// Instantiate a gameject at given location
private GameObject InstantiateObj(Object objOri, NavObj.ObjCategory m_objCat, int m_objLocIdx)
{
Transform locReceptable = GameObject.Find($"PosReceptacles/{m_objCat.ToString()}").transform.GetChild(m_objLocIdx);
GameObject objInst = GameObject.Instantiate(objOri, locReceptable) as GameObject;
objInst.transform.localPosition = Vector3.zero; // Reset object location at the center
// Change orientations of objects with category on wall
if (m_objCat == NavObj.ObjCategory.OnWall)
{
if (locReceptable.position.x == 4f)
{
objInst.transform.localRotation = Quaternion.Euler(0, -90f, 0);
}
if (locReceptable.position.x == -4f)
{
objInst.transform.localRotation = Quaternion.Euler(0, 90f, 0);
}
if (locReceptable.position.z == 2.5f)
{
objInst.transform.localRotation = Quaternion.Euler(0, 180f, 0);
}
if (locReceptable.position.z == -2.5f)
{
objInst.transform.localRotation = Quaternion.Euler(0, 0, 0);
}
}
else
{
// objInst.transform.localRotation = ((GameObject)objOri).transform.localRotation;
objInst.transform.localRotation = Quaternion.Euler(0, Random.Range(-180f, 180f), 0);
}
return(objInst);
}
// Select an objet prefab with provided object category. Return a list of objects which will be randomly spawned in the scene. There can be at most 3 objects with OnFloor category,
// including the target object.
private NavObj[] SelectNavObj(NavObj.ObjCategory m_objCat)
{
// Only call this random selection function when autosettarget is true
if (envSetup.autoSetTarget || agentController.CompletedEpisodes == 0)
{
// Randomly select 1-2 OnFloor Objects, 1-9 OnFurnitureTop Objects, 1-9 OnWall Objects (except for the target objects)
// int OFObjNum = Random.Range(1,2);
// int OFTObjNum = Random.Range(1,9);
// int OWObjNum = Random.Range(1,9);
objNums[0] = Random.Range(1, 2);
objNums[1] = Random.Range(1, 9);
objNums[2] = Random.Range(1, 9);
// Create new object array which with be returned and contains all the objects
selectedNavObjs = new NavObj[objNums.Sum() + 1];
// Generate arrays with different categories
NavObj[] OF_list = objList.Where(obj => obj.objCat == NavObj.ObjCategory.OnFloor).ToArray();
NavObj[] OFT_list = objList.Where(obj => obj.objCat == NavObj.ObjCategory.OnFurnitureTop).ToArray();
NavObj[] OW_list = objList.Where(obj => obj.objCat == NavObj.ObjCategory.OnWall).ToArray();
// Select the target objects
switch (m_objCat)
{
case NavObj.ObjCategory.OnFloor:
selectedNavObjs[0] = OF_list[Random.Range(0, OF_list.Length)];
break;
case NavObj.ObjCategory.OnFurnitureTop:
selectedNavObjs[0] = OFT_list[Random.Range(0, OFT_list.Length)];
break;
case NavObj.ObjCategory.OnWall:
selectedNavObjs[0] = OW_list[Random.Range(0, OW_list.Length)];
break;
}
// Set values for global object type and instance number variables
objType = selectedNavObjs[0].objType;
objInstanceNum = selectedNavObjs[0].objInstanceNum;
for (int i = 1; i < objNums.Sum() + 1; i++)
{
if (i < objNums[0] + 1) // Select OnFloor Objects
{
selectedNavObjs[i] = OF_list[Random.Range(0, OF_list.Length)];
}
else if (i < objNums[0] + objNums[1] + 1)
{
selectedNavObjs[i] = OFT_list[Random.Range(0, OFT_list.Length)];
}
else
{
selectedNavObjs[i] = OW_list[Random.Range(0, OW_list.Length)];
}
}
// return selectedNavObjs;
}
return(selectedNavObjs);
}
public void settingTaskTarget()
{
// Auto set object category and location
if (autoSetTarget)
{
objCatSelected = (NavObj.ObjCategory)Random.Range(0, numObjCats);
// objCatSelected = NavObj.ObjCategory.OnWall;
objLocationIdxSelected = Random.Range(0, 10);
}
}
// Initialize selected objects in the given location. Return a list of instantiated Gameobjects
private Transform[] InitObj(NavObj[] m_objList, NavObj.ObjCategory m_ObjCat, int m_objLocIdx)
{
// Instantiate other objects in the object list if needed
if (m_objList.Length != 1 && (envSetup.autoSetTarget || agentController.CompletedEpisodes == 0))
{
// Create a new transform array
_objList = new Transform[m_objList.Length];
