private void Awake()
{
RigidBody = GetComponentInParent <Rigidbody>();
Actions = GetComponentInParent <VehicleActions>();
Dynamics = GetComponentInParent <IVehicleDynamics>();
MapOrigin = MapOrigin.Find();
}
private void Start()
{
MapOrigin = MapOrigin.Find();
PedSpawnCheckBitmask = LayerMask.GetMask("Pedestrian", "Agent", "NPC");
SpawnBoundsSize = new Vector3(MapOrigin.PedSpawnBoundSize, 50f, MapOrigin.PedSpawnBoundSize);
PedMaxCount = MapOrigin.PedMaxCount;
SimulatorCamera = SimulatorManager.Instance.CameraManager.SimulatorCamera;
SpawnInfo[] spawnInfos = FindObjectsOfType <SpawnInfo>();
Loader.Instance.Network.MessagesManager?.RegisterObject(this);
var pt = Vector3.zero;
if (spawnInfos.Length > 0)
{
pt = spawnInfos[0].transform.position;
}
if (Loader.Instance.Network.IsClient)
{
return;
}
if (NavMesh.SamplePosition(pt, out NavMeshHit hit, 1f, NavMesh.AllAreas))
{
InitPedestrians();
if (PedestriansActive)
{
SetPedOnMap();
}
}
private void Start()
{
MapOrigin = MapOrigin.Find();
PedSpawnCheckBitmask = LayerMask.GetMask("Pedestrian", "Agent", "NPC");
SpawnBoundsSize = new Vector3(MapOrigin.PedSpawnBoundSize, 50f, MapOrigin.PedSpawnBoundSize);
PedMaxCount = MapOrigin.PedMaxCount;
SimulatorCamera = SimulatorManager.Instance.CameraManager.SimulatorCamera;
SpawnInfo[] spawnInfos = FindObjectsOfType <SpawnInfo>();
var pt = Vector3.zero;
if (spawnInfos.Length > 0)
{
pt = spawnInfos[0].transform.position;
}
NavMeshHit hit;
if (NavMesh.SamplePosition(pt, out hit, 1f, NavMesh.AllAreas))
{
InitPedestrians();
if (PedestriansActive)
{
SetPedOnMap();
}
}
else
{
var sceneName = SceneManager.GetActiveScene().name;
Debug.LogError($"{sceneName} is missing Pedestrian NavMesh");
gameObject.SetActive(false);
}
}
public override void OnInspectorGUI()
{
MapOrigin origin = (MapOrigin)target;
DrawDefaultInspector();
int currentlySelected = -1;
if (origin.TimeZoneSerialized != null)
{
currentlySelected = Array.FindIndex(TimeZones, tz => tz.DisplayName == origin.TimeZoneString);
if (currentlySelected == -1)
{
var timeZone = origin.TimeZone;
currentlySelected = Array.FindIndex(TimeZones, tz => tz.BaseUtcOffset == timeZone.BaseUtcOffset);
}
}
var values = TimeZones.Select(tz => tz.DisplayName.Replace("&", "&&")).ToArray();
currentlySelected = EditorGUILayout.Popup(currentlySelected, values);
if (currentlySelected != -1)
{
if (!origin.TimeZone.Equals(TimeZones[currentlySelected]))
{
origin.TimeZoneSerialized = TimeZones[currentlySelected].ToSerializedString();
origin.TimeZoneString = TimeZones[currentlySelected].DisplayName;
EditorUtility.SetDirty(origin);
}
}
}
private void Start()
{
MapOrigin = MapOrigin.Find();
spawnsManager = GetComponent <SpawnsManager>();
PedSpawnCheckBitmask = LayerMask.GetMask("Pedestrian", "Agent", "NPC");
PedMaxCount = MapOrigin.PedMaxCount;
SimCameraManager = SimulatorManager.Instance.CameraManager;
SimulatorCamera = SimCameraManager.SimulatorCamera;
MapManager = SimulatorManager.Instance.MapManager;
SpawnInfo[] spawnInfos = FindObjectsOfType <SpawnInfo>();
Loader.Instance.Network.MessagesManager?.RegisterObject(this);
var pt = Vector3.zero;
if (spawnInfos.Length > 0)
{
pt = spawnInfos[0].transform.position;
}
if (Loader.Instance.Network.IsClient)
{
return;
}
if (NavMesh.SamplePosition(pt, out NavMeshHit hit, 1f, NavMesh.AllAreas))
{
