// add camera
private unsafe void AddCamera()
{
if (enable_rendering == false)
{
Destroy(GameObject.Find("PreviewCamera"));
}
else
{
Destroy(GameObject.Find("DummyCamera"));
}
// add camera under root
GameObject camobj = new GameObject("camera");
camobj.layer = LayerMask.NameToLayer("PostProcessing");
camobj.transform.parent = root.transform;
Camera thecamera = camobj.AddComponent <Camera>();
// For Furniture Assembly Environment: remove SITE from the culling mask
thecamera.cullingMask = 1 + (1 << 1) + (1 << 2) + (1 << 4) + (1 << 8);
thecamera.backgroundColor = new Color(1f, 1f, 1f);
thecamera.clearFlags = CameraClearFlags.SolidColor;
Shader segshader = Shader.Find("Unlit/SegmentationColor");
SegmentationShader shadersub = camobj.AddComponent <SegmentationShader>();
DepthShader shaderdepth = camobj.AddComponent <DepthShader>();
// For Furniture Assembly Environment: no post process
//GameObject pp_obj = GameObject.Find("PostPocessing");
//PostProcessLayer pp_layer = camobj.AddComponent<PostProcessLayer>();
//var resources= Resources.FindObjectsOfTypeAll<PostProcessResources>();
//pp_layer.Init(resources[0]);
//pp_layer.volumeTrigger = camobj.transform;
//pp_layer.volumeLayer = 1 << LayerMask.NameToLayer("PostProcessing");
// set field of view, near, far
MJP.TCamera cam;
MJP.GetCamera(-1, &cam);
thecamera.fieldOfView = cam.fov;
// For Furniture Assembly Environment: set znear and zfar independent to model extent.
thecamera.nearClipPlane = 0.01f;
thecamera.farClipPlane = 10f;
//thecamera.nearClipPlane = cam.znear * this.transform.localScale.x;
//thecamera.farClipPlane = cam.zfar * this.transform.localScale.x;
// thecamera.enabled = false;
//camobj.SetActive(enable_rendering);
// set transform
MJP.TTransform transform;
MJP.GetCameraState(-1, &transform);
SetCamera(thecamera, transform);
}
// add camera
private unsafe void AddCamera()
{
if (enable_rendering == false)
{
Destroy(GameObject.Find("PreviewCamera"));
}
else
{
Destroy(GameObject.Find("DummyCamera"));
}
// add camera under root
GameObject camobj = new GameObject("camera");
camobj.layer = LayerMask.NameToLayer("PostProcessing");
camobj.transform.parent = root.transform;
Camera thecamera = camobj.AddComponent <Camera>();
Shader segshader = Shader.Find("Unlit/SegmentationColor");
SegmentationShader shadersub = camobj.AddComponent <SegmentationShader>();
GameObject pp_obj = GameObject.Find("PostPocessing");
PostProcessLayer pp_layer = camobj.AddComponent <PostProcessLayer>();
var resources = Resources.FindObjectsOfTypeAll <PostProcessResources>();
pp_layer.Init(resources[0]);
pp_layer.volumeTrigger = camobj.transform;
pp_layer.volumeLayer = 1 << LayerMask.NameToLayer("PostProcessing");
// set field of view, near, far
MJP.TCamera cam;
MJP.GetCamera(-1, &cam);
thecamera.fieldOfView = cam.fov;
thecamera.nearClipPlane = cam.znear * this.transform.localScale.x;
thecamera.farClipPlane = cam.zfar * this.transform.localScale.x;
thecamera.enabled = false;
//camobj.SetActive(enable_rendering);
// set transform
MJP.TTransform transform;
MJP.GetCameraState(-1, &transform);
SetCamera(thecamera, transform);
}
// add camera
private unsafe void AddCamera()
{
// add camera under root
GameObject camobj = new GameObject("camera");
camobj.transform.parent = root.transform;
Camera thecamera = camobj.AddComponent <Camera>();
// set field of view, near, far
MJP.TCamera cam;
MJP.GetCamera(-1, &cam);
thecamera.fieldOfView = cam.fov;
thecamera.nearClipPlane = cam.znear;
thecamera.farClipPlane = cam.zfar;
// set transform
MJP.TTransform transform;
MJP.GetCameraState(-1, &transform);
