public UniversalTarget()
{
displayName = "Universal";
m_SubTargets = TargetUtils.GetSubTargets(this);
m_SubTargetNames = m_SubTargets.Select(x => x.displayName).ToList();
TargetUtils.ProcessSubTargetList(ref m_ActiveSubTarget, ref m_SubTargets);
}
public BuiltInTarget()
{
displayName = "Built-In";
m_SubTargets = TargetUtils.GetSubTargets(this);
m_SubTargetNames = m_SubTargets.Select(x => x.displayName).ToList();
TargetUtils.ProcessSubTargetList(ref m_ActiveSubTarget, ref m_SubTargets);
}
public override float GenerateRandomXPoint()
{
float Y_point = UnityEngine.Random.Range(0.0f, cumulativeSatYPoints [cumulativeSatYPoints.Count - 1]);
// computes the value x such that cumulative_sat(x) = Y_point.
return(TargetUtils.LinearSpline(Y_point, cumulativeSatYPoints, cumulativeSatXPoints));
}
/// <summary>
/// Computes the ratio between the area of the projected target inside frame, and the area inside viewport
/// </summary>
public float ComputeRatioInsideFrame(CLCameraMan camera, Rectangle frame)
{
if (this.screenArea < 0.00001)
{
// target is outside viewport or too small
return(0.0f);
}
// clip screen representation by provided frame
List <Vector2> partInFrame = new List <Vector2> (10);
TargetUtils.Clip(frame, screenRepresentation, partInFrame);
float framedArea = TargetUtils.ComputeScreenArea(partInFrame);
return(framedArea / this.screenArea);
}
public UniversalTarget()
{
displayName = "Universal";
m_SubTargets = TargetUtils.GetSubTargetsOfType <UniversalTarget>();
}
/// <summary>
/// Computes the satisfaction in [0,1], given a value
/// </summary>
/// <returns>The satisfaction.</returns>
/// <param name="value">Value.</param>
public override float ComputeSatisfaction(float value)
{
return(TargetUtils.LinearSpline(value, satXPoints, satYPoints));
}
/// <summary>
/// Computes and internally stores a screen representation of the target given the current camera. The screen
/// representation is in turn used to reason about properties like size, framing, ...
/// </summary>
/// <param name="currentCamera">camera from which rendering is performed</param>
/// <param name="performClipping">if true, we clip against the viewport. If not, screenArea can </param>
public void Render(CLCameraMan camera, bool performClipping = true)
{
screenRepresentation.Clear();
visibleBBVertices.Clear();
/**
* ok, so ... using the world-space AABB of the game object is not ideal because it appears it is the world AABB
* of the world-transformed local AABB of the mesh, see http://answers.unity3d.com/questions/292874/renderer-bounds.html
* Also, using the AABB of the colliderMesh does not help (it appears to be identical to the renderer AABB)
*
* Could transform the camera to local space and use the AABB of the mesh ...
*/
// world position of the camera
Vector3 eye = camera.unityCamera.transform.position;
Bounds AABB = boundingBox;
// World-space min-max corners of the target's AABB
Vector3 minCorner = AABB.min;
Vector3 maxCorner = AABB.max;
/** Calculate bit-string position to perform lookup in the table, real
* spatial relationship is not relevant, the relevant information is the
* vertex ordering */
int pos = ((eye.x < minCorner.x ? 1 : 0) << (int)TargetUtils.RelativePositioning.LEFT)
+ ((eye.x > maxCorner.x ? 1 : 0) << (int)TargetUtils.RelativePositioning.RIGHT)
+ ((eye.y < minCorner.y ? 1 : 0) << (int)TargetUtils.RelativePositioning.BOTTOM)
+ ((eye.y > maxCorner.y ? 1 : 0) << (int)TargetUtils.RelativePositioning.TOP)
+ ((eye.z < minCorner.z ? 1 : 0) << (int)TargetUtils.RelativePositioning.FRONT)
+ ((eye.z > maxCorner.z ? 1 : 0) << (int)TargetUtils.RelativePositioning.BACK);
// If camera inside bounding box return 0
numVisibleBBVertices = TargetUtils.Number(pos);
if (numVisibleBBVertices == 0)
{
this.screenArea = 0.0f;
screenAABB = new Rectangle(0.0f, 0.0f, 0.0f, 0.0f);
screenRatio = 0.0f;