if (!SimulatorManager.Instance.IsAPI && !Loader.Instance.Network.IsClient)
{
SpawnPedPool();
if (PedestriansActive)
{
SetPedOnMap(true);
}
}
}
public void Start()
{
RigidBody = GetComponentInParent <Rigidbody>();
MapOrigin = MapOrigin.Find();
Task.Run(Publisher);
}
private void OnSceneGUI()
{
Origin = (MapOrigin)target;
if (Origin == null)
{
return;
}
if (Origin.transform.rotation != Quaternion.Euler(new Vector3(0f, -90f, 0f)))
{
Origin.transform.rotation = Quaternion.Euler(new Vector3(0f, -90f, 0f));
HelpText = "MapOrigin transform must be -90 in the Y axis";
}
var style = new GUIStyle();
Handles.BeginGUI();
if (GUILayout.Button("Orient Scene", GUILayout.Width(125)))
{
SceneView sceneView = SceneView.lastActiveSceneView;
sceneView.orthographic = true;
sceneView.LookAt(new Vector3(0f, 0f, 0f), Quaternion.Euler(90, -90, 0));
}
Handles.EndGUI();
var size = HandleUtility.GetHandleSize(Origin.transform.position);
style.fontSize = (int)(65 / size);
style.fontStyle = FontStyle.Bold;
style.normal.textColor = Color.red;
Handles.Label(Origin.transform.position + Origin.transform.forward + new Vector3(0, 1, 0), "N", style);
style.normal.textColor = Color.white;
Handles.Label(Origin.transform.position + Origin.transform.right + new Vector3(0, 1, 0), "E", style);
Handles.Label(Origin.transform.position - Origin.transform.forward + new Vector3(0, 1, 0), "S", style);
Handles.Label(Origin.transform.position - Origin.transform.right + new Vector3(0, 1, 0), "W", style);
}
// read map origin, update MapOrigin
bool CreateOrUpdateMapOrigin(Map apolloMap, MapOrigin mapOrigin)
{
var header = apolloMap.header;
var geoReference = header.projection.proj;
var items = geoReference.Split('+')
.Select(s => s.Split('='))
.Where(s => s.Length > 1)
.ToDictionary(element => element[0].Trim(), element => element[1].Trim());
if (!items.ContainsKey("proj") || items["proj"] != "utm")
{
return(false);
}
double latitude, longitude;
longitude = (header.left + header.right) / 2;
latitude = (header.top + header.bottom) / 2;
int zoneNumber;
if (items.ContainsKey("zone"))
{
zoneNumber = int.Parse(items["zone"]);
}
else
{
zoneNumber = MapOrigin.GetZoneNumberFromLatLon(latitude, longitude);
}
mapOrigin.UTMZoneId = zoneNumber;
mapOrigin.FromLatitudeLongitude(latitude, longitude, out mapOrigin.OriginNorthing, out mapOrigin.OriginEasting);
return(true);
}
private void AddReferencePoint(MapOrigin origin)
{
var index = FindObjectsOfType <MapOriginReferencePoint>(true).Length + 1;
var p = new GameObject("ReferencePoint" + index).AddComponent <MapOriginReferencePoint>();
if (SceneView.lastActiveSceneView != null)
{
var camera = SceneView.lastActiveSceneView.camera.transform;
if (Physics.Raycast(new Ray(camera.position, camera.forward), out var hit))
{
p.transform.position = hit.point;
}
}
var gps = origin.GetGpsLocation(p.transform.position);
p.latitue = gps.Latitude;
p.longitude = gps.Longitude;
var mapHolder = FindObjectOfType <MapHolder>().transform;
var holder = mapHolder.Find("ReferencePoints");
if (holder == null)
{
holder = new GameObject("ReferencePoints").transform;
holder.parent = mapHolder;
}
p.transform.parent = holder;
Selection.activeGameObject = p.gameObject;
}
private void Start()
{
MapOrigin = MapOrigin.Find();
NPCSpawnCheckBitmask = LayerMask.GetMask("NPC", "Agent");
SpawnBoundsSize = new Vector3(MapOrigin.NPCSpawnBoundSize, 50f, MapOrigin.NPCSpawnBoundSize);
