// Converts an OBJMesh (assumed to be a tri-mesh) to a bullet-friendly structure
public static Mesh ToUnityMesh(OBJLoader.OBJMesh objMesh)
{
Mesh mesh = new Mesh();
UnityEngine.Vector3[] newVertices = new UnityEngine.Vector3[objMesh.faces.Count * 3]; // must make a separate copy of each for normals to be correct
int[] newTriangles = new int[objMesh.faces.Count * 3];
for (int i = 0; i < objMesh.vertices.Count; i++)
{
newVertices[i] = objMesh.vertices[i];
}
for (int i = 0; i < objMesh.faces.Count; i++)
{
UnityEngine.Vector3 v1 = objMesh.vertices[objMesh.faces[i].indexes[0]];
UnityEngine.Vector3 v2 = objMesh.vertices[objMesh.faces[i].indexes[1]];
UnityEngine.Vector3 v3 = objMesh.vertices[objMesh.faces[i].indexes[2]];
newVertices[i * 3 + 0] = v1;
newVertices[i * 3 + 1] = v2;
newVertices[i * 3 + 2] = v3;
newTriangles[i * 3 + 0] = i * 3 + 0;
newTriangles[i * 3 + 1] = i * 3 + 1;
newTriangles[i * 3 + 2] = i * 3 + 2;
}
mesh.vertices = newVertices;
mesh.triangles = newTriangles;
mesh.RecalculateBounds();
mesh.RecalculateNormals();
return(mesh);
}
// Converts an OBJMesh (assumed to be a tri-mesh) to a bullet-friendly structure
public static BulletOBJMesh BulletMeshFromUnity(OBJLoader.OBJMesh mesh)
{
BulletOBJMesh btmesh = new BulletOBJMesh();
btmesh.vertices = new float[mesh.vertices.Count * 3];
for (int i = 0; i < mesh.vertices.Count; i++)
{
UnityEngine.Vector3 curVert = mesh.vertices[i];
btmesh.vertices[i * 3 + 0] = curVert[0];
btmesh.vertices[i * 3 + 1] = curVert[1];
btmesh.vertices[i * 3 + 2] = curVert[2];
}
List <int> indList = new List <int>();
for (int i = 0; i < mesh.faces.Count; i++)
{
int[] faceIndices = mesh.faces[i].indexes;
for (int j = 0; j < faceIndices.Length; j++)
{
int idx = faceIndices[j];
indList.Add(faceIndices[j]);
}
}
btmesh.indices = indList.ToArray();
return(btmesh);
}
void LoadSim(int idx)
{
// read in results from json
string predFile = Path.Combine(dataInDir, "eval_sim_" + idx.ToString());
Debug.Log("Visualizing " + predFile);
var jsonTextFile = Resources.Load <TextAsset>(predFile);
m_curPred = PredInfo.CreateFromJSON(jsonTextFile.ToString());
// read in mesh to use
string meshFile = Path.Combine(m_baseModelDir, m_curPred.shape);
meshFile += ".obj";
Debug.Log(meshFile);
OBJLoader.OBJMesh objLoaderMesh = OBJLoader.LoadOBJMesh(meshFile);
Debug.Assert(objLoaderMesh.vertices.Count > 0);
Debug.Assert(objLoaderMesh.faces.Count > 0);
m_mesh = DataGenUtils.ToUnityMesh(objLoaderMesh);
// create init object
m_initObj = new GameObject("Sim" + idx.ToString() + "_Init");
MeshFilter mfInit = m_initObj.AddComponent <MeshFilter>();
mfInit.mesh = m_mesh;
MeshRenderer mrInit = m_initObj.AddComponent <MeshRenderer>();
mrInit.sharedMaterial = initMat;
m_initObj.transform.localScale = m_curPred.scale;
m_initObj.transform.position = m_curPred.gt_pos[0];
m_initObj.transform.eulerAngles = m_curPred.gt_rot[0];
// create GT object
m_gtObj = new GameObject("Sim" + idx.ToString() + "_GT");
MeshFilter mf = m_gtObj.AddComponent <MeshFilter>();
mf.mesh = m_mesh;
MeshRenderer mr = m_gtObj.AddComponent <MeshRenderer>();
mr.sharedMaterial = gtMat;
m_gtObj.transform.localScale = m_curPred.scale;
m_gtObj.transform.position = m_curPred.gt_pos[0];
m_gtObj.transform.eulerAngles = m_curPred.gt_rot[0];
// create sampled object
m_sampObj = new GameObject("Sim" + idx.ToString() + "_Samp");
MeshFilter mf2 = m_sampObj.AddComponent <MeshFilter>();
mf2.mesh = m_mesh;
MeshRenderer mr2 = m_sampObj.AddComponent <MeshRenderer>();
mr2.sharedMaterial = sampMat;
m_sampObj.transform.localScale = m_curPred.scale;
m_sampObj.transform.position = m_curPred.samp_pos[0];
m_sampObj.transform.eulerAngles = m_curPred.samp_rot[0];
}
// Loads the given OBJ file, creates a RigidBody with the given mess, and places
// at the origin of the ground.
