Example #1
0
    // 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);
    }
Example #2
0
    // 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;
    }