public Dictionary <RelocatableObjectInfo, GameObject> CreateGraspablesPositionsMap()
{
this.DeactivateGraspingCandidatesPositions();
// Shuffle the grasping candidates list
this.graspables = this.graspables.OrderBy(i => Guid.NewGuid()).ToList();
// Shuffle the grasping candidates position list
this.graspingCandidatesPositions = this.graspingCandidatesPositions.OrderBy(i => Guid.NewGuid()).ToList();
Dictionary <RelocatableObjectInfo, GameObject> graspablesPositionsMap = new Dictionary <RelocatableObjectInfo, GameObject>();
for (int i = 0; i < this.graspables.Count; i++)
{
RelocatableObjectInfo graspablePositionInfo = new RelocatableObjectInfo();
graspablePositionInfo.name = this.graspables[i].name;
graspablePositionInfo.position = this.graspingCandidatesPositions[i].transform.position - new Vector3(0, this.graspingCandidatesPositions[i].transform.localScale.y * 0.49f, 0);
graspablePositionInfo.eulerAngles = this.graspingCandidatesPositions[i].transform.eulerAngles;
graspablesPositionsMap.Add(graspablePositionInfo, this.graspables[i]);
}
return(graspablesPositionsMap);
}
public IEnumerator SaveEnvironmentInfo()
{
EnvironmentInfo environmentInfo = new EnvironmentInfo();
environmentInfo.taskMessage = this.GetTaskDetail();
environmentInfo.environmentName = this.environmentName;
environmentInfo.graspingTargetName = this.graspingTarget.name;
environmentInfo.destinationName = this.destination.name;
List <RelocatableObjectInfo> graspablesPositions = new List <RelocatableObjectInfo>();
foreach (KeyValuePair <RelocatableObjectInfo, GameObject> graspablePositionPair in this.graspablesPositionsMap)
{
RelocatableObjectInfo graspableInfo = new RelocatableObjectInfo();
graspableInfo.name = graspablePositionPair.Value.name;
graspableInfo.position = graspablePositionPair.Key.position;
graspableInfo.eulerAngles = graspablePositionPair.Key.eulerAngles;
graspablesPositions.Add(graspableInfo);
}
environmentInfo.graspablesPositions = graspablesPositions;
yield return(null);
List <RelocatableObjectInfo> destinationsPositions = new List <RelocatableObjectInfo>();
foreach (KeyValuePair <RelocatableObjectInfo, GameObject> destinationPositionPair in this.destinationsPositionsMap)
{
RelocatableObjectInfo destinationInfo = new RelocatableObjectInfo();
destinationInfo.name = destinationPositionPair.Value.name;
destinationInfo.position = destinationPositionPair.Key.position;
destinationInfo.eulerAngles = destinationPositionPair.Key.eulerAngles;
destinationsPositions.Add(destinationInfo);
}
environmentInfo.destinationsPositions = destinationsPositions;
yield return(null);
object[] args = new object[] { environmentInfo, Application.dataPath };
Thread threadWritingFile = new Thread(new ParameterizedThreadStart(this.SaveEnvironmentInfo));
threadWritingFile.Start(args);
}
public Dictionary <RelocatableObjectInfo, GameObject> CreateDestinationsPositionsMap()
{
Dictionary <RelocatableObjectInfo, GameObject> destinationsPositionsMap = new Dictionary <RelocatableObjectInfo, GameObject>();
for (int i = 0; i < this.destinationCandidates.Count; i++)
{
RelocatableObjectInfo destinationPositionInfo = new RelocatableObjectInfo();
destinationPositionInfo.name = this.destinationCandidates[i].name;
destinationPositionInfo.position = this.destinationCandidates[i].transform.position;
destinationPositionInfo.eulerAngles = this.destinationCandidates[i].transform.eulerAngles;
destinationsPositionsMap.Add(destinationPositionInfo, this.destinationCandidates[i]);
}
return(destinationsPositionsMap);
}