protected void PrepareSimObj(string objFile, float mass, BulletSharp.Math.Vector3 inertia)
{
Debug.Log("Loading " + objFile + "...");
// Load wavefront file
OBJLoader.OBJMesh objloadermesh = OBJLoader.LoadOBJMesh(objFile);
Debug.Assert(objloadermesh.vertices.Count > 0);
Debug.Assert(objloadermesh.faces.Count > 0);
// Debug.Log("VERTS: " + objloadermesh.vertices.Count.ToString());
// Debug.Log("FACES: " + objloadermesh.faces.Count.ToString());
m_btmesh = DataGenUtils.BulletMeshFromUnity(objloadermesh);
Debug.Assert(m_btmesh.vertices.Length > 0);
Debug.Assert(m_btmesh.indices.Length > 0);
// Debug.Log("btVERTS: " + (btmesh.vertices.Length / 3).ToString());
// Debug.Log("btFACES: " + (btmesh.indices.Length / 3).ToString());
// Create a GImpactMeshShape for collider
var triVtxarray = new TriangleIndexVertexArray(m_btmesh.indices, m_btmesh.vertices);
m_cs = new GImpactMeshShape(triVtxarray);
m_cs.LocalScaling = new BulletSharp.Math.Vector3(1);
m_cs.Margin = bodyMargin;
m_cs.UpdateBound();
AddCollisionShape(m_cs);
// move it up so resting on the ground plane
float miny = float.MaxValue;
float cury;
for (int i = 0; i < objloadermesh.vertices.Count; i++)
{
cury = objloadermesh.vertices[i][1];
if (cury < miny)
{
miny = cury;
}
}
miny = -miny;
m_rbInitTransVec = new BulletSharp.Math.Vector3(0, miny + bodyMargin + m_groundMargin, 0);
m_rbInitTrans = Matrix.Translation(m_rbInitTransVec); // * Matrix.RotationY(Random.Range(0.0f, 360.0f));
m_rb = CreateRigidBody(mass, inertia, m_rbInitTrans, m_cs, bodyMat, bodyFriction, viz: RENDER_MODE);
m_rb.AngularFactor = angularFactor;
m_rb.SetSleepingThresholds(linearSleepThresh, angularSleepThresh);
if (DEBUG)
{
Debug.Log("LOADED MOMENT: " + m_rb.LocalInertia.ToString());
}
// if (DEBUG) Debug.Log("WORLD MOMENT: " + m_rb.InvInertiaTensorWorld.ToString());
// Debug.Log("Min y: " + (-miny).ToString());
if (DEBUG)
{
Debug.Log(m_rb.CenterOfMassPosition.ToString());
}
}
// Converts an OBJMesh (assumed to be a tri-mesh) to a bullet-friendly structure
public static Mesh ToUnityMesh(OBJLoader.OBJMesh objMesh)
{
Mesh mesh = new Mesh();
UnityEngine.Vector3[] newVertices = new UnityEngine.Vector3[objMesh.faces.Count * 3]; // must make a separate copy of each for normals to be correct
//UnityEngine.Vector2[] newUV = new UnityEngine.Vector2[objMesh.faces.Count * 3];
int[] newTriangles = new int[objMesh.faces.Count * 3];
for (int i = 0; i < objMesh.vertices.Count; i++)
{
newVertices[i] = objMesh.vertices[i];
}
for (int i = 0; i < objMesh.faces.Count; i++)
{
UnityEngine.Vector3 v1 = objMesh.vertices[objMesh.faces[i].indexes[0]];
UnityEngine.Vector3 v2 = objMesh.vertices[objMesh.faces[i].indexes[1]];
UnityEngine.Vector3 v3 = objMesh.vertices[objMesh.faces[i].indexes[2]];
newVertices[i * 3 + 0] = v1;
newVertices[i * 3 + 1] = v2;
newVertices[i * 3 + 2] = v3;
newTriangles[i * 3 + 0] = i * 3 + 0;
newTriangles[i * 3 + 1] = i * 3 + 1;
newTriangles[i * 3 + 2] = i * 3 + 2;
//UnityEngine.Vector3 normal = UnityEngine.Vector3.Cross(v3 - v1, v2 - v1);
//UnityEngine.Quaternion rot = UnityEngine.Quaternion.Inverse(UnityEngine.Quaternion.LookRotation(normal));
// // Assign the uvs, applying a scale factor to control the texture tiling.