NPCMaxCount = MapOrigin.NPCMaxCount;
SimulatorCamera = SimulatorManager.Instance.CameraManager.SimulatorCamera;
MapManager = SimulatorManager.Instance.MapManager;
NPCVehicles.Clear();
foreach (var data in Simulator.Web.Config.NPCVehicles)
{
NPCVehicles.Add(new NPCS {
NPCType = data.Value.NPCType,
Prefab = data.Value.prefab,
});
if (NPCColorData.Count(d => d.Type == data.Value.NPCType) == 0)
{
Debug.LogWarning($"NPC of type {data.Value.NPCType} loaded but no colors to pick configured for this type");
}
}
var network = Loader.Instance.Network;
network.MessagesManager?.RegisterObject(this);
if (!SimulatorManager.Instance.IsAPI && !network.IsClient)
{
SpawnNPCPool();
if (NPCActive)
{
SetNPCOnMap();
}
}
}
public void ExportHDMap()
{
mapManager = FindObjectOfType <MapManager>();
if (mapManager == null)
{
Debug.LogError("Error! No MapManager.cs in scene!");
return;
}
mapManager.SetMapForExport();
//use the settings from current tool
PROXIMITY = proximity;
ARROWSIZE = arrowSize;
MapOrigin mapOrigin = FindObjectOfType <MapOrigin>();
if (mapOrigin == null)
{
Debug.LogError("Error! No MapOrigin.cs in scene!");
return;
}
OriginEasting = mapOrigin.OriginEasting;
OriginNorthing = mapOrigin.OriginNorthing;
Angle = mapOrigin.Angle;
if (Calculate())
{
Export();
}
}
public void Execute(JSONNode args)
{
var api = ApiManager.Instance;
var map = MapOrigin.Find();
if (map == null)
{
api.SendError(this, "MapOrigin not found. Is the scene loaded?");
return;
}
var position = args["transform"]["position"].ReadDouble3();
var rotation = args["transform"]["rotation"].ReadDouble3();
double northing, easting;
map.PositionToNorthingEasting(position, out northing, out easting);
double latitude, longitude;
map.NorthingEastingToLatLong(northing, easting, out latitude, out longitude);
var result = new JSONObject();
result.Add("latitude", new JSONNumber(latitude));
result.Add("longitude", new JSONNumber(longitude));
result.Add("northing", new JSONNumber(northing));
result.Add("easting", new JSONNumber(easting));
result.Add("altitude", new JSONNumber(position.y + map.AltitudeOffset));
result.Add("orientation", new JSONNumber(-rotation.y));
api.SendResult(this, result);
}
private void Start()
{
MapOrigin = MapOrigin.Find();
spawnsManager = GetComponent <SpawnsManager>();
NPCMaxCount = MapOrigin.NPCMaxCount;
SimCameraManager = SimulatorManager.Instance.CameraManager;
SimulatorCamera = SimCameraManager.SimulatorCamera;
MapManager = SimulatorManager.Instance.MapManager;
InitSpawn = true;
NPCVehicles.Clear();
if (Loader.Instance.CurrentSimulation == null)
{
return;
}
if (Loader.Instance.CurrentSimulation.NPCs == null)
{
Loader.Instance.CurrentSimulation.NPCs = Simulator.Web.Config.NPCVehicles.Values.ToArray();
}
foreach (var data in Loader.Instance.CurrentSimulation.NPCs)
{
if (data.Enabled)
{
GameObject obj = null;
foreach (var item in Simulator.Web.Config.NPCVehicles.Values)
{
if (item.Name == data.Name)
{
obj = item.Prefab;
}
}
NPCVehicles.Add(new NPCAssetData
{
NPCType = data.NPCType,
Prefab = obj,
});
if (NPCColorData.Count(d => d.Type == data.NPCType) == 0)
{
Debug.LogWarning($"NPC of type {data.NPCType} loaded but no colors to pick configured for this type");
}
}
}
var network = Loader.Instance.Network;
network.MessagesManager?.RegisterObject(this);
if (!SimulatorManager.Instance.IsAPI && !network.IsClient)