SetCamera(thecamera, transform);
}
// initialize
unsafe void Start()
{
// For Furniture Assembly Environment: record geom positions
modifiedObjects = new Dictionary <string, Vector3>();
backgrounds = new List <GameObject>();
foreach (GameObject child in SceneManager.GetActiveScene().GetRootGameObjects())
{
if (child.name.StartsWith("Background_"))
{
backgrounds.Add(child);
child.SetActive(false);
}
}
//material_random_parameters["Plastic (Instance)"] = new RandomColor(0.0f, 1.0f, 0.0f, 1.0f, 0.2f, 1.0f);
// set selection color
selcolor = new Color(0.5f, 0.5f, 0.5f, 1);
// preallocate buffer with maximum possible message size
buffersize = 2048; // Math.Max(4, Math.Max(4*nqpos, 28*nmocap));
buffer = new byte[buffersize];
// initialize plugin
// MJP.Initialize();
// MJP.LoadModel(Application.streamingAssetsPath + "/" + modelFile);
// get number of renderable objects, allocate map
MJP.TSize size;
MJP.GetSize(&size);
nqpos = size.nqpos;
nmocap = size.nmocap;
ncamera = size.ncamera;
nobject = size.nobject;
objects = new GameObject[nobject];
// get root
//root = GameObject.Find("MuJoCo");
if (root == null)
{
throw new System.Exception("MuJoCo root object not found");
}
root.transform.localPosition = transform.localPosition;
root.transform.localRotation = transform.localRotation;
root.transform.localScale = transform.localScale;
// get camera under root
int nchild = root.transform.childCount;
for (int i = 0; i < nchild; i++)
{
thecamera = root.transform.GetChild(i).gameObject.GetComponent <Camera>();
if (thecamera != null)
{
// thecamera.enabled = false;
break;
}
}
if (thecamera == null)
{
throw new System.Exception("No camera found under MuJoCo root object");
}
// make map of renderable objects
for (int i = 0; i < nobject; i++)
{
// get object name
StringBuilder name = new StringBuilder(100);
MJP.GetObjectName(i, name, 100);
// find corresponding GameObject
for (int j = 0; j < nchild; j++)
{
if (root.transform.GetChild(j).name == name.ToString())
{
objects[i] = root.transform.GetChild(j).gameObject;
break;
}
}
// set initial state
if (objects[i])
{
MJP.TTransform transform;
int visible;
int selected;
MJP.GetObjectState(i, &transform, &visible, &selected);
SetTransform(objects[i], transform);
objects[i].SetActive(visible > 0);
}
}
// get camera fov and offscreen resolution
camfov = new float[ncamera + 1];
int offwidth = 1280;
int offheight = 720;
for (int i = -1; i < ncamera; i++)
{
MJP.TCamera cam;
MJP.GetCamera(i, &cam);
camfov[i + 1] = cam.fov;
// plugin returns offscreen width and height for all cameras
offwidth = cam.width;
offheight = cam.height;
}
//TODO: The dummy camera and camera added by mjonline import should be merged together
GameObject camobj = GameObject.Find("DummyCamera");
if (camobj != null)
{
dummycamera = camobj.GetComponent <Camera>();
dummycamera.enabled = true;
}
// prepare offscreen rendering
off_render = new OffscreenRenderer(offwidth, offheight);
// synchronize time
MJP.SetTime(Time.time);
//randomizeAppearance();
Debug.Log("New simulation init'd " + offwidth + "x" + offheight);
}
// initialize
unsafe void Start()
{
// set selection color
selcolor = new Color(0.5f, 0.5f, 0.5f, 1);
// initialize plugin
MJP.Initialize();
MJP.LoadModel(Application.streamingAssetsPath + "/" + modelFile);
// get number of renderable objects, allocate map
MJP.TSize size;
MJP.GetSize(&size);
nqpos = size.nqpos;
nmocap = size.nmocap;
ncamera = size.ncamera;
nobject = size.nobject;
objects = new GameObject[nobject];
// get root
root = GameObject.Find("MuJoCo");
if (root == null)
{
throw new System.Exception("MuJoCo root object not found");