//float scaleFactor = 2.0f;
//newUV[i*3 + 0] = (Vector2)(rot * v1) * scaleFactor;
//newUV[i*3 + 1] = (Vector2)(rot * v2) * scaleFactor;
//newUV[i*3 + 2] = (Vector2)(rot * v3) * scaleFactor;
}
mesh.vertices = newVertices;
//mesh.uv = newUV;
mesh.triangles = newTriangles;
mesh.RecalculateBounds();
mesh.RecalculateNormals();
//mesh.uv = UnityEditor.Unwrapping.GeneratePerTriangleUV(mesh);
return(mesh);
}
// returns false if we don't want to use this sim
bool LoadSim(int predIdx, int idx, bool createGt)
{
// read in results from json
string predFile = Path.Combine(m_predDataDirs[predIdx], "eval_sim_" + idx.ToString() + ".json");
Debug.Log("Visualizing " + predFile);
string jsonTextFile = ReadFile(predFile);
m_curPreds.Add(PredInfo.CreateFromJSON(jsonTextFile));
if (showTopplingOnly && !m_curPreds[predIdx].toppled)
{
// don't want to use this
return(false);
}
if (showNonTopplingOnly && m_curPreds[predIdx].toppled)
{
return(false);
}
// find mesh to use
string meshFile = "";
for (int i = 0; i < m_baseModelDirs.Count; i++)
{
meshFile = Path.Combine(m_baseModelDirs[i], m_curPreds[predIdx].shape);
meshFile += ".obj";
if (File.Exists(meshFile))
{
break;
}
}
Debug.Log(meshFile);
if (meshFile == "")
{
Debug.Log("Couldn't find mesh " + m_curPreds[predIdx].shape + "!");
Application.Quit();
}
OBJLoader.OBJMesh objLoaderMesh = OBJLoader.LoadOBJMesh(meshFile);
Debug.Assert(objLoaderMesh.vertices.Count > 0);
Debug.Assert(objLoaderMesh.faces.Count > 0);
m_mesh = DataGenUtils.ToUnityMesh(objLoaderMesh);
// create GT object
if (createGt && !hideGroundTruth)
{
m_gtObj = new GameObject("Sim" + idx.ToString() + "_GT");
MeshFilter mf = m_gtObj.AddComponent <MeshFilter>();
mf.mesh = m_mesh;
MeshRenderer mr = m_gtObj.AddComponent <MeshRenderer>();
mr.sharedMaterial = gtMat;
m_gtObj.transform.localScale = m_curPreds[predIdx].scale;
m_gtObj.transform.position = m_curPreds[predIdx].gt_pos[0];
m_gtObj.transform.eulerAngles = m_curPreds[predIdx].gt_euler_rot[0];
}
// create sampled object
m_predObjs.Add(new GameObject("Sim" + idx.ToString() + "_Pred"));
MeshFilter mf2 = m_predObjs[predIdx].AddComponent <MeshFilter>();
mf2.mesh = m_mesh;
MeshRenderer mr2 = m_predObjs[predIdx].AddComponent <MeshRenderer>();
mr2.sharedMaterial = predMats[predIdx];
m_predObjs[predIdx].transform.localScale = m_curPreds[predIdx].scale;
m_predObjs[predIdx].transform.position = m_curPreds[predIdx].pred_pos[0];
m_predObjs[predIdx].transform.eulerAngles = m_curPreds[predIdx].pred_rot[0];
return(true);
}
