// Select an objet prefab with provided object category. Return a list of objects which will be randomly spawned in the scene. There can be at most 3 objects with OnFloor category,
// including the target object.
private NavObj[] SelectNavObj(NavObj.ObjCategory m_objCat)
{
// Only call this random selection function when autosettarget is true
if (envSetup.autoSetTarget || agentController.CompletedEpisodes == 0)
{
// Randomly select 1-2 OnFloor Objects, 1-9 OnFurnitureTop Objects, 1-9 OnWall Objects (except for the target objects)
// int OFObjNum = Random.Range(1,2);
// int OFTObjNum = Random.Range(1,9);
// int OWObjNum = Random.Range(1,9);
objNums[0] = Random.Range(1, 2);
objNums[1] = Random.Range(1, 9);
objNums[2] = Random.Range(1, 9);
// Create new object array which with be returned and contains all the objects
selectedNavObjs = new NavObj[objNums.Sum() + 1];
// Generate arrays with different categories
NavObj[] OF_list = objList.Where(obj => obj.objCat == NavObj.ObjCategory.OnFloor).ToArray();
NavObj[] OFT_list = objList.Where(obj => obj.objCat == NavObj.ObjCategory.OnFurnitureTop).ToArray();
NavObj[] OW_list = objList.Where(obj => obj.objCat == NavObj.ObjCategory.OnWall).ToArray();
// Select the target objects
switch (m_objCat)
{
case NavObj.ObjCategory.OnFloor:
selectedNavObjs[0] = OF_list[Random.Range(0, OF_list.Length)];
break;
case NavObj.ObjCategory.OnFurnitureTop:
selectedNavObjs[0] = OFT_list[Random.Range(0, OFT_list.Length)];
break;
case NavObj.ObjCategory.OnWall:
selectedNavObjs[0] = OW_list[Random.Range(0, OW_list.Length)];
break;
}
// Set values for global object type and instance number variables
objType = selectedNavObjs[0].objType;
objInstanceNum = selectedNavObjs[0].objInstanceNum;
for (int i = 1; i < objNums.Sum() + 1; i++)
{
if (i < objNums[0] + 1) // Select OnFloor Objects
{
selectedNavObjs[i] = OF_list[Random.Range(0, OF_list.Length)];
}
else if (i < objNums[0] + objNums[1] + 1)
{
selectedNavObjs[i] = OFT_list[Random.Range(0, OFT_list.Length)];
}
else
{
selectedNavObjs[i] = OW_list[Random.Range(0, OW_list.Length)];
}
}
// return selectedNavObjs;
}
return(selectedNavObjs);
}
void LateUpdate()
{
if (envSetup.isTraining && agentCtrl.useBody)
{
kinectCtrl = kinectAnimator.runtimeAnimatorController as AnimatorController;
leapCtrl = leapAnimator.runtimeAnimatorController as AnimatorController;
NavObj.ObjType currentType = GameObject.FindObjectOfType <AgentController>().CurrentObjType;
string objInfo = $"The object type is {currentType.ToString()}";
kinectClip = kinectCtrl.layers[0].stateMachine.defaultState.motion as AnimationClip;
leapClip = leapCtrl.layers[0].stateMachine.defaultState.motion as AnimationClip;
string kinectInfo = $"The Kinect clip is {kinectClip.name}";
string leapInfo = $"The Leap clip is {leapClip.name}";
displayArea.text = string.Join("\n", new string[] { objInfo, kinectInfo, leapInfo });
}
}
