public static Vector3 GetRandomWorldPosistionInBoundaryClosest(GameObject element, GameObject container, GameObject target)
{
DatasetObjectInfo elementInfo = element.GetComponent <DatasetObjectInfo>();
DatasetObjectInfo containterInfo = container.GetComponent <DatasetObjectInfo>();
DatasetObjectInfo targetInfo = target.GetComponent <DatasetObjectInfo>();
var elementSize = elementInfo.GetBoundarySize();
var containerMin = containterInfo.GetMinBoundaryPoint();
var containerMax = containterInfo.GetMaxBoundaryPoint();
Vector3 transformedCenterOffset = element.transform.TransformDirection(elementInfo.center);
Vector3 currentElementPosition = element.transform.position;
float x = Random.Range(containerMin.x + elementSize.x / 2f - transformedCenterOffset.x, containerMax.x - elementSize.x / 2f - transformedCenterOffset.x);
float y = Random.Range(containerMin.y + elementSize.y / 2f - transformedCenterOffset.y, containerMax.y - elementSize.y / 2f - transformedCenterOffset.y);
float z = Random.Range(containerMin.z + elementSize.z / 2f - transformedCenterOffset.z, containerMax.z - elementSize.z / 2f - transformedCenterOffset.z);
if (-(containerMin.y + elementSize.y / 2f - transformedCenterOffset.y) + (containerMax.y - elementSize.y / 2f - transformedCenterOffset.y) < 0)
{
y = containerMin.y + elementSize.y / 2f - transformedCenterOffset.y;
}
Vector3 endPoint = target.transform.TransformPoint(targetInfo.testPoints[Random.Range(0, targetInfo.testPoints.Count)]);
float t = 0f;
float p = 0f, k = 1f, s;
for (int i = 0; i < 10; i++)//Bin search
{
s = (p + k) / 2f;
element.transform.position = Vector3.Lerp(new Vector3(x, y, z), endPoint, s);
if (!BoundaryIsColliding(element, target) && IsInside(element, container))
{
p = s;
t = s;
}
else
{
k = s;
t = p;
}
}
float offset = Settings.config.datasetOptions.closestMaxDistanceOffset;
float dt = 1f / (new Vector3(x, y, z) - endPoint).magnitude * offset * Random.value;
element.transform.position = Vector3.Lerp(new Vector3(x, y, z), endPoint, t - dt);
if (!BoundaryIsColliding(element, target) && IsInside(element, container))
{
element.transform.position = currentElementPosition;
return(Vector3.Lerp(new Vector3(x, y, z), endPoint, t - dt));
}
else
{
element.transform.position = currentElementPosition;
return(Vector3.Lerp(new Vector3(x, y, z), endPoint, t));
}
}
public static Vector3 GetRandomWorldPosistionInBoundary(GameObject element, GameObject container)
{
DatasetObjectInfo elementInfo = element.GetComponent <DatasetObjectInfo>();
DatasetObjectInfo containterInfo = container.GetComponent <DatasetObjectInfo>();
var elementSize = elementInfo.GetBoundarySize();
var containerMin = containterInfo.GetMinBoundaryPoint();
var containerMax = containterInfo.GetMaxBoundaryPoint();
Vector3 transformedCenterOffset = element.transform.TransformDirection(elementInfo.center);
float x = Random.Range(containerMin.x + elementSize.x / 2f - transformedCenterOffset.x, containerMax.x - elementSize.x / 2f - transformedCenterOffset.x);
float y = Random.Range(containerMin.y + elementSize.y / 2f - transformedCenterOffset.y, containerMax.y - elementSize.y / 2f - transformedCenterOffset.y);
float z = Random.Range(containerMin.z + elementSize.z / 2f - transformedCenterOffset.z, containerMax.z - elementSize.z / 2f - transformedCenterOffset.z);
if (-(containerMin.y + elementSize.y / 2f - transformedCenterOffset.y) + (containerMax.y - elementSize.y / 2f - transformedCenterOffset.y) < 0)
{
y = containerMin.y + elementSize.y / 2f - transformedCenterOffset.y;
}
return(new Vector3(x, y, z));
}
public static Vector3 GetRandomWorldPosistionInBoundary(GameObject element, GameObject container, GameObject target)
{
DatasetObjectInfo elementInfo = element.GetComponent <DatasetObjectInfo>();
DatasetObjectInfo containterInfo = container.GetComponent <DatasetObjectInfo>();
var elementSize = elementInfo.GetBoundarySize();
var containerMin = containterInfo.GetMinBoundaryPoint();
var containerMax = containterInfo.GetMaxBoundaryPoint();
Vector3 transformedCenterOffset = element.transform.TransformDirection(elementInfo.center);
List <Vector3> positions = new List <Vector3>(10);
