// update Unity representation of MuJoCo model
unsafe private void UpdateModel()
{
MJP.TTransform transform;
// update object states
for (int i = 0; i < nobject; i++)
{
if (objects[i])
{
// set transform and visibility
int visible;
int selected;
MJP.GetObjectState(i, &transform, &visible, &selected);
SetTransform(objects[i], transform);
objects[i].SetActive(visible > 0);
// set emission color
if (selected > 0)
{
objects[i].GetComponent <Renderer>().material.SetColor("_EmissionColor", selcolor);
}
else
{
objects[i].GetComponent <Renderer>().material.SetColor("_EmissionColor", Color.black);
}
}
}
// update camera
MJP.GetCameraState(camindex, &transform);
SetCamera(thecamera, transform);
thecamera.fieldOfView = camfov[camindex + 1];
}
// update Unity representation of MuJoCo model
unsafe private void UpdateModel()
{
MJP.TTransform transform;
// update object states
for (int i = 0; i < nobject; i++)
{
if (objects[i])
{
// set transform and visibility
int visible;
int selected;
MJP.GetObjectState(i, &transform, &visible, &selected);
// For Furniture Assembly Environment: apply new geom position
if (modifiedObjects.ContainsKey(objects[i].name))
{
objects[i].transform.position = modifiedObjects[objects[i].name];
}
else
{
SetTransform(objects[i], transform);
}
objects[i].SetActive(visible > 0);
// set emission color
if (selected > 0)
{
objects[i].GetComponent <Renderer>().material.SetColor("_EmissionColor", selcolor);
}
else
{
objects[i].GetComponent <Renderer>().material.SetColor("_EmissionColor", Color.black);
}
}
}
// update camera
MJP.GetCameraState(camindex, &transform);
SetCamera(thecamera, transform);
thecamera.fieldOfView = camfov[camindex + 1];
}
// per-frame update
unsafe void Update()
{
// process input
ProcessKeyboard();
if (Input.mousePresent)
{
ProcessMouse();
}
// update object states
MJP.TTransform transform;
for (int i = 0; i < nobject; i++)
{
if (objects[i])
{
int visible;
int selected;
MJP.GetObjectState(i, &transform, &visible, &selected);
SetTransform(objects[i], transform);
objects[i].SetActive(visible > 0);
// set emission color
if (selected > 0)
{
objects[i].GetComponent <Renderer>().material.SetColor("_EmissionColor", selcolor);
}
else
{
objects[i].GetComponent <Renderer>().material.SetColor("_EmissionColor", Color.black);
}
}
}
// update camera
MJP.GetCameraState(camindex, &transform);
SetCamera(thecamera, transform);
thecamera.fieldOfView = camfov[camindex + 1];
}
// initialize
unsafe void Start()
{
// For Furniture Assembly Environment: record geom positions
modifiedObjects = new Dictionary <string, Vector3>();
backgrounds = new List <GameObject>();
foreach (GameObject child in SceneManager.GetActiveScene().GetRootGameObjects())
{
if (child.name.StartsWith("Background_"))
{
backgrounds.Add(child);
child.SetActive(false);
}
}
//material_random_parameters["Plastic (Instance)"] = new RandomColor(0.0f, 1.0f, 0.0f, 1.0f, 0.2f, 1.0f);
// set selection color
selcolor = new Color(0.5f, 0.5f, 0.5f, 1);
// preallocate buffer with maximum possible message size
buffersize = 2048; // Math.Max(4, Math.Max(4*nqpos, 28*nmocap));
buffer = new byte[buffersize];
// initialize plugin
// MJP.Initialize();
// MJP.LoadModel(Application.streamingAssetsPath + "/" + modelFile);
// get number of renderable objects, allocate map
MJP.TSize size;
MJP.GetSize(&size);
nqpos = size.nqpos;
nmocap = size.nmocap;
ncamera = size.ncamera;
nobject = size.nobject;
objects = new GameObject[nobject];
// get root
//root = GameObject.Find("MuJoCo");
if (root == null)
{
throw new System.Exception("MuJoCo root object not found");
}
root.transform.localPosition = transform.localPosition;
root.transform.localRotation = transform.localRotation;
root.transform.localScale = transform.localScale;
// get camera under root
int nchild = root.transform.childCount;
for (int i = 0; i < nchild; i++)
{
thecamera = root.transform.GetChild(i).gameObject.GetComponent <Camera>();
if (thecamera != null)
{
// thecamera.enabled = false;
break;
}
}
if (thecamera == null)
{
throw new System.Exception("No camera found under MuJoCo root object");
}
