/// <inheritdoc />
/// <summary>
/// </summary>
public sealed override void Setup()
{
this.PreSetup();
if (this.ParentEnvironment == null)
{
this.ParentEnvironment = NeodroidSceneUtilities
.RecursiveFirstSelfSiblingParentGetComponent <AbstractSpatialPrototypingEnvironment>(this.transform);
}
this.RemotePostSetup();
}
/// <summary>
/// </summary>
void SaveInitialPoses()
{
var ignored_layer = LayerMask.NameToLayer($"IgnoredByNeodroid");
if (this.TrackOnlyChildren)
{
this._tracked_game_objects =
NeodroidSceneUtilities.RecursiveChildGameObjectsExceptLayer(this.transform, ignored_layer);
}
else
{
this._tracked_game_objects = NeodroidSceneUtilities.FindAllGameObjectsExceptLayer(ignored_layer);
}
var length = this._tracked_game_objects.Length;
this._reset_positions = new Vector3[length];
this._reset_rotations = new Quaternion[length];
this._reset_scales = new Vector3[length];
this._Poses = new Transform[length];
for (var i = 0; i < length; i++)
{
var go = this._tracked_game_objects[i];
var trans = go.transform;
this._reset_positions[i] = trans.position;
this._reset_rotations[i] = trans.rotation;
this._reset_scales[i] = trans.localScale;
this._Poses[i] = trans;
var maybe_joint = go.GetComponent <Joint>();
if (maybe_joint != null)
{
var maybe_joint_fix = maybe_joint.GetComponent <JointFix>();
if (maybe_joint_fix == null)
{
// ReSharper disable once RedundantAssignment
maybe_joint_fix = maybe_joint.gameObject.AddComponent <JointFix>();
}
#if NEODROID_DEBUG
if (this.Debugging)
{
Debug.Log($"Added a JointFix component to {maybe_joint_fix.name}");
}
#endif
}
}
}
/// <summary>
/// </summary>
void OnGUI()
{
var serialised_object = new SerializedObject(this);
this._simulation_manager = FindObjectOfType <NeodroidManager>();
if (this._simulation_manager)
{
EditorGUILayout.BeginHorizontal();
EditorGUILayout.BeginVertical();
GUILayout.Label(this._neodroid_icon,
GUILayout.Width(_logo_image_size),
GUILayout.Height(_logo_image_size));
if (NeodroidEditorUtilities.LinkLabel(new GUIContent(_neodroid_url_text)))
{
Application.OpenURL(_neodroid_url);
}
EditorGUILayout.EndVertical();
EditorGUILayout.BeginVertical();
EditorGUILayout.ObjectField(this._simulation_manager, typeof(AbstractNeodroidManager), true);
this._simulation_manager.Configuration =
(SimulatorConfiguration)
EditorGUILayout.ObjectField((SimulatorConfiguration)this._simulation_manager.Configuration,
typeof(SimulatorConfiguration),
true);
this._simulation_manager.Configuration.FrameSkips =
EditorGUILayout.IntField("Frame Skips", this._simulation_manager.Configuration.FrameSkips);
this._simulation_manager.Configuration.SimulationType =
(SimulationType)EditorGUILayout.EnumPopup("Simulation Type",
this._simulation_manager.Configuration.SimulationType);
this._player_reactions = FindObjectOfType <PlayerReactions>();
EditorGUILayout.ObjectField(this._player_reactions, typeof(PlayerReactions), true);
this._show_detailed_descriptions =
EditorGUILayout.Toggle("Show Details", this._show_detailed_descriptions);
EditorGUILayout.EndVertical();
EditorGUILayout.EndHorizontal();
this._environments =
NeodroidSceneUtilities.FindAllObjectsOfTypeInScene <PrototypingEnvironment>();
if (this._show_environment_properties.Length != this._environments.Length)
{
this.Setup();
}
this._scroll_position = EditorGUILayout.BeginScrollView(this._scroll_position);
EditorGUILayout.BeginVertical("Box");
var num_active_environments = this._environments.Length;
var num_inactive_environments = this._environments.Length - num_active_environments;
//EditorGUILayout.BeginHorizontal();