List <float> distancesToElement = new List <float>(positions.Count);
for (int i = 0; i < positions.Capacity; i++)
{
float x = Random.Range(containerMin.x + elementSize.x / 2f - transformedCenterOffset.x, containerMax.x - elementSize.x / 2f - transformedCenterOffset.x);
float y = Random.Range(containerMin.y + elementSize.y / 2f - transformedCenterOffset.y, containerMax.y - elementSize.y / 2f - transformedCenterOffset.y);
float z = Random.Range(containerMin.z + elementSize.z / 2f - transformedCenterOffset.z, containerMax.z - elementSize.z / 2f - transformedCenterOffset.z);
if (-(containerMin.y + elementSize.y / 2f - transformedCenterOffset.y) + (containerMax.y - elementSize.y / 2f - transformedCenterOffset.y) < 0)
{
y = containerMin.y + elementSize.y / 2f - transformedCenterOffset.y;
}
positions.Add(new Vector3(x, y, z));
distancesToElement.Add((target.transform.position - positions[positions.Count - 1]).sqrMagnitude);
}
int index = -1;
float smallestDistance = Mathf.Infinity;
for (int i = 0; i < distancesToElement.Count; i++)
{
if (distancesToElement[i] < smallestDistance)
{
index = i;
smallestDistance = distancesToElement[i];
}
}
return(positions[index]);
}
public void PlaceRobotInStartZone()
{
var startZones = GameObject.FindGameObjectsWithTag("StartZone");
if (startZones.Length > 0)
{
System.Random r = new System.Random();
int i = r.Next(0, startZones.Length);
var startZone = startZones[i];
DatasetObjectInfo elementInfo = robot.GetComponent <DatasetObjectInfo>();
var elementSize = elementInfo.GetBoundarySize();
var bounds = startZone.GetComponent <Collider>().bounds;
var containerMin = bounds.min;
var containerMax = bounds.max;
Vector3 transformedCenterOffset = robot.transform.TransformDirection(elementInfo.center);
float x = Random.Range(containerMin.x + elementSize.x / 2f - transformedCenterOffset.x, containerMax.x - elementSize.x / 2f - transformedCenterOffset.x);
float y = Random.Range(containerMin.y + elementSize.y / 2f - transformedCenterOffset.y, containerMax.y - elementSize.y / 2f - transformedCenterOffset.y);
float z = Random.Range(containerMin.z + elementSize.z / 2f - transformedCenterOffset.z, containerMax.z - elementSize.z / 2f - transformedCenterOffset.z);
if (-(containerMin.y + elementSize.y / 2f - transformedCenterOffset.y) + (containerMax.y - elementSize.y / 2f - transformedCenterOffset.y) < 0)
{
y = containerMin.y + elementSize.y / 2f - transformedCenterOffset.y;
}
robot.transform.position = new Vector3(x, 1, z);
float direction = startZone.GetComponent <StartZoneController>().angle;
float fov = startZone.GetComponent <StartZoneController>().fov;
robot.transform.rotation = Quaternion.Euler(0, Random.Range(direction - fov / 2, direction + fov / 2), 0);
}
foreach (var cp in GameObject.FindGameObjectsWithTag("Checkpoint"))
{
cp.GetComponent <CheckpointController>().reached = false;
}
robotController.rb.velocity = Vector3.zero;
robotController.rb.angularVelocity = Vector3.zero;
}
public static bool IsInside(GameObject element, GameObject container)
{
DatasetObjectInfo elementInfo = element.GetComponent <DatasetObjectInfo>();
DatasetObjectInfo containterInfo = container.GetComponent <DatasetObjectInfo>();
var elementSize = elementInfo.GetBoundarySize();
var containerMin = containterInfo.GetMinBoundaryPoint();
var containerMax = containterInfo.GetMaxBoundaryPoint();
Vector3 transformedCenterOffset = element.transform.TransformDirection(elementInfo.center);
Vector3 currentElementPosition = element.transform.position;
float x = element.transform.position.x;
float y = element.transform.position.y;
float z = element.transform.position.z;
float minX = containerMin.x + elementSize.x / 2f - transformedCenterOffset.x;
float maxX = containerMax.x - elementSize.x / 2f - transformedCenterOffset.x;
float minY = containerMin.y + elementSize.y / 2f - transformedCenterOffset.y;
float maxY = containerMax.y - elementSize.y / 2f - transformedCenterOffset.y;
float minZ = containerMin.z + elementSize.z / 2f - transformedCenterOffset.z;
float maxZ = containerMax.z - elementSize.z / 2f - transformedCenterOffset.z;
return(x >= minX && x <= maxX && y >= minY && y <= maxY && z >= minZ && z <= maxZ);
}