{
SpawnNPCPool();
if (NPCActive)
{
SetNPCOnMap(true);
}
}
}
void Start()
{
MapOrigin = MapOrigin.Find();
WireframeBoxes = SimulatorManager.Instance.WireframeBoxes;
rangeTrigger.SetCallbacks(WhileInRange);
rangeTrigger.transform.localScale = MaxDistance * UnityEngine.Vector3.one;
nextSend = Time.time + 1.0f / Frequency;
}
public void Execute(JSONNode argsArray)
{
var api = ApiManager.Instance;
var map = MapOrigin.Find();
if (map == null)
{
api.SendError(this, "MapOrigin not found. Is the scene loaded?");
return;
}
var results = new JSONArray();
var arr = argsArray.AsArray;
foreach (var args in arr.Children)
{
Vector3 position;
if (args["latitude"] == null)
{
var northing = args["northing"].AsDouble;
var easting = args["easting"].AsDouble;
position = map.NorthingEastingToPosition(northing, easting);
}
else
{
var latitude = args["latitude"].AsDouble;
var longitude = args["longitude"].AsDouble;
double northing, easting;
map.LatLongToNorthingEasting(latitude, longitude, out northing, out easting);
position = map.NorthingEastingToPosition(northing, easting);
}
var altitude = args["altitude"];
if (altitude != null)
{
position.y = altitude.AsFloat - map.AltitudeOffset;
}
Vector3 rotation = Vector3.zero;
var orientation = args["orientation"];
if (orientation != null)
{
rotation.y = -orientation.AsFloat;
}
var result = new JSONObject();
result.Add("position", position);
result.Add("rotation", rotation);
results.Add(result);
}
api.SendResult(this, results);
}
private void Awake()
{
if (Agent == null)
{
Agent = transform.root.gameObject;
}
AddUIElement();
MapOrigin = GameObject.Find("/MapOrigin").GetComponent <MapOrigin>();
}
public void Init(MapOrigin origin)
{
this.origin = origin;
var gps = origin.GetGpsLocation(origin.transform.position);
latitude = Math.Round(gps.Latitude, 6);
longitude = Math.Round(gps.Longitude, 6);
minSize = new Vector2(250, 120);
maxSize = new Vector2(300, 120);
}
public override void OnBridgeSetup(IBridge bridge)
{
Bridge = bridge;
Writer = bridge.AddWriter <CanBusData>(Topic);
RigidBody = GetComponentInParent <Rigidbody>();
Actions = GetComponentInParent <VehicleActions>();
Dynamics = GetComponentInParent <VehicleDynamics>();
MapOrigin = MapOrigin.Find();
}
void Start()
{
WireframeBoxes = SimulatorManager.Instance.WireframeBoxes;
rangeTrigger.SetCallbacks(WhileInRange);
rangeTrigger.transform.localScale = MaxDistance * Vector3.one;
nextSend = SimulatorManager.Instance.CurrentTime + 1.0f / Frequency;
MapOrigin = MapOrigin.Find();
startTime = SimulatorManager.Instance.CurrentTime;
prevTimes = new Dictionary <string, double>();
isToRecord = false;
}
public void Execute(JSONNode args)
{
var api = ApiManager.Instance;
var map = MapOrigin.Find();
if (map == null)
{
api.SendError("MapOrigin not found. Is the scene loaded?");
return;
}
Vector3 position;
if (args["latitude"] == null)
{
var northing = args["northing"].AsDouble;
var easting = args["easting"].AsDouble;
position = map.FromNorthingEasting(northing, easting);
}
else
{
var latitude = args["latitude"].AsDouble;
var longitude = args["longitude"].AsDouble;
double northing, easting;
map.FromLatitudeLongitude(latitude, longitude, out northing, out easting);
position = map.FromNorthingEasting(northing, easting);
}
var altitude = args["altitude"];
if (altitude != null)
{