GUILayout.Label($"Environments - Active({num_active_environments}), Inactive({num_inactive_environments}), Total({this._environments.Length})");
//EditorGUILayout.EndHorizontal();
if (this._show_environment_properties != null)
{
for (var i = 0; i < this._show_environment_properties.Length; i++)
{
if (this._environments[i].isActiveAndEnabled)
{
this._show_environment_properties[i] =
EditorGUILayout.Foldout(this._show_environment_properties[i],
$"{this._environments[i].Identifier}");
if (this._show_environment_properties[i])
{
var sensors = this._environments[i].Sensors;
var configurables = this._environments[i].Configurables;
var listeners = this._environments[i].Listeners;
var displayers = this._environments[i].Displayers;
EditorGUILayout.BeginVertical("Box");
this._environments[i].enabled =
EditorGUILayout.BeginToggleGroup(this._environments[i].Identifier,
this._environments[i].enabled &&
this._environments[i].gameObject.activeSelf);
EditorGUILayout.ObjectField(this._environments[i], typeof(PrototypingEnvironment), true);
if (this._show_detailed_descriptions)
{
this._environments[i].CoordinateSpace =
(CoordinateSpace)EditorGUILayout.EnumPopup("Coordinate system",
this._environments[i].CoordinateSpace);
EditorGUI.BeginDisabledGroup(this._environments[i].CoordinateSpace
!= CoordinateSpace.Environment_);
this._environments[i].CoordinateReferencePoint =
(Transform)EditorGUILayout.ObjectField("Reference point",
this._environments[i].CoordinateReferencePoint,
typeof(Transform),
true);
EditorGUI.EndDisabledGroup();
if (this._environments[i].ObjectiveFunction != null)
{
this._environments[i].ObjectiveFunction =
(EpisodicObjective)EditorGUILayout.ObjectField("Objective function",
(EpisodicObjective)this
._environments[i]
.ObjectiveFunction,
typeof(EpisodicObjective),
true);
EditorGUILayout.LabelField("Signal: "
+ ((EpisodicObjective)this._environments[i].ObjectiveFunction).LastSignal);
this._environments[i].ObjectiveFunction.SignalSpace
.FromVector3(EditorGUILayout.Vector3Field(Space1.Vector3Description(),
this._environments[i].ObjectiveFunction
.SignalSpace.ToVector3()));
this._environments[i].ObjectiveFunction.EpisodeLength =
EditorGUILayout.IntField("Episode Length",
this._environments[i].ObjectiveFunction.EpisodeLength);
}
//EditorGUILayout.BeginHorizontal("Box");
#if NEODROID_DEBUG
this._environments[i].Debugging =
EditorGUILayout.Toggle("Debugging", this._environments[i].Debugging);
#endif
//EditorGUILayout.EndHorizontal();
EditorGUI.BeginDisabledGroup(true);
EditorGUILayout.LabelField("Info:");
EditorGUILayout.Toggle("Terminated", this._environments[i].Terminated);
EditorGUI.EndDisabledGroup();
}
var s = this._environments[i] as AbstractSpatialPrototypingEnvironment as ActorisedPrototypingEnvironment;
if (s)
{
var actors = s.Actors;
this.DrawActors(actors);
}
else
{
var c = this._environments[i] as PrototypingEnvironment;
if (c)
{
this.DrawActuators(c.Actuators);
}
}
this.DrawSensors(sensors);
this.DrawConfigurables(configurables);
this.DrawDisplayers(displayers);
this.DrawListeners(listeners);
EditorGUILayout.EndToggleGroup();
EditorGUILayout.EndVertical();
}
}
}
EditorGUILayout.EndVertical();
EditorGUILayout.BeginVertical("Box");
GUILayout.Label("Disabled environments");
for (var i = 0; i < this._show_environment_properties.Length; i++)
{
if (!this._environments[i].isActiveAndEnabled)
{
EditorGUILayout.ObjectField(this._environments[i], typeof(NeodroidEnvironment), true);
}
}
EditorGUILayout.EndVertical();
EditorGUILayout.EndScrollView();
serialised_object.ApplyModifiedProperties();
}
}
}
