private void SpawnNPCMock(string vehicleId, NPCS npcData, int npcControllerSeed, Color color, Vector3 position, Quaternion rotation) // TODO can this use SpawnNPC method?
{
var go = new GameObject("NPC " + vehicleId);
go.SetActive(false);
go.transform.SetParent(transform);
go.layer = LayerMask.NameToLayer("NPC");
go.tag = "Car";
var rb = go.AddComponent <Rigidbody>();
rb.mass = 2000;
rb.interpolation = RigidbodyInterpolation.Interpolate;
rb.collisionDetectionMode = CollisionDetectionMode.Discrete;
rb.position = position;
rb.rotation = rotation;
go.transform.SetPositionAndRotation(position, rotation);
go.AddComponent <NPCController>();
var npc_name = Instantiate(npcData.Prefab, go.transform).name;
go.name = npc_name + vehicleId;
var NPCController = go.GetComponent <NPCController>();
NPCController.Size = npcData.NPCType;
NPCController.NPCColor = color;
NPCController.NPCLabel = GetNPCLabel(npc_name);
NPCController.id = vehicleId;
NPCController.Init(NPCSeedGenerator.Next());
CurrentPooledNPCs.Add(NPCController);
SimulatorManager.Instance.UpdateSegmentationColors(go);
//Add required components for cluster simulation
ClusterSimulationUtilities.AddDistributedComponents(go);
}
public NPCController SpawnNPC(NPCSpawnData spawnData)
{
var go = new GameObject();
go.SetActive(spawnData.Active);
go.transform.SetParent(transform);
go.transform.SetPositionAndRotation(Vector3.zero, Quaternion.identity);
go.layer = LayerMask.NameToLayer("NPC");
go.tag = "Car";
var rb = go.AddComponent <Rigidbody>();
rb.mass = 2000;
rb.interpolation = RigidbodyInterpolation.Interpolate;
rb.collisionDetectionMode = CollisionDetectionMode.Discrete;
var NPCController = go.AddComponent <NPCController>();
var npc_name = Instantiate(spawnData.Template.Prefab, go.transform).name;
go.name = npc_name + spawnData.GenId;
NPCController.Size = spawnData.Template.NPCType;
NPCController.NPCColor = spawnData.Color;
NPCController.NPCLabel = GetNPCLabel(npc_name);
NPCController.id = spawnData.GenId;
NPCController.GTID = ++SimulatorManager.Instance.GTIDs;
NPCController.Init(spawnData.Seed);
go.transform.SetPositionAndRotation(spawnData.Position, spawnData.Rotation);
NPCController.SetLastPosRot(spawnData.Position, spawnData.Rotation);
NPCController.SetBehaviour(DefaultBehaviour);
CurrentPooledNPCs.Add(NPCController);
SimulatorManager.Instance.UpdateSegmentationColors(NPCController.gameObject, NPCController.GTID);
//Add required components for distributing rigidbody from master to clients
if (Loader.Instance.Network.IsClusterSimulation)
{
ClusterSimulationUtilities.AddDistributedComponents(go);
}
// Add components for auto light layers change
var triggerCollider = go.AddComponent <SphereCollider>();
if (triggerCollider != null)
{
triggerCollider.radius = NPCController.Bounds.size.z * 0.25f;
triggerCollider.isTrigger = true;
}
go.AddComponent <AgentZoneController>();
foreach (var callback in SpawnCallbacks)
{
callback(NPCController);
}
return(NPCController);
}
public GameObject SpawnVehicle(string name, string genId, Vector3 position, Quaternion rotation, Color color)
{
var template = NPCVehicles.Find(obj => obj.Prefab.name == name);
if (template.Prefab == null)
{
return(null);
}
var go = new GameObject("NPC " + genId);
go.transform.SetParent(transform);
go.layer = LayerMask.NameToLayer("NPC");
go.tag = "Car";
var rb = go.AddComponent <Rigidbody>();
rb.mass = 2000;
rb.interpolation = RigidbodyInterpolation.Interpolate;
rb.collisionDetectionMode = CollisionDetectionMode.Discrete;
var npcC = go.AddComponent <NPCController>();
var npc_name = Instantiate(template.Prefab, go.transform).name;
go.name = npc_name + genId;
//Add required components for cluster simulation
if (Loader.Instance.Network.IsClusterSimulation)
{
ClusterSimulationUtilities.AddDistributedComponents(go);
}
var NPCController = go.GetComponent <NPCController>();
NPCController.NPCLabel = GetNPCLabel(npc_name);
APINPCs.Add(NPCController);
NPCController.id = genId;
NPCController.GTID = ++SimulatorManager.Instance.GTIDs;
NPCController.NPCColor = color == Color.clear ? GetWeightedRandomColor(template.NPCType) : color;
