private bool LoadXmlMeshAsset(XmlNode mesh_node)
{
string mesh_name = XmlUtils.GetString(mesh_node, "name", null);
if (mesh_name == null)
{
Logger.Error("RobotLoader::LoadXmlMeshAsset::Missing mesh name.");
return(false);
}
string mesh_file = XmlUtils.GetString(mesh_node, "file", null);
if (mesh_file == null)
{
Logger.Error("RobotLoader::LoadXmlMeshAsset::Missing mesh file for: {}.", mesh_name);
return(false);
}
string mesh_path = ConfigUtils.ResolveFile(asset_basedir_, Path.Combine(mesh_dir_, mesh_file));
// Import STL for this mesh. Unity has a 64k vertices per mesh
// limit (in order to fit indexes in short) so one STL might
// produce multiple Meshes.
IList <Mesh> meshes = pb_Stl_Importer.Import(mesh_path);
// We can globaly turn convexification on. MuJoCo convexifies all
// geoms for collision detection, this mode can help debug / inspect it.
if (convexify_meshes_)
{
List <Mesh> convex_meshes = new List <Mesh>();
foreach (Mesh mesh in meshes)
{
convex_meshes.Add(ConvexHull.CreateConvexHull(mesh));
}
meshes = convex_meshes;
}
if (meshes == null)
{
Logger.Error("RobotLoader::LoadXmlMeshAsset::Cannot load: {} from: {}.", mesh_name, mesh_path);
return(false);
}
if (meshes.Count == 0)
{
Logger.Error("RobotLoader::LoadXmlMeshAsset::No meshes in: {} for: {}.", mesh_path, mesh_name);
return(false);
}
Vector3 scale = XmlUtils.GetVector3(mesh_node, "scale", Vector3.one);
return(CreateMeshAsset(assembly_parts_, mesh_name, scale, meshes));
}
void UpdateFlows()
{
// timer countdown
updateTimer -= Time.deltaTime;
if (updateTimer <= .0f)
{
// randomize com every update frequency
rand = Random.insideUnitCircle * GM.omega;
updateTimer = updateFrequency / GM.speedup;
}
// get com and n of sheep
m_torunning = 0;
m_toidle = 0;
// get points
List <Vector3> positions = new List <Vector3>();
// centre of mass
int totalMass = 0;
com = new Vector3();
// clear list and add full cells for area purposes
for (int i = 0; i < GM.flowPrecision; i++)
{
for (int j = 0; j < GM.flowPrecision; j++)
{
// add cell to hull positions
if (forceField[i, j].m_sheep > 0)
{
positions.Add(forceField[i, j].coordinates);
}
// com
totalMass += forceField[i, j].m_sheep;
com += forceField[i, j].coordinates * forceField[i, j].m_sheep;
// clear cell
forceField[i, j].hcList.Clear();
forceField[i, j].m_sheep = 0;
}
}
// centre of mass
com /= totalMass;
// randomize
com = new Vector3(com.x + rand.x, .0f, com.z + rand.y);
// allocate sheep to cells
foreach (HybridController HC in sheepList)
{
AddSheepToField(HC);
}
// convex hull
hull = ConvexHull.CreateConvexHull(positions);
area = ConvexHull.PolygonArea(hull);
// if all cells are in a line
if (area == 0)
{
area = hull.Count * binSize * binSize;
}
area -= binSize * binSize;
// update flow field
for (int i = 0; i < GM.flowPrecision; i++)
{
for (int j = 0; j < GM.flowPrecision; j++)
{
forceField[i, j].UpdateField(com);
}
}
}