return;
}
// Otherwise project vertices on screen
// Array for storing projected vertices
List <Vector2> projectedBBVertices = new List <Vector2> (10);
bool behindCamera = false;
// project each visibile vertex
for (int i = 0; i < numVisibleBBVertices; i++)
{
Vector3 visibleVertex = TargetUtils.ReturnAABBVertex(TargetUtils.Vertex(i, pos), AABB);
Vector3 projectedVertex = camera.unityCamera.WorldToViewportPoint(visibleVertex);
if (projectedVertex.z >= 0)
{
projectedBBVertices.Add(projectedVertex);
visibleBBVertices.Add(visibleVertex);
//Debug.Log ( newPoint.ToString("F5"));
}
else
{
behindCamera = true;
}
}
// clip them by viewport
if (performClipping)
{
TargetUtils.Clip(camera.clipRectangle, projectedBBVertices, screenRepresentation);
}
// if there are less than three vertices on screen, area is zero
if (screenRepresentation.Count < 3)
{
this.screenArea = 0;
screenAABB = new Rectangle(0.0f, 0.0f, 0.0f, 0.0f);
screenRatio = 0.0f;
}
else
{
// compute area
this.screenArea = Mathf.Min(TargetUtils.ComputeScreenArea(screenRepresentation), 1.0f);
// compute min and max vertices
Vector2 minPoint = screenRepresentation [0];
Vector2 maxPoint = screenRepresentation [1];
for (int i = 0; i < screenRepresentation.Count; i++)
{
if (minPoint.x > screenRepresentation [i].x)
{
minPoint.x = screenRepresentation [i].x;
}
if (minPoint.y > screenRepresentation [i].y)
{
minPoint.y = screenRepresentation [i].y;
}
if (maxPoint.x < screenRepresentation [i].x)
{
maxPoint.x = screenRepresentation [i].x;
}
if (maxPoint.y < screenRepresentation [i].y)
{
maxPoint.y = screenRepresentation [i].y;
}
}
screenAABB = new Rectangle(minPoint.x, maxPoint.x, minPoint.y, maxPoint.y);
if (!behindCamera)
{
screenRatio = this.screenArea / TargetUtils.ComputeScreenArea(projectedBBVertices);
}
else
{
screenRatio = 0.5f; // this is just a hack since otherwise bb projected points behind camera
}
// are simply thrown away and the target, while partially on screen,
// could be considered entirely on screen
if (screenRatio > 1.0f && performClipping)
{
screenRatio = 0.0f;
}
else if (screenRatio > 1.0f)
{
// this means we have no clipping and the projected AABB is greater than the viewport
screenRatio = 1.0f;
}
}
}
/// <summary>
/// Precomputes a number of visibility points inside the target BB, to be used later for visibility checking.
/// Visibility points are generated according to the chosen method (value of visibilityPointGeneration member)
/// We generate 50 visibility points (this could be a parameter ...)
/// </summary>
/// <param name="standingOnGround">If set to <c>true</c> standing on ground.</param>
private void PreComputeVisibilityPoints(bool standingOnGround, int numberofPoints = 50)
{
visibilityPoints = new List <Vector3> (numberofPoints);
switch (visibilityPointGeneration)
{
case VisibilityPointGenerationMethod.ON_MESH:
{
// remove everything in scene except target (it should be enough to simply move the target to a special layer)
foreach (GameObject go in colliders)
{
go.layer = LayerMask.NameToLayer("CameraControl");
}
// find target center, and proper distance such that target is entirely on screen from every angle
float d = radius / Mathf.Tan(50.0f); // supposing a h-fow of 100
// compute n points on unit sphere
List <Vector3> samples = TargetUtils.ComputePointsOnSphere(numberofPoints, boundingBox.center, radius);
// for visibility: cast 1 ray from each point to center, save point of intersection
foreach (Vector3 point in samples)
{
RaycastHit hitPoint;
bool hit = Physics.Linecast(point, boundingBox.center, out hitPoint, 1 << LayerMask.NameToLayer("CameraControl"));
if (hit)
{
visibilityPoints.Add(hitPoint.point);
}
}
break;
}
case VisibilityPointGenerationMethod.UNIFORM_IN_BB:
{
// We take the AABB, and choose a number of points inside it . For simplicity, we allow only an odd number of rays.
