// 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();
}
// 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();
}