position.y = altitude.AsFloat - map.AltitudeOffset;
}
Vector3 rotation = Vector3.zero;
var orientation = args["orientation"];
if (orientation != null)
{
rotation.y = -orientation.AsFloat;
}
var result = new JSONObject();
result.Add("position", position);
result.Add("rotation", rotation);
api.SendResult(result);
}
protected virtual void Start()
{
MapOrigin = MapOrigin.Find();
SpawnsManager = GetComponent <SpawnsManager>();
NPCMaxCount = MapOrigin.NPCMaxCount;
NPCVehicles.Clear();
InitialSpawn = false;
if (Loader.Instance.CurrentSimulation == null)
{
return;
}
if (Loader.Instance.CurrentSimulation.NPCs == null)
{
Loader.Instance.CurrentSimulation.NPCs = Simulator.Web.Config.NPCVehicles.Values.ToArray();
}
foreach (var data in Loader.Instance.CurrentSimulation.NPCs)
{
if (data.Enabled)
{
GameObject obj = null;
foreach (var item in Simulator.Web.Config.NPCVehicles.Values)
{
if (item.Name == data.Name)
{
obj = item.Prefab;
}
}
NPCVehicles.Add(new NPCAssetData
{
NPCType = data.NPCType,
Prefab = obj,
Name = data.Name,
AssetGuid = data.AssetGuid
});
if (NPCColorData.Count(d => d.Type == data.NPCType) == 0)
{
Debug.LogWarning($"NPC of type {data.NPCType} loaded but no colors to pick configured for this type");
}
}
}
var network = Loader.Instance.Network;
network.MessagesManager?.RegisterObject(this);
if (!SimulatorManager.Instance.IsAPI && !network.IsClient) // TODO API mode always remove need to pool check
{
SpawnNPCPool();
}
}
Manifest PrepareSceneManifest(Entry sceneEntry, HashSet <Scene> currentScenes)
{
Scene scene = EditorSceneManager.OpenScene(sceneEntry.mainAssetFile, OpenSceneMode.Additive);
NodeTreeLoader[] loaders = GameObject.FindObjectsOfType <NodeTreeLoader>();
string dataPath = GameObject.FindObjectOfType <NodeTreeLoader>()?.GetFullDataPath();
List <Tuple <string, string> > loaderPaths = new List <Tuple <string, string> >();
foreach (NodeTreeLoader loader in loaders)
{
loaderPaths.Add(new Tuple <string, string>(Utilities.Utility.StringToGUID(loader.GetDataPath()).ToString(), loader.GetFullDataPath()));
}
try
{
foreach (GameObject root in scene.GetRootGameObjects())
{
MapOrigin origin = root.GetComponentInChildren <MapOrigin>();
if (origin != null)
{
var manifest = new Manifest
{
assetName = sceneEntry.name,
assetGuid = Guid.NewGuid().ToString(),
bundleFormat = BundleConfig.Versions[BundleConfig.BundleTypes.Environment],
description = origin.Description,
licenseName = origin.LicenseName,
authorName = "",
authorUrl = "",
fmuName = "",
};
manifest.additionalFiles = new Dictionary <string, string>();
foreach (Tuple <string, string> t in loaderPaths)
{
if (!manifest.additionalFiles.ContainsKey($"pointcloud_{t.Item1}"))
{
manifest.additionalFiles.Add($"pointcloud_{t.Item1}", t.Item2);
}
}
return(manifest);
}
}
throw new Exception($"Build failed: MapOrigin on {sceneEntry.name} not found. Please add a MapOrigin component.");
}
finally
{
if (!currentScenes.Contains(scene))
{
EditorSceneManager.CloseScene(scene, true);
}
}
}
protected virtual void Initialize()
{
if (IsInitialized)
{
return;
}
MapOrigin = MapOrigin.Find();
SpawnBoundsSize = new Vector3(MapOrigin.NPCSpawnBoundSize, 50f, MapOrigin.NPCSpawnBoundSize);
VisibleLM = LayerMask.GetMask("Default", "NPC", "Pedestrian", "Obstacle");
NPCSpawnCheckBitmask = LayerMask.GetMask("NPC", "Agent", "Pedestrian");
CacheSpawnPoints();