}
// get camera under root
int nchild = root.transform.childCount;
for (int i = 0; i < nchild; i++)
{
thecamera = root.transform.GetChild(i).gameObject.GetComponent <Camera>();
if (thecamera != null)
{
break;
}
}
if (thecamera == null)
{
throw new System.Exception("No camera found under MuJoCo root object");
}
// make map of renderable objects
for (int i = 0; i < nobject; i++)
{
// get object name
StringBuilder name = new StringBuilder(100);
MJP.GetObjectName(i, name, 100);
// find corresponding GameObject
for (int j = 0; j < nchild; j++)
{
if (root.transform.GetChild(j).name == name.ToString())
{
objects[i] = root.transform.GetChild(j).gameObject;
break;
}
}
// set initial state
if (objects[i])
{
MJP.TTransform transform;
int visible;
int selected;
MJP.GetObjectState(i, &transform, &visible, &selected);
SetTransform(objects[i], transform);
objects[i].SetActive(visible > 0);
}
}
// get camera fov and offscreen resolution
camfov = new float[ncamera + 1];
for (int i = -1; i < ncamera; i++)
{
MJP.TCamera cam;
MJP.GetCamera(i, &cam);
camfov[i + 1] = cam.fov;
// plugin returns offscreen width and height for all cameras
offwidth = cam.width;
offheight = cam.height;
}
// prepare offscreen rendering
offtex = new Texture2D(offwidth, offheight, TextureFormat.RGB24, false);
offrt = new RenderTexture(offwidth, offheight, 24);
offrt.width = offwidth;
offrt.height = offheight;
offrt.Create();
// synchronize time
MJP.SetTime(Time.time);
// preallocate buffer with maximum possible message size
buffersize = Math.Max(4, Math.Max(4 * nqpos, 28 * nmocap));
buffer = new byte[buffersize];
// start listening for connections
listener = new TcpListener(System.Net.IPAddress.Parse(tcpAddress), tcpPort);
listener.Start();
}
// initialize
unsafe void Start()
{
// set selection color
selcolor = new Color(0.5f, 0.5f, 0.5f, 1);
// initialize plugin
//// MJP.Initialize();
// MJP.LoadModel(Application.streamingAssetsPath + "/" + modelFile);
// get number of renderable objects, allocate map
MJP.TSize size;
MJP.GetSize(&size);
ncamera = size.ncamera;
nobject = size.nobject;
objects = new GameObject[nobject];
// get root
// root = GameObject.Find("MuJoCo");
if (root == null)
{
throw new System.Exception("MuJoCo root object not found");
}
// get camera under root
int nchild = root.transform.childCount;
for (int i = 0; i < nchild; i++)
{
thecamera = root.transform.GetChild(i).gameObject.GetComponent <Camera>();
if (thecamera != null)
{
break;
}
}
if (thecamera == null)
{
throw new System.Exception("No camera found under MuJoCo root object");
}
// make map of renderable objects
for (int i = 0; i < nobject; i++)
{
// get object name
StringBuilder name = new StringBuilder(100);
MJP.GetObjectName(i, name, 100);
// find corresponding GameObject
for (int j = 0; j < nchild; j++)
{
if (root.transform.GetChild(j).name == name.ToString())
{
objects[i] = root.transform.GetChild(j).gameObject;
break;
}
}
// set initial state
if (objects[i])
{
MJP.TTransform transform;
int visible;
int selected;
MJP.GetObjectState(i, &transform, &visible, &selected);
SetTransform(objects[i], transform);
objects[i].SetActive(visible > 0);
}
}
int offwidth = 1280;
int offheight = 720;
// get camera fov and offscreen resolution
camfov = new float[ncamera + 1];
for (int i = -1; i < ncamera; i++)
{
MJP.TCamera cam;
MJP.GetCamera(i, &cam);
camfov[i + 1] = cam.fov;
// plugin returns offscreen width and height for all cameras
offwidth = cam.width;
offheight = cam.height;
}
off_render = new OffscreenRenderer(offwidth, offheight);
// synchronize time
MJP.SetTime(Time.time);
videotime = Time.time;
}