var s = NPCSeedGenerator.Next();
NPCController.Init(s);
SimulatorManager.Instance.UpdateSegmentationColors(go);
go.transform.SetPositionAndRotation(position, rotation); // TODO check for incorrect calc speed
npcC.SetLastPosRot(position, rotation);
return(go);
}
public IControllable SpawnControllable(GameObject prefab, string uid, Vector3 pos, Quaternion rot, Vector3 velocity, Vector3 angVelocity)
{
var api = ApiManager.Instance;
var obj = Instantiate(prefab, pos, rot, transform);
var rb = obj.gameObject.GetComponent <Rigidbody>();
if (rb != null)
{
rb.velocity = velocity;
rb.angularVelocity = angVelocity;
}
IControllable controllable = obj.GetComponent <IControllable>();
if (controllable == null)
{
Destroy(obj);
Debug.LogWarning($"Prefab missing IControllable component, spawning {prefab.name} aborted");
return(null);
}
controllable.UID = uid;
controllable.Spawned = true;
// Add components for auto light layers change
var triggerCollider = obj.AddComponent <SphereCollider>();
if (triggerCollider != null)
{
triggerCollider.radius = 0.3f;
triggerCollider.isTrigger = true;
}
obj.AddComponent <AgentZoneController>();
RegisterControllable(controllable);
if (Loader.Instance.Network.IsClusterSimulation)
{
//Add required components for cluster simulation
ClusterSimulationUtilities.AddDistributedComponents(obj);
}
return(controllable);
}
public IControllable SpawnControllable(GameObject prefab, Vector3 pos, Quaternion rot, Vector3 velocity, Vector3 angVelocity)
{
var api = ApiManager.Instance;
var obj = Instantiate(prefab, pos, rot);
obj.transform.SetParent(transform);
obj.transform.position = pos;
obj.transform.rotation = rot;
var rb = obj.gameObject.GetComponent <Rigidbody>();
if (rb != null)
{
rb.velocity = velocity;
rb.angularVelocity = angVelocity;
}
IControllable controllable = obj.GetComponent <IControllable>();
if (controllable == null)
{
Destroy(obj);
Debug.LogError($"Prefab missing IControllable component, spawning {prefab.name} aborted");
return(null);
}
var uid = System.Guid.NewGuid().ToString();
controllable.UID = uid;
controllable.Spawned = true;
api.Controllables.Add(uid, controllable);
api.ControllablesUID.Add(controllable, uid);
if (Loader.Instance.Network.IsClusterSimulation)
{
//Add required components for cluster simulation
ClusterSimulationUtilities.AddDistributedComponents(obj);
}
return(controllable);
}
private void SpawnNPC(string vehicleId, NPCS npcData, Color color, int npcControllerSeed)
{
var genId = vehicleId;
var go = new GameObject("NPC " + genId);
go.SetActive(false);
go.transform.SetParent(transform);
go.layer = LayerMask.NameToLayer("NPC");
go.tag = "Car";
var rb = go.AddComponent <Rigidbody>();
rb.mass = 2000;
rb.interpolation = RigidbodyInterpolation.Interpolate;
rb.collisionDetectionMode = CollisionDetectionMode.Discrete;
go.AddComponent <NPCController>();
var npc_name = Instantiate(npcData.Prefab, go.transform).name;
go.name = npc_name + genId;
var NPCController = go.GetComponent <NPCController>();
NPCController.Size = npcData.NPCType;
NPCController.NPCColor = color;
NPCController.NPCLabel = GetNPCLabel(npc_name);
NPCController.id = genId;
NPCController.Init(NPCSeedGenerator.Next());
CurrentPooledNPCs.Add(NPCController);
SimulatorManager.Instance.UpdateSegmentationColors(go);
//Add required components for distributing rigidbody from master to clients
if (Loader.Instance.Network.IsClusterSimulation)
{
//Add required components for cluster simulation
ClusterSimulationUtilities.AddDistributedComponents(go);
if (Loader.Instance.Network.IsMaster)
{
BroadcastMessage(GetSpawnMessage(genId, npcData, npcControllerSeed, color, go.transform.position,
go.transform.rotation));
}
}
}
public NPCController SpawnNPC(NPCSpawnData spawnData)
{
var go = new GameObject();
go.SetActive(spawnData.Active);
go.transform.SetParent(transform);
go.transform.SetPositionAndRotation(Vector3.zero, Quaternion.identity);
go.layer = LayerMask.NameToLayer("NPC");
go.tag = "Car";
var rb = go.AddComponent <Rigidbody>();
rb.mass = 2000;
rb.interpolation = RigidbodyInterpolation.Interpolate;
rb.collisionDetectionMode = CollisionDetectionMode.Discrete;