IsInitialized = true;
}
public void ExportHDMap()
{
//use the settings from current tool
PROXIMITY = proximity;
ARROWSIZE = arrowSize;
MapOrigin mapOrigin = GameObject.Find("/MapOrigin").GetComponent <MapOrigin>();
OriginEasting = mapOrigin.OriginEasting;
OriginNorthing = mapOrigin.OriginNorthing;
Angle = mapOrigin.Angle;
if (Calculate())
{
Export();
}
}
private void Start()
{
MapOrigin = MapOrigin.Find();
NPCSpawnCheckBitmask = LayerMask.GetMask("NPC", "Agent");
SpawnBoundsSize = new Vector3(MapOrigin.NPCSpawnBoundSize, 50f, MapOrigin.NPCSpawnBoundSize);
NPCMaxCount = MapOrigin.NPCMaxCount;
SimulatorCamera = SimulatorManager.Instance.CameraManager.SimulatorCamera;
if (!SimulatorManager.Instance.IsAPI)
{
SpawnNPCPool();
if (NPCActive)
{
SetNPCOnMap();
}
}
}
void Start()
{
WireframeBoxes = SimulatorManager.Instance.WireframeBoxes;
if (RangeTrigger == null)
{
RangeTrigger = GetComponentInChildren <RangeTrigger>();
}
RangeTrigger.SetCallbacks(WhileInRange);
RangeTrigger.transform.localScale = MaxDistance * Vector3.one;
MapOrigin = MapOrigin.Find();
Detected = new Dictionary <uint, Tuple <Detected3DObject, Collider> >();
CurrentIDs = new HashSet <uint>();
StartCoroutine(OnPublish());
}
private void Awake()
{
if (Agent == null)
{
Agent = transform.root.gameObject;
}
AddUIElement();
MapOrigin mapOrigin = GameObject.Find("/MapOrigin").GetComponent <MapOrigin>();
OriginEasting = mapOrigin.OriginEasting;
OriginNorthing = mapOrigin.OriginNorthing;
Angle = mapOrigin.Angle;
if (targetEnv == ROSTargetEnvironment.AUTOWARE)
{
Angle = 0;
}
UTMZoneId = mapOrigin.UTMZoneId;
}
private void Start()
{
MapOrigin = MapOrigin.Find();
NPCSpawnCheckBitmask = LayerMask.GetMask("NPC", "Agent");
SpawnBoundsSize = new Vector3(MapOrigin.NPCSpawnBoundSize, 50f, MapOrigin.NPCSpawnBoundSize);
NPCMaxCount = MapOrigin.NPCMaxCount;
SimulatorCamera = SimulatorManager.Instance.CameraManager.SimulatorCamera;
var network = Loader.Instance.Network;
network.MessagesManager?.RegisterObject(this);
if (!SimulatorManager.Instance.IsAPI && !network.IsClient)
{
SpawnNPCPool();
if (NPCActive)
{
SetNPCOnMap();
}
}
}
Vector3 GetPosition(ROSTargetEnvironment targetEnv, double easting, double northing)
{
MapOrigin mapOrigin = GameObject.Find("/MapOrigin").GetComponent <MapOrigin>();
if (targetEnv == ROSTargetEnvironment.APOLLO || targetEnv == ROSTargetEnvironment.APOLLO35)
{
easting += 500000;
}
easting -= mapOrigin.OriginEasting;
northing -= mapOrigin.OriginNorthing;
float x = (float)easting;
float z = (float)northing;
if (targetEnv == ROSTargetEnvironment.AUTOWARE)
{
return(new Vector3(x, 0, z));
}
return(Quaternion.Euler(0f, -mapOrigin.Angle, 0f) * new Vector3(x, 0, z));
}
void OnGUI()
{
GUILayout.Space(10);
if (GUILayout.Button("Open Google Maps \u2316"))
{
Application.OpenURL($"https://www.google.com/maps/@{latitude},{longitude},15z");
}
GUILayout.Space(10);
latitude = EditorGUILayout.DoubleField("Latitude", latitude);
longitude = EditorGUILayout.DoubleField("Longitude", longitude);
GUILayout.Space(10);
if (GUILayout.Button("Import Coordinates"))
{
origin.UTMZoneId = MapOrigin.GetZoneNumberFromLatLon(latitude, longitude);
origin.FromLatitudeLongitude(latitude, longitude, out var northing, out var easting);
origin.OriginNorthing = Math.Round(northing, 2);
origin.OriginEasting = Math.Round(easting, 2);
this.Close();
}
}
