public void ImportSimLog()
{
SimLogParser parser = new SimLogParser();
parser.ParseFile(historyFileName, sourceUpAxisIsZ);
historyStartTime = parser.historyStartTime;
historyEndTime = parser.historyEndTime;
historyDuration = (parser.historyEndTime - historyStartTime).Ticks / TimeSpan.TicksPerSecond;
List <SimLogRecord> history = parser.history;
entityStates = new EntityState[history.Count];
int i = 0;
foreach (var record in history)
{
EntityState simKf = new EntityState();
simKf.startTime = record.startTime; // (record.startTime - historyStartTime).Ticks / TimeSpan.TicksPerSecond;
simKf.endTime = record.endTime; //(record.endTime - historyStartTime).Ticks / TimeSpan.TicksPerSecond;
simKf.origin = record.origin;
simKf.position = record.position;
simKf.rotation = CsConversion.RotMatToQuat(record.rotMatrix, sourceUpAxisIsZ);
#if UNITY_EDITOR
simKf.eulerAngles = simKf.rotation.eulerAngles;
#endif
EntityData parent_entity = DataUtil.FindEntity(record.parentId);
simKf.parentTransform = parent_entity ? parent_entity.transform : null;
entityStates[i] = simKf;
i++;
}
}
public void FromTransform(Transform unityTransform, bool zUp)
{
position.Set(CsConversion.VecToVecRL(unityTransform.localPosition, zUp), 3);
////if(unityTransform.useRotationMatrix)
////{
//// rotationMatrix.FromMatrix4x4(CsConv.QuatToRotMat(unityTransform.localRotation));
////}
////else
////{
//// eulerAngles = unityTransform.localEulerAngles;
////}
useRotationMatrix = false;
rotationMatrix.FromMatrix4x4(MathUtility.QuaternionToMatrix(unityTransform.localRotation));
eulerAngles.Set(unityTransform.localEulerAngles, 2);
scale.Set(unityTransform.localScale, 3);
if (unityTransform.parent)
{
EntityData parentEntity = unityTransform.parent.GetComponent <EntityData>();
if (parentEntity)
{
relToId = unityTransform.parent.GetComponent <EntityData>().id;
}
else
{
Debug.LogErrorFormat("Transformation {0} is relative to non-entity object {1} (hierarchy will be lost)",
unityTransform.name, unityTransform.parent.name);
}
}
else
{
relToId = string.Empty;
}
}
private bool ParseStream(StreamReader stream, bool zUp)
{
int lineCount = 0;
DateTimeFormatInfo enUsDTFI = CultureInfo.InvariantCulture.DateTimeFormat;
while (!stream.EndOfStream)// && lineCount < 10)
{
string line = stream.ReadLine();
lineCount++;
char[] delimiter = { ' ', '\t' };
string[] tokens = line.Split(delimiter, StringSplitOptions.RemoveEmptyEntries);
if (tokens.Length == 0)
{
break;
}
if (tokens.Length != 17)
{
Debug.LogWarningFormat("{0} line values in line {1}", tokens.Length, lineCount);
for (int c = 0; c < tokens.Length; c++)
{
var t = tokens[c];
Debug.LogFormat("{0} {1}", c, t);
}
return(false);
}
int i = 0;
SimLogRecord state = new SimLogRecord();
//Debug.Log(tokens[i]);
state.startTime = Convert.ToDateTime(tokens[i++], enUsDTFI);
if (history.Count == 0)
{
historyStartTime = state.startTime;
}
//Debug.Log(tokens[i]);
state.endTime = Convert.ToDateTime(tokens[i++], enUsDTFI);
if (historyEndTime < state.endTime)
{
historyEndTime = state.endTime;
}
state.origin = tokens[i++];
Vector3 pos = Vector3.zero;
pos.x = float.Parse(tokens[i++], CultureInfo.InvariantCulture);
pos.y = float.Parse(tokens[i++], CultureInfo.InvariantCulture);