var NPCController = go.AddComponent <NPCController>();
var npc_name = Instantiate(spawnData.Template.Prefab, go.transform).name;
go.name = npc_name + spawnData.GenId;
NPCController.Size = spawnData.Template.NPCType;
NPCController.NPCColor = spawnData.Color;
NPCController.NPCLabel = GetNPCLabel(npc_name);
NPCController.id = spawnData.GenId;
NPCController.GTID = ++SimulatorManager.Instance.GTIDs;
NPCController.Init(spawnData.Seed);
go.transform.SetPositionAndRotation(spawnData.Position, spawnData.Rotation);
NPCController.SetLastPosRot(spawnData.Position, spawnData.Rotation);
NPCController.SetBehaviour <NPCLaneFollowBehaviour>();
CurrentPooledNPCs.Add(NPCController);
SimulatorManager.Instance.UpdateSegmentationColors(go);
//Add required components for distributing rigidbody from master to clients
if (Loader.Instance.Network.IsClusterSimulation)
{
ClusterSimulationUtilities.AddDistributedComponents(go);
}
return(NPCController);
}
public GameObject SpawnAgent(AgentConfig config)
{
var go = Instantiate(config.Prefab, transform);
go.name = config.Name;
var agentController = go.GetComponent <AgentController>();
agentController.SensorsChanged += AgentControllerOnSensorsChanged;
agentController.Config = config;
agentController.Config.AgentGO = go;
SIM.LogSimulation(SIM.Simulation.VehicleStart, config.Name);
ActiveAgents.Add(agentController.Config);
agentController.GTID = ++SimulatorManager.Instance.GTIDs;
agentController.Config.GTID = agentController.GTID;
BridgeClient bridgeClient = null;
if (config.Bridge != null)
{
bridgeClient = go.AddComponent <BridgeClient>();
bridgeClient.Init(config.Bridge);
if (config.Connection != null)
{
var split = config.Connection.Split(':');
if (split.Length != 2)
{
throw new Exception("Incorrect bridge connection string, expected HOSTNAME:PORT");
}
bridgeClient.Connect(split[0], int.Parse(split[1]));
}
}
SIM.LogSimulation(SIM.Simulation.BridgeTypeStart, config.Bridge != null ? config.Bridge.Name : "None");
var sensorsController = go.AddComponent <SensorsController>();
agentController.AgentSensorsController = sensorsController;
sensorsController.SetupSensors(config.Sensors);
//Add required components for distributing rigidbody from master to clients
var network = Loader.Instance.Network;
if (network.IsClusterSimulation)
{
HierarchyUtilities.ChangeToUniqueName(go);
if (network.IsClient)
{
//Disable controller and dynamics on clients so it will not interfere mocked components
agentController.enabled = false;
var vehicleDynamics = agentController.GetComponent <IVehicleDynamics>() as MonoBehaviour;
if (vehicleDynamics != null)
{
vehicleDynamics.enabled = false;
}
}
//Change the simulation type only if it's not set in the prefab
var distributedRigidbody = go.GetComponent <DistributedRigidbody>();
if (distributedRigidbody == null)
{
distributedRigidbody = go.AddComponent <DistributedRigidbody>();
distributedRigidbody.SimulationType = DistributedRigidbody.MockingSimulationType.ExtrapolateVelocities;
}
//Add the rest required components for cluster simulation
ClusterSimulationUtilities.AddDistributedComponents(go);
}
go.transform.position = config.Position;
go.transform.rotation = config.Rotation;
agentController.Init();
#if UNITY_EDITOR
// TODO remove hack for editor opaque with alpha clipping 2019.3.3
Array.ForEach(go.GetComponentsInChildren <Renderer>(), renderer =>
{
foreach (var m in renderer.materials)
{
m.shader = Shader.Find(m.shader.name);
}
});
Array.ForEach(go.GetComponentsInChildren <DecalProjector>(), decal =>
{
decal.material.shader = Shader.Find(decal.material.shader.name);
});
#endif
return(go);
}
public GameObject SpawnAgent(AgentConfig config)
{
var go = Instantiate(config.Prefab, transform);
go.name = config.Name;
// set it inactive until we can be sure setting up sensors etc worked without exceptions and it AgentController was initialized
go.SetActive(false);
var agentController = go.GetComponent <AgentController>();
agentController.Config = config;
agentController.Config.AgentGO = go;
var lane = go.AddComponent <VehicleLane>();
var baseLink = go.GetComponentInChildren <BaseLink>();
if (baseLink == null)
