// update Unity representation of MuJoCo model
unsafe private void UpdateModel()
{
MJP.TTransform transform;
// update object states
for (int i = 0; i < nobject; i++)
{
if (objects[i])
{
// set transform and visibility
int visible;
int selected;
MJP.GetObjectState(i, &transform, &visible, &selected);
SetTransform(objects[i], transform);
objects[i].SetActive(visible > 0);
// set emission color
if (selected > 0)
{
objects[i].GetComponent <Renderer>().material.SetColor("_EmissionColor", selcolor);
}
else
{
objects[i].GetComponent <Renderer>().material.SetColor("_EmissionColor", Color.black);
}
}
}
// update camera
MJP.GetCameraState(camindex, &transform);
SetCamera(thecamera, transform);
thecamera.fieldOfView = camfov[camindex + 1];
}
// 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);
}
// update Unity representation of MuJoCo model
unsafe private void UpdateModel()
{
MJP.TTransform transform;
// update object states
for (int i = 0; i < nobject; i++)
{
if (objects[i])
{
// set transform and visibility
int visible;
int selected;
MJP.GetObjectState(i, &transform, &visible, &selected);
// For Furniture Assembly Environment: apply new geom position
if (modifiedObjects.ContainsKey(objects[i].name))
{
objects[i].transform.position = modifiedObjects[objects[i].name];
}
else
{
SetTransform(objects[i], transform);
}
objects[i].SetActive(visible > 0);
// set emission color
if (selected > 0)
{
objects[i].GetComponent <Renderer>().material.SetColor("_EmissionColor", selcolor);
}
else
{
objects[i].GetComponent <Renderer>().material.SetColor("_EmissionColor", Color.black);
}
}
}
// update camera
MJP.GetCameraState(camindex, &transform);
SetCamera(thecamera, transform);
thecamera.fieldOfView = camfov[camindex + 1];
}
// 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);
}
// per-frame update
unsafe void Update()
{
// process input
ProcessKeyboard();
if (Input.mousePresent)
{
ProcessMouse();
}
// update object states
MJP.TTransform transform;
for (int i = 0; i < nobject; i++)
{
if (objects[i])
{
int visible;
int selected;
MJP.GetObjectState(i, &transform, &visible, &selected);
SetTransform(objects[i], transform);
objects[i].SetActive(visible > 0);
// set emission color
if (selected > 0)
{
objects[i].GetComponent <Renderer>().material.SetColor("_EmissionColor", selcolor);
}
else
{
objects[i].GetComponent <Renderer>().material.SetColor("_EmissionColor", Color.black);
}
}
}
// update camera
MJP.GetCameraState(camindex, &transform);
SetCamera(thecamera, transform);
thecamera.fieldOfView = camfov[camindex + 1];
}
