public override MetadataWrapper generateMetadataWrapper()
        {
            MetadataWrapper metadata = base.generateMetadataWrapper();

            // For Drone controller, currentTime should be based on
            // fixed update passes so use DroneTimeSinceStart instead of TimeSinceStart
            metadata.currentTime = DroneTimeSinceStart();

            // TODO: clean this up with reflection.
            // it works, but will not update when something changes to AgentMetadata
            // metadata.agent = new
            AgentMetadata baseAgent = metadata.agent;

            DroneAgentMetadata droneMeta = new DroneAgentMetadata();

            droneMeta.name               = "drone";
            droneMeta.position           = baseAgent.position;
            droneMeta.rotation           = baseAgent.rotation;
            droneMeta.cameraHorizon      = baseAgent.cameraHorizon;
            droneMeta.inHighFrictionArea = baseAgent.inHighFrictionArea;

            // New drone stuff for agent metadata
            droneMeta.LauncherPosition = GetLauncherPosition();

            metadata.agent = droneMeta;
            return(metadata);
        }
Exemple #2
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        public override MetadataWrapper generateMetadataWrapper()
        {
            // AGENT METADATA
            DroneAgentMetadata agentMeta = new DroneAgentMetadata();

            agentMeta.name          = "agent";
            agentMeta.position      = transform.position;
            agentMeta.rotation      = transform.eulerAngles;
            agentMeta.cameraHorizon = m_Camera.transform.rotation.eulerAngles.x;
            if (agentMeta.cameraHorizon > 180)
            {
                agentMeta.cameraHorizon -= 360;
            }

            //New Drone Stuff for agentMeta
            agentMeta.LauncherPosition = GetLauncherPosition();

            // OTHER METADATA
            MetadataWrapper metaMessage = new MetadataWrapper();

            //For Drone controller, currentTime should be based on
            //fixed update passes so use DroneTimeSinceStart instead of TimeSinceStart
            metaMessage.currentTime = DroneTimeSinceStart();

            //agentMeta.FlightMode = FlightMode;
            metaMessage.agent     = agentMeta;
            metaMessage.sceneName = UnityEngine.SceneManagement.SceneManager.GetActiveScene().name;
            metaMessage.objects   = this.generateObjectMetadata();
            //check scene manager to see if the scene's objects are at rest
            metaMessage.isSceneAtRest   = physicsSceneManager.isSceneAtRest;
            metaMessage.collided        = collidedObjects.Length > 0;
            metaMessage.collidedObjects = collidedObjects;
            metaMessage.screenWidth     = Screen.width;
            metaMessage.screenHeight    = Screen.height;
            metaMessage.cameraPosition  = m_Camera.transform.position;
            metaMessage.cameraOrthSize  = cameraOrthSize;
            cameraOrthSize                = -1f;
            metaMessage.fov               = m_Camera.fieldOfView;
            metaMessage.lastAction        = lastAction;
            metaMessage.lastActionSuccess = lastActionSuccess;
            metaMessage.errorMessage      = errorMessage;
            metaMessage.actionReturn      = this.actionReturn;

            if (errorCode != ServerActionErrorCode.Undefined)
            {
                metaMessage.errorCode = Enum.GetName(typeof(ServerActionErrorCode), errorCode);
            }

            List <InventoryObject> ios = new List <InventoryObject>();

            if (ItemInHand != null)
            {
                SimObjPhysics   so = ItemInHand.GetComponent <SimObjPhysics>();
                InventoryObject io = new InventoryObject();
                io.objectId   = so.ObjectID;
                io.objectType = Enum.GetName(typeof(SimObjType), so.Type);
                ios.Add(io);
            }

            metaMessage.inventoryObjects = ios.ToArray();

            // HAND
            metaMessage.hand               = new HandMetadata();
            metaMessage.hand.position      = AgentHand.transform.position;
            metaMessage.hand.localPosition = AgentHand.transform.localPosition;
            metaMessage.hand.rotation      = AgentHand.transform.eulerAngles;
            metaMessage.hand.localRotation = AgentHand.transform.localEulerAngles;

            // EXTRAS
            metaMessage.reachablePositions   = reachablePositions;
            metaMessage.flatSurfacesOnGrid   = flatten3DimArray(flatSurfacesOnGrid);
            metaMessage.distances            = flatten2DimArray(distances);
            metaMessage.normals              = flatten3DimArray(normals);
            metaMessage.isOpenableGrid       = flatten2DimArray(isOpenableGrid);
            metaMessage.segmentedObjectIds   = segmentedObjectIds;
            metaMessage.objectIdsInBox       = objectIdsInBox;
            metaMessage.actionIntReturn      = actionIntReturn;
            metaMessage.actionFloatReturn    = actionFloatReturn;
            metaMessage.actionFloatsReturn   = actionFloatsReturn;
            metaMessage.actionStringsReturn  = actionStringsReturn;
            metaMessage.actionVector3sReturn = actionVector3sReturn;

            if (alwaysReturnVisibleRange)
            {
                metaMessage.visibleRange = visibleRange();
            }

            // Resetting things
            reachablePositions   = new Vector3[0];
            flatSurfacesOnGrid   = new float[0, 0, 0];
            distances            = new float[0, 0];
            normals              = new float[0, 0, 0];
            isOpenableGrid       = new bool[0, 0];
            segmentedObjectIds   = new string[0];
            objectIdsInBox       = new string[0];
            actionIntReturn      = 0;
            actionFloatReturn    = 0.0f;
            actionFloatsReturn   = new float[0];
            actionStringsReturn  = new string[0];
            actionVector3sReturn = new Vector3[0];

            return(metaMessage);
        }