pos.z = float.Parse(tokens[i++], CultureInfo.InvariantCulture);
float scaleToMeter = float.Parse(tokens[i++], CultureInfo.InvariantCulture);
state.position = CsConversion.VecToVecRL(pos * scaleToMeter, zUp);
Matrix4x4 rotMat = Matrix4x4.identity;
for (int n = 0; n < 9; n++)
{
rotMat[n % 3, n / 3] = float.Parse(tokens[i++], CultureInfo.InvariantCulture);
}
state.rotMatrix = rotMat;
state.parentId = tokens[i++];
history.Add(state);
}
return(true);
}
bool ParseFile(StreamReader stream)
{
int lineCount = 0;
DateTimeFormatInfo myDTFI = new CultureInfo("en-US", false).DateTimeFormat;
while (!stream.EndOfStream && lineCount < 10)
{
string line = stream.ReadLine();
lineCount++;
char[] delimiter = { ' ', '\t' };
string[] tokens = line.Split(delimiter, StringSplitOptions.RemoveEmptyEntries);
if (tokens.Length != 17)
{
Debug.LogWarningFormat("{0} line values in line {1}", tokens.Length, lineCount);
int c = 0;
foreach (var t in tokens)
{
c++;
Debug.LogFormat("{0} {1}", c, t);
}
return(false);
}
int i = 0;
AnimationRecord state = new AnimationRecord();
state.startTime = Convert.ToDateTime(tokens[i++], myDTFI);
if (history.Count == 0)
{
historyStartTime = state.startTime;
}
state.endTime = Convert.ToDateTime(tokens[i++], myDTFI);
state.origin = tokens[i++];
Vector3 pos = Vector3.zero;
pos.x = float.Parse(tokens[i++]);
pos.y = float.Parse(tokens[i++]);
pos.z = float.Parse(tokens[i++]);
float scaleToMeter = float.Parse(tokens[i++]);
state.position = CsConversion.VecToVecRL(pos * scaleToMeter, origUpAxisIsZ);
Matrix4x4 rotMat = Matrix4x4.identity;
for (int n = 0; n < 9; n++)
{
rotMat[n % 3, n / 3] = float.Parse(tokens[i++]);
}
state.rotMatrix = rotMat;
state.parentId = tokens[i++];
history.Add(state);
}
return(true);
}
/// <summary>
/// Update the given game object with the given XML entity data
/// </summary>
/// <param name="destGameObject">The given game object to update</param>
/// <param name="data">The given source XML entity data</param>
protected void UpdateObject(GameObject destGameObject, VrXmlEntityData data)
{
destGameObject.name = data.name;
EntityData entityData = destGameObject.GetComponent <EntityData>();
if (entityData == null)
{
entityData = destGameObject.AddComponent <EntityData>();
}
entityData.id = data.id;
entityData.name = data.name;
entityData.type = data.type;
entityData.description = data.description;
if (!string.IsNullOrEmpty(data.localTransform.relToId))
{
destGameObject.transform.SetParent(entityObjects[data.localTransform.relToId].transform, false);
}
else
{
destGameObject.transform.SetParent(null, false);
}
destGameObject.transform.localPosition = CsConversion.VecToVecRL(data.localTransform.position.Get(), scenarioData.upAxisIsZ);
if (data.localTransform.useRotationMatrix)
{
Matrix4x4 rotMatrix = (Matrix4x4)(data.localTransform.rotationMatrix);
destGameObject.transform.localRotation.SetLookRotation(
CsConversion.RotMatForward(rotMatrix, scenarioData.upAxisIsZ),
CsConversion.RotMatUp(rotMatrix, scenarioData.upAxisIsZ));
}
else
{
destGameObject.transform.localEulerAngles = (Vector3)data.localTransform.eulerAngles;
}
destGameObject.transform.localScale = data.localTransform.scale.Get();
}