,m_numberOfObservations(hyperParameters.m_numberOfObservations)
,m_frameCount(0)
,m_framesAlive(0)
,m_frameCount(0)
,m_eposideCount(0)
,m_bashBufferSize(hyperParameters.m_bashBufferSize)
,m_maxTrajectorySteps(hyperParameters.m_maxTrajectorySteps)
Expand Down Expand Up @@ -499,7 +499,7 @@ ndBrainAgentContinuePolicyGradient_Trainer::ndRandomGenerator* ndBrainAgentConti
return &m_randomGenerator[m_randomSeed];
}

ndInt32 ndBrainAgentContinuePolicyGradient_TrainerMaster::GetFramesCount() const
ndUnsigned32 ndBrainAgentContinuePolicyGradient_TrainerMaster::GetFramesCount() const
{
return m_frameCount;
}
Expand All @@ -509,7 +509,7 @@ bool ndBrainAgentContinuePolicyGradient_TrainerMaster::IsSampling() const
return false;
}

ndInt32 ndBrainAgentContinuePolicyGradient_TrainerMaster::GetEposideCount() const
ndUnsigned32 ndBrainAgentContinuePolicyGradient_TrainerMaster::GetEposideCount() const
{
return m_eposideCount;
}
Expand Down
8 changes: 4 additions & 4 deletions newton-4.00/sdk/dBrain/ndBrainAgentContinuePolicyGradient_Trainer.h
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Expand Up @@ -146,8 +146,8 @@ class ndBrainAgentContinuePolicyGradient_TrainerMaster : public ndBrainThreadPoo
const ndString& GetName() const;
void SetName(const ndString& name);

ndInt32 GetFramesCount() const;
ndInt32 GetEposideCount() const;
ndUnsigned32 GetFramesCount() const;
ndUnsigned32 GetEposideCount() const;

bool IsSampling() const;
ndFloat32 GetAverageScore() const;
Expand Down Expand Up @@ -181,9 +181,9 @@ class ndBrainAgentContinuePolicyGradient_TrainerMaster : public ndBrainThreadPoo
ndBrainFloat m_criticLearnRate;
ndInt32 m_numberOfActions;
ndInt32 m_numberOfObservations;
ndInt32 m_frameCount;
ndInt32 m_framesAlive;
ndInt32 m_eposideCount;
ndUnsigned32 m_frameCount;
ndUnsigned32 m_eposideCount;
ndInt32 m_bashBufferSize;
ndInt32 m_maxTrajectorySteps;
ndInt32 m_extraTrajectorySteps;
Expand Down
2 changes: 1 addition & 1 deletion newton-4.00/sdk/dCollision/ndMeshEffect.h
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Original file line number Diff line number Diff line change
Expand Up @@ -417,7 +417,7 @@ class ndMeshEffect: public ndPolyhedra
,m_opacity(ndFloat32(1.0f))
,m_shiness(ndFloat32 (60.0f))
{
strcpy(m_textureName, "default.png");
strcpy_s(m_textureName, sizeof(m_textureName), "default.png");
}

ndVector m_ambient;
Expand Down
2 changes: 1 addition & 1 deletion newton-4.00/sdk/dCore/ndThread.h
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Expand Up @@ -31,7 +31,7 @@ class ndThreadName
public:
ndThreadName()
{
strcpy(m_name, "newtonWorker");
strcpy_s(m_name, sizeof(m_name), "newtonWorker");
}
char m_name[32];
};
Expand Down

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