// Create a new object location indices
objLocIdx = new int[_objList.Length];
// Instantiate the target object
_objList[0] = InstantiateObj(m_objList[0].objInstance, m_ObjCat, m_objLocIdx).transform;
objLocIdx[0] = m_objLocIdx;
// _fakeTargetsLocIdx = Enumerable.Range(0,10).Where(num => num!=m_objLocIdx).OrderBy(num => Guid.NewGuid()).Take(m_objList.Length-1).ToArray();
// Debug.Log(objLocIdx.Length);
// Environment object location indices
switch (m_ObjCat)
{
case NavObj.ObjCategory.OnFloor:
Array.Copy(Enumerable.Range(0, 10).Where(num => num != objLocIdx[0]).OrderBy(num => Guid.NewGuid()).Take(objNums[0]).ToArray(), 0, objLocIdx, 1, objNums[0]);
Array.Copy(Enumerable.Range(0, 10).OrderBy(num => Guid.NewGuid()).Take(objNums[1]).ToArray(), 0, objLocIdx, 1 + objNums[0], objNums[1]);
Array.Copy(Enumerable.Range(0, 10).OrderBy(num => Guid.NewGuid()).Take(objNums[2]).ToArray(), 0, objLocIdx, 1 + objNums[0] + objNums[1], objNums[2]);
break;
case NavObj.ObjCategory.OnFurnitureTop:
Array.Copy(Enumerable.Range(0, 10).OrderBy(num => Guid.NewGuid()).Take(objNums[0]).ToArray(), 0, objLocIdx, 1, objNums[0]);
Array.Copy(Enumerable.Range(0, 10).Where(num => num != objLocIdx[0]).OrderBy(num => Guid.NewGuid()).Take(objNums[1]).ToArray(), 0, objLocIdx, 1 + objNums[0], objNums[1]);
Array.Copy(Enumerable.Range(0, 10).OrderBy(num => Guid.NewGuid()).Take(objNums[2]).ToArray(), 0, objLocIdx, 1 + objNums[0] + objNums[1], objNums[2]);
break;
case NavObj.ObjCategory.OnWall:
Array.Copy(Enumerable.Range(0, 10).OrderBy(num => Guid.NewGuid()).Take(objNums[0]).ToArray(), 0, objLocIdx, 1, objNums[0]);
Array.Copy(Enumerable.Range(0, 10).OrderBy(num => Guid.NewGuid()).Take(objNums[1]).ToArray(), 0, objLocIdx, 1 + objNums[0], objNums[1]);
Array.Copy(Enumerable.Range(0, 10).Where(num => num != objLocIdx[0]).OrderBy(num => Guid.NewGuid()).Take(objNums[2]).ToArray(), 0, objLocIdx, 1 + objNums[0] + objNums[1], objNums[2]);
break;
}
for (int i = 1; i < objNums.Sum() + 1; i++)
{
_objList[i] = InstantiateObj(m_objList[i].objInstance, m_objList[i].objCat, objLocIdx[i]).transform;
}
}
// for(int i=1;i<_objList.Length;i++)
// {
// _objList[i] = InstantiateObj(m_objList[i], m_ObjCat, _fakeTargetsLocIdx[i-1]).transform;
// }
return(_objList);
}
// Select Animation Clips with provided object category and location
private void SelectAnimClips(string[] m_devices, int playerID, NavObj.ObjCategory m_objCat, int m_objLocIdx)
{
AnimationClip[][] qualifiedList = new AnimationClip[m_devices.Length][];
for (int i = 0; i < m_devices.Length; i++)
{
qualifiedList[i] = animList.Where(anim => anim.name.Split('_')[0] == m_devices[i] &&
anim.name.Split('_')[1] == playerID.ToString() &&
anim.name.Split('_')[2] == m_objCat.ToString() &&
anim.name.Split('_')[3] == m_objLocIdx.ToString()).ToArray();
}
int selectedIndex = Random.Range(0, qualifiedList[0].Length);
for (int i = 0; i < m_devices.Length; i++)
{
selectedRefClip[i] = qualifiedList[i][selectedIndex];
}
}
public void SetupReplay(NavObj.ObjCategory m_objCat, int m_objLocIdx)
{
// Play selected animation clips
int playerID = playerIDs[!isTraining && newGestures? Random.Range(6, 10):Random.Range(0, 6)]; // select a random player ID
// Scale Kinect avatar according to playerID
float scale = playerID2Height[playerID] / 1.75f;
if (envSetup.autoSetTarget || agentController.CompletedEpisodes == 0)
{
GameObject.Find("KinectAvatar").transform.localScale = new Vector3(scale, scale, scale);
}
if (envSetup.autoSetTarget || agentController.CompletedEpisodes == 0)
{
SelectAnimClips(deviceList, playerID, m_objCat, m_objLocIdx);
}
for (int i = 0; i < deviceList.Length; i++)
{
replayController.PlayAnimClipInCtrl(animCtrls[i], selectedRefClip[i]);
}
}
// Setup replay for device using the replay controller, and return the instantiated gameobjects
public Transform[] SetupTarget(NavObj.ObjCategory m_objCat, int m_objLocIdx)
{
// Instantiate all objects in the list
return(InitObj(SelectNavObj(m_objCat), m_objCat, m_objLocIdx));
}
