public override MetadataWrapper generateMetadataWrapper()
{
MetadataWrapper metadata = base.generateMetadataWrapper();
// For Drone controller, currentTime should be based on
// fixed update passes so use DroneTimeSinceStart instead of TimeSinceStart
metadata.currentTime = DroneTimeSinceStart();
// TODO: clean this up with reflection.
// it works, but will not update when something changes to AgentMetadata
// metadata.agent = new
AgentMetadata baseAgent = metadata.agent;
DroneAgentMetadata droneMeta = new DroneAgentMetadata();
droneMeta.name = "drone";
droneMeta.position = baseAgent.position;
droneMeta.rotation = baseAgent.rotation;
droneMeta.cameraHorizon = baseAgent.cameraHorizon;
droneMeta.inHighFrictionArea = baseAgent.inHighFrictionArea;
// New drone stuff for agent metadata
droneMeta.LauncherPosition = GetLauncherPosition();
metadata.agent = droneMeta;
return(metadata);
}
public override MetadataWrapper generateMetadataWrapper()
{
// AGENT METADATA
DroneAgentMetadata agentMeta = new DroneAgentMetadata();
agentMeta.name = "agent";
agentMeta.position = transform.position;
agentMeta.rotation = transform.eulerAngles;
agentMeta.cameraHorizon = m_Camera.transform.rotation.eulerAngles.x;
if (agentMeta.cameraHorizon > 180)
{
agentMeta.cameraHorizon -= 360;
}
//New Drone Stuff for agentMeta
agentMeta.LauncherPosition = GetLauncherPosition();
// OTHER METADATA
MetadataWrapper metaMessage = new MetadataWrapper();
//For Drone controller, currentTime should be based on
//fixed update passes so use DroneTimeSinceStart instead of TimeSinceStart
metaMessage.currentTime = DroneTimeSinceStart();
//agentMeta.FlightMode = FlightMode;
metaMessage.agent = agentMeta;
metaMessage.sceneName = UnityEngine.SceneManagement.SceneManager.GetActiveScene().name;
metaMessage.objects = this.generateObjectMetadata();
//check scene manager to see if the scene's objects are at rest
metaMessage.isSceneAtRest = physicsSceneManager.isSceneAtRest;
metaMessage.collided = collidedObjects.Length > 0;
metaMessage.collidedObjects = collidedObjects;
metaMessage.screenWidth = Screen.width;
metaMessage.screenHeight = Screen.height;
metaMessage.cameraPosition = m_Camera.transform.position;
metaMessage.cameraOrthSize = cameraOrthSize;
cameraOrthSize = -1f;
metaMessage.fov = m_Camera.fieldOfView;
metaMessage.lastAction = lastAction;
metaMessage.lastActionSuccess = lastActionSuccess;
metaMessage.errorMessage = errorMessage;
metaMessage.actionReturn = this.actionReturn;
if (errorCode != ServerActionErrorCode.Undefined)
{
metaMessage.errorCode = Enum.GetName(typeof(ServerActionErrorCode), errorCode);
}
List <InventoryObject> ios = new List <InventoryObject>();
if (ItemInHand != null)
{
SimObjPhysics so = ItemInHand.GetComponent <SimObjPhysics>();
InventoryObject io = new InventoryObject();
io.objectId = so.ObjectID;
io.objectType = Enum.GetName(typeof(SimObjType), so.Type);
ios.Add(io);
}
metaMessage.inventoryObjects = ios.ToArray();
// HAND
metaMessage.hand = new HandMetadata();
metaMessage.hand.position = AgentHand.transform.position;
metaMessage.hand.localPosition = AgentHand.transform.localPosition;
metaMessage.hand.rotation = AgentHand.transform.eulerAngles;
metaMessage.hand.localRotation = AgentHand.transform.localEulerAngles;
// EXTRAS
metaMessage.reachablePositions = reachablePositions;
metaMessage.flatSurfacesOnGrid = flatten3DimArray(flatSurfacesOnGrid);
metaMessage.distances = flatten2DimArray(distances);
metaMessage.normals = flatten3DimArray(normals);
metaMessage.isOpenableGrid = flatten2DimArray(isOpenableGrid);
metaMessage.segmentedObjectIds = segmentedObjectIds;
metaMessage.objectIdsInBox = objectIdsInBox;
metaMessage.actionIntReturn = actionIntReturn;
metaMessage.actionFloatReturn = actionFloatReturn;
metaMessage.actionFloatsReturn = actionFloatsReturn;
metaMessage.actionStringsReturn = actionStringsReturn;
metaMessage.actionVector3sReturn = actionVector3sReturn;
if (alwaysReturnVisibleRange)
{
metaMessage.visibleRange = visibleRange();
}
// Resetting things
reachablePositions = new Vector3[0];
flatSurfacesOnGrid = new float[0, 0, 0];
distances = new float[0, 0];
normals = new float[0, 0, 0];
isOpenableGrid = new bool[0, 0];
segmentedObjectIds = new string[0];
objectIdsInBox = new string[0];
actionIntReturn = 0;
actionFloatReturn = 0.0f;
actionFloatsReturn = new float[0];
actionStringsReturn = new string[0];
actionVector3sReturn = new Vector3[0];
return(metaMessage);
}