// For more than 9 points, we move to random generation
visibilityPoints.Add(boundingBox.center);
if (numberofPoints > 1 && numberofPoints < 10) // add two points along the longest dimension of the AABB
{
float[] extents = new float[] { boundingBox.extents.x, boundingBox.extents.y, boundingBox.extents.z };
int[] indices = new int[] { 0, 1, 2 };
Array.Sort(extents, indices);
int longest = indices [2];
int secondLongest = indices [1];
int shortest = indices [0];
Vector3 p1 = boundingBox.center;
p1 [longest] = 0.25f * boundingBox.min [longest] + 0.75f * boundingBox.max [longest];
Vector3 p2 = boundingBox.center;
p2 [longest] = 0.75f * boundingBox.min [longest] + 0.25f * boundingBox.max [longest];
if (numberofPoints > 3)
{
Vector3 p3 = boundingBox.center;
p3 [secondLongest] = 0.75f * boundingBox.min [secondLongest] + 0.25f * boundingBox.max [secondLongest];
Vector3 p4 = boundingBox.center;
p4 [secondLongest] = 0.25f * boundingBox.min [secondLongest] + 0.75f * boundingBox.max [secondLongest];
if (numberofPoints > 5)
{
p1 [secondLongest] = 0.25f * boundingBox.min [secondLongest] + 0.75f * boundingBox.max [secondLongest];
p1 [shortest] = 0.25f * boundingBox.min [shortest] + 0.75f * boundingBox.max [shortest];
p2 [secondLongest] = 0.25f * boundingBox.min [secondLongest] + 0.75f * boundingBox.max [secondLongest];
p2 [shortest] = 0.25f * boundingBox.min [shortest] + 0.75f * boundingBox.max [shortest];
p3 [shortest] = 0.25f * boundingBox.min [shortest] + 0.75f * boundingBox.max [shortest];
p4 [shortest] = 0.75f * boundingBox.min [shortest] + 0.25f * boundingBox.max [shortest];
Vector3 p5 = boundingBox.center;
p5 [longest] = 0.25f * boundingBox.min [longest] + 0.75f * boundingBox.max [longest];
p5 [secondLongest] = 0.75f * boundingBox.min [secondLongest] + 0.25f * boundingBox.max [secondLongest];
p5 [shortest] = 0.75f * boundingBox.min [shortest] + 0.25f * boundingBox.max [shortest];
Vector3 p6 = boundingBox.center;
p6 [longest] = 0.75f * boundingBox.min [longest] + 0.25f * boundingBox.max [longest];
p6 [secondLongest] = 0.75f * boundingBox.min [secondLongest] + 0.25f * boundingBox.max [secondLongest];
p6 [shortest] = 0.75f * boundingBox.min [shortest] + 0.25f * boundingBox.max [shortest];
if (numberofPoints == 9)
{
p3 [longest] = 0.75f * boundingBox.min [longest] + 0.25f * boundingBox.max [longest];
p4 [longest] = 0.25f * boundingBox.min [longest] + 0.75f * boundingBox.max [longest];
Vector3 p7 = boundingBox.center;
p7 [longest] = 0.25f * boundingBox.min [longest] + 0.75f * boundingBox.max [longest];
p7 [secondLongest] = 0.75f * boundingBox.min [secondLongest] + 0.25f * boundingBox.max [secondLongest];
p7 [shortest] = 0.25f * boundingBox.min [shortest] + 0.75f * boundingBox.max [shortest];
Vector3 p8 = boundingBox.center;
p8 [longest] = 0.75f * boundingBox.min [longest] + 0.25f * boundingBox.max [longest];
p8 [secondLongest] = 0.25f * boundingBox.min [secondLongest] + 0.75f * boundingBox.max [secondLongest];
p8 [shortest] = 0.75f * boundingBox.min [shortest] + 0.25f * boundingBox.max [shortest];
visibilityPoints.Add(p7);
visibilityPoints.Add(p8);
}
visibilityPoints.Add(p5);
visibilityPoints.Add(p6);
}
visibilityPoints.Add(p3);
visibilityPoints.Add(p4);
}
visibilityPoints.Add(p1);
visibilityPoints.Add(p2);
}
else
{
visibilityPointGeneration = VisibilityPointGenerationMethod.RANDOM;
}
break;
}
case (VisibilityPointGenerationMethod.RANDOM):
{ // random generation, corresponds to VisibilityPointGenerationMethod.RANDOM
if (numberofPoints >= colliders.Count)
{
// assign 1 random point per collider, until they are over
int colliderIndex = 0;
while (numberofPoints > 0)
{
Vector3 newPoint = TargetUtils.RandomPointInsideBounds(colliders [colliderIndex].GetComponent <Collider> ().bounds);
visibilityPoints.Add(newPoint);
colliderIndex = (colliderIndex + 1) % colliders.Count;
numberofPoints--;
}
}
else // if we have more colliders than points, then let's consider the AABB of the target assign points inside it. Not ideal, but...
{
while (numberofPoints > 0)
{
Vector3 newPoint = TargetUtils.RandomPointInsideBounds(boundingBox);
visibilityPoints.Add(newPoint);
numberofPoints--;
}
}
break;
}
default:
{
Debug.Log("Warning: NO visibility points computed for target " + name);
break;
}
}
}
