// cleanup
void OnApplicationQuit()
{
// free plugin
MJP.Close();
// close file
if (videofile != null)
{
videofile.Close();
}
// free render texture
}
// cleanup
void OnApplicationQuit()
{
// free plugin
MJP.Close();
// close tcp listener
listener.Stop();
// close file
if (videofile != null)
{
videofile.Close();
}
// free render texture
offrt.Release();
}
void OnApplicationQuit()
{
MJP.Close();
}
// run importer
private unsafe void RunImport()
{
Resources.UnloadUnusedAssets();
BuildAssetDatabase(modelFile);
// adjust global settings
Time.fixedDeltaTime = 0.005f;
//PlayerSettings.runInBackground = true;
if (enableRemote)
{
QualitySettings.vSyncCount = (noVSync ? 0 : 1);
}
else
{
QualitySettings.vSyncCount = 1;
}
// disable active cameras
/* Camera[] activecam = FindObjectsOfType<Camera>();
* foreach( Camera ac in activecam )
* ac.gameObject.SetActive(false);
*/
fileName = Path.GetFileName(modelFile);
// initialize plugin and load model
MJP.Close();
MJP.Initialize();
MJP.LoadModel(modelFile);
// get model sizes
MJP.TSize size;
MJP.GetSize(&size);
// import materials
//if( size.nmaterial>0 )
{
// MakeDirectory("Assets", "Materials");
ImportMaterials(size.nmaterial);
}
// create root, destroy old if present
root = GameObject.Find("MuJoCo");
if (root != null)
{
Destroy(root);
}
root = new GameObject("MuJoCo");
if (root == null)
{
throw new System.Exception("Could not create root MuJoCo object");
}
root.transform.localPosition = transform.localPosition;
root.transform.localRotation = transform.localRotation;
root.transform.localScale = transform.localScale;
// add camera to root
AddCamera();
// import renderable objects under root
ImportObjects(size.nobject);
// ImportLights(size.nlight);
// attach script to root
if (enableRemote)
{
// add remote
MJRemote extsim = root.GetComponent <MJRemote>();
if (extsim == null)
{
extsim = root.AddComponent <MJRemote>();
}
extsim.root = root;
extsim.modelFile = fileName + ".mjb";
MJTCPInterface tcpif = this.gameObject.GetComponent <MJTCPInterface>();
if (tcpif == null)
{
tcpif = this.gameObject.AddComponent <MJTCPInterface>();
}
tcpif.root = root;
tcpif.tcpAddress = tcpAddress;
tcpif.tcpPort = tcpPort;
// destroy simulate if present
if (root.GetComponent <MJInternalSimulation>())
{
Destroy(root.GetComponent <MJInternalSimulation>());
}
}
else
{
// add simulate
MJInternalSimulation sim = root.GetComponent <MJInternalSimulation>();
if (sim == null)
{
sim = root.AddComponent <MJInternalSimulation>();
}
sim.root = root;
sim.modelFile = fileName + ".mjb";
// destroy remote if present
if (root.GetComponent <MJRemote>())
{
Destroy(root.GetComponent <MJRemote>());
}
// destroy remote if present
if (this.GetComponent <MJTCPInterface>())
{
Destroy(root.GetComponent <MJTCPInterface>());
}
}
// close plugin
// MJP.Close();
}
// run importer
private unsafe void RunImport()
{
// adjust global settings
Time.fixedDeltaTime = 0.005f;
PlayerSettings.runInBackground = true;
if (enableRemote)
{
QualitySettings.vSyncCount = (noVSync ? 0 : 1);
}
else
{
QualitySettings.vSyncCount = 1;
}
// disable active cameras
Camera[] activecam = FindObjectsOfType <Camera>();
foreach (Camera ac in activecam)
{
ac.gameObject.SetActive(false);
}
// get filename only (not path or extension)
int i1 = modelFile.LastIndexOf('/');
int i2 = modelFile.LastIndexOf('.');
if (i1 >= 0 && i2 > i1)
{
fileName = modelFile.Substring(i1 + 1, i2 - i1 - 1);
}
else
{
throw new System.Exception("Unexpected model file format");
}
// initialize plugin and load model
MJP.Initialize();
MJP.LoadModel(modelFile);
// get model sizes
MJP.TSize size;
MJP.GetSize(&size);
// save binary model
MakeDirectory("Assets", "StreamingAssets");
MJP.SaveMJB("Assets/StreamingAssets/" + fileName + ".mjb");
// import textures
if (size.ntexture > 0 && importTexture)
{
MakeDirectory("Assets", "Textures");
ImportTextures(size.ntexture);
}
// import materials
if (size.nmaterial > 0)
{
MakeDirectory("Assets", "Materials");
ImportMaterials(size.nmaterial);
}
// create root, destroy old if present
root = GameObject.Find("MuJoCo");
if (root != null)
{
DestroyImmediate(root);
}
root = new GameObject("MuJoCo");
if (root == null)
{
throw new System.Exception("Could not create root MuJoCo object");
}
// add camera to root
AddCamera();
// import renderable objects under root
ImportObjects(size.nobject);
// attach script to root
if (enableRemote)
{
// add remote
MJRemote rem = root.GetComponent <MJRemote>();
if (rem == null)
{
rem = root.AddComponent <MJRemote>();
}
rem.modelFile = fileName + ".mjb";
rem.tcpAddress = tcpAddress;
rem.tcpPort = tcpPort;
// destroy simulate if present
if (root.GetComponent <MJSimulate>())
{
DestroyImmediate(root.GetComponent <MJSimulate>());
}
}
else
{
// add simulate
MJSimulate sim = root.GetComponent <MJSimulate>();
if (sim == null)
{
sim = root.AddComponent <MJSimulate>();
}
sim.modelFile = fileName + ".mjb";
// destroy remote if present
if (root.GetComponent <MJRemote>())
{
DestroyImmediate(root.GetComponent <MJRemote>());
}
}
// close plugin
MJP.Close();
}
