/// <summary>
/// Loads the environment.
/// </summary>
/// <param name="name">Name.</param>
private static void LoadEnvironment(string name)
{
EnvLoader.SearchForEnvironments();
if (environment)
{
environment.transform.Recycle();
}
environment = EnvLoader.LoadEnvironment(name);
environment.name = name; // avoids: Unity appending "(Clone)" to instance names
Debug.Log(environment);
Bounds b = new Bounds();
foreach (Renderer r in environment.GetComponentsInChildren <Renderer>())
{
b.Encapsulate(r.bounds);
}
Instance.bounds = b;
CamController.SetViewMode(CamController.ViewMode.Birdseye);
}
/// <summary>
/// Halt current simulation.
/// Load the next simulation in batch, or
/// change state to State.end if at the end of batch.
/// </summary>
public static void NextSimulation()
{
// stop current simulation
if (state == State.simulating)
{
Halt(StopCode.Unspecified);
}
// next in batch
simulationNumber++;
if (simulationNumber > batch.Count)
{
// end of batch
Halt(StopCode.Unspecified);
End();
return;
}
Debug.Log("Simulation NextSimulation: " + simulationNumber + " of " + batch.Count);
// load simulation settings
settings = batch[simulationNumber - 1];
Log.Settings();
// load environment
EnvLoader.SearchForEnvironments();
environment = EnvLoader.LoadEnvironment(settings.environmentName);
destination.transform.position = RandomInBounds(Instance.bounds);
// load robot
if (robot)
{
CamController.RemoveAreaOfInterest(robot);
}
BotLoader.SearchForRobots();
robot = BotLoader.LoadRobot(settings.robotName);
robot.navigation = NavLoader.LoadPlugin(settings.navigationAssemblyName);
// configure camera
CamController.AddAreaOfInterest(robot);
CamController.SetViewMode(CamController.ViewMode.Birdseye);
CamController.SetAreaOfInterest(robot);
// reset test number
testNumber = 0;
NextTest();
}