{
baseLink = new GameObject("BaseLink").AddComponent <BaseLink>();
baseLink.transform.SetParent(go.transform, false);
}
ActiveAgents.Add(agentController.Config);
agentController.GTID = ++SimulatorManager.Instance.GTIDs;
agentController.Config.GTID = agentController.GTID;
BridgeClient bridgeClient = null;
if (config.Bridge != null)
{
bridgeClient = go.AddComponent <BridgeClient>();
bridgeClient.Init(config.Bridge);
if (!String.IsNullOrEmpty(config.Connection))
{
bridgeClient.Connect(config.Connection);
}
}
var sensorsController = go.AddComponent <SensorsController>();
agentController.AgentSensorsController = sensorsController;
//Add required components for distributing rigidbody from master to clients
var network = Loader.Instance.Network;
if (network.IsClusterSimulation)
{
HierarchyUtilities.ChangeToUniqueName(go);
if (network.IsClient)
{
//Disable controller and dynamics on clients so it will not interfere mocked components
agentController.enabled = false;
var vehicleDynamics = agentController.GetComponent <IVehicleDynamics>() as MonoBehaviour;
if (vehicleDynamics != null)
{
vehicleDynamics.enabled = false;
}
}
//Change the simulation type only if it's not set in the prefab
var distributedRigidbody = go.GetComponent <DistributedRigidbody>();
if (distributedRigidbody == null)
{
distributedRigidbody = go.AddComponent <DistributedRigidbody>();
distributedRigidbody.SimulationType = DistributedRigidbody.MockingSimulationType.ExtrapolateVelocities;
}
//Add the rest required components for cluster simulation
ClusterSimulationUtilities.AddDistributedComponents(go);
}
go.transform.position = config.Position;
go.transform.rotation = config.Rotation;
sensorsController.SetupSensors(config.Sensors);
agentController.Init();
go.SetActive(true);
return(go);
}
public GameObject SpawnAgent(AgentConfig config)
{
var go = Instantiate(config.Prefab, transform);
go.name = config.Name;
// set it inactive until we can be sure setting up sensors etc worked without exceptions and it AgentController was initialized
go.SetActive(false);
var controller = go.GetComponent <IAgentController>();
if (controller == null)
{
Debug.LogWarning($"{nameof(IAgentController)} implementation not found on the {config.Name} vehicle. This vehicle can't be used as an ego vehicle.");
}
else
{
controller.Config = config;
controller.Config.AgentGO = go;
ActiveAgents.Add(controller.Config);
controller.GTID = ++SimulatorManager.Instance.GTIDs;
controller.Config.GTID = controller.GTID;
}
var lane = go.AddComponent <VehicleLane>();
var baseLink = go.GetComponentInChildren <BaseLink>();
if (baseLink == null)
{
baseLink = new GameObject("BaseLink").AddComponent <BaseLink>();
baseLink.transform.SetParent(go.transform, false);
}
var sensorsController = go.GetComponent <ISensorsController>() ?? go.AddComponent <SensorsController>();
if (controller != null)
{
controller.AgentSensorsController = sensorsController;
}
//Add required components for distributing rigidbody from master to clients
var network = Loader.Instance.Network;
if (network.IsClusterSimulation)
{
HierarchyUtilities.ChangeToUniqueName(go);
//Add the rest required components for cluster simulation
ClusterSimulationUtilities.AddDistributedComponents(go);
if (network.IsClient)
{
controller?.DisableControl();
}
}
BridgeClient bridgeClient = null;
if (config.BridgeData != null)
{
var dir = Path.Combine(Simulator.Web.Config.PersistentDataPath, "Bridges");
var vfs = VfsEntry.makeRoot(dir);
Simulator.Web.Config.CheckDir(vfs.GetChild(config.BridgeData.AssetGuid), Simulator.Web.Config.LoadBridgePlugin);
bridgeClient = go.AddComponent <BridgeClient>();
config.Bridge = BridgePlugins.Get(config.BridgeData.Type);
bridgeClient.Init(config.Bridge);
if (!String.IsNullOrEmpty(config.Connection))
{
bridgeClient.Connect(config.Connection);
}
}
go.transform.position = config.Position;
go.transform.rotation = config.Rotation;
sensorsController.SetupSensors(config.Sensors);
controller?.Init();
if (SimulatorManager.Instance.IsAPI)
{
SimulatorManager.Instance.EnvironmentEffectsManager.InitRainVFX(go.transform);
}
go.SetActive(true);
return(go);
}