// make map of renderable objects
for (int i = 0; i < nobject; i++)
{
// get object name
StringBuilder name = new StringBuilder(100);
MJP.GetObjectName(i, name, 100);
// find corresponding GameObject
for (int j = 0; j < nchild; j++)
{
if (root.transform.GetChild(j).name == name.ToString())
{
objects[i] = root.transform.GetChild(j).gameObject;
break;
}
}
// set initial state
if (objects[i])
{
MJP.TTransform transform;
int visible;
int selected;
MJP.GetObjectState(i, &transform, &visible, &selected);
SetTransform(objects[i], transform);
objects[i].SetActive(visible > 0);
}
}
// get camera fov and offscreen resolution
camfov = new float[ncamera + 1];
int offwidth = 1280;
int offheight = 720;
for (int i = -1; i < ncamera; i++)
{
MJP.TCamera cam;
MJP.GetCamera(i, &cam);
camfov[i + 1] = cam.fov;
// plugin returns offscreen width and height for all cameras
offwidth = cam.width;
offheight = cam.height;
}
//TODO: The dummy camera and camera added by mjonline import should be merged together
GameObject camobj = GameObject.Find("DummyCamera");
if (camobj != null)
{
dummycamera = camobj.GetComponent <Camera>();
dummycamera.enabled = true;
}
// prepare offscreen rendering
off_render = new OffscreenRenderer(offwidth, offheight);
// synchronize time
MJP.SetTime(Time.time);
//randomizeAppearance();
Debug.Log("New simulation init'd " + offwidth + "x" + offheight);
}
// import renderable objects
private unsafe void ImportObjects(int nobject)
{
string cwd = Path.GetDirectoryName(modelFile);
// make primitives
PrimitiveType[] ptypes =
{
PrimitiveType.Plane,
PrimitiveType.Sphere,
PrimitiveType.Cylinder,
PrimitiveType.Cube
};
GameObject[] primitives = new GameObject[4];
for (int i = 0; i < 4; i++)
{
primitives[i] = GameObject.CreatePrimitive(ptypes[i]);
}
// allocate array
objects = new GameObject[nobject];
// process objects
for (int i = 0; i < nobject; i++)
{
// get object name
StringBuilder name = new StringBuilder(100);
MJP.GetObjectName(i, name, 100);
// create new GameObject, place under root
objects[i] = new GameObject(name.ToString());
MeshFilter filt = objects[i].AddComponent <MeshFilter>();
MeshRenderer rend = objects[i].AddComponent <MeshRenderer>();
InstancedColor colors = objects[i].AddComponent <InstancedColor>();
objects[i].transform.parent = root.transform;
// get MuJoCo object descriptor
MJP.TObject obj;
MJP.GetObject(i, &obj);
// For Furniture Assembly Environment: do not visualize site
if (obj.category == (int)MJP.TCategory.SITE && !objects[i].name.Contains("conn"))
{
objects[i].layer = 9;
}
if (objects[i].name.StartsWith("noviz", StringComparison.Ordinal))
{
objects[i].layer = 10;
}
if (objects[i].name.StartsWith("floor", StringComparison.Ordinal))
{
objects[i].layer = 10;
}
// set mesh
switch ((MJP.TGeom)obj.geomtype)
{
case MJP.TGeom.PLANE:
filt.sharedMesh = primitives[0].GetComponent <MeshFilter>().sharedMesh;
break;
case MJP.TGeom.SPHERE:
filt.sharedMesh = primitives[1].GetComponent <MeshFilter>().sharedMesh;
break;
case MJP.TGeom.CYLINDER:
filt.sharedMesh = primitives[2].GetComponent <MeshFilter>().sharedMesh;
break;
case MJP.TGeom.BOX:
filt.sharedMesh = primitives[3].GetComponent <MeshFilter>().sharedMesh;
break;
case MJP.TGeom.HFIELD:
int nrow = obj.hfield_nrow;
int ncol = obj.hfield_ncol;
int r, c;
// allocate
Vector3[] hfvertices = new Vector3[nrow * ncol + 4 * nrow + 4 * ncol];
Vector2[] hfuv = new Vector2[nrow * ncol + 4 * nrow + 4 * ncol];
int[] hffaces0 = new int[3 * 2 * (nrow - 1) * (ncol - 1)];
int[] hffaces1 = new int[3 * (4 * (nrow - 1) + 4 * (ncol - 1))];
// vertices and uv: surface
for (r = 0; r < nrow; r++)
{
for (c = 0; c < ncol; c++)
{
int k = r * ncol + c;
float wc = c / (float)(ncol - 1);
float wr = r / (float)(nrow - 1);
hfvertices[k].Set(-(wc - 0.5f), obj.hfield_data[k], -(wr - 0.5f));
hfuv[k].Set(wc, wr);
}
}
// vertices and uv: front and back
for (r = 0; r < nrow; r += (nrow - 1))
{
for (c = 0; c < ncol; c++)
{
int k = nrow * ncol + 2 * ((r > 0?ncol:0) + c);
float wc = c / (float)(ncol - 1);
float wr = r / (float)(nrow - 1);
hfvertices[k].Set(-(wc - 0.5f), -0.5f, -(wr - 0.5f));
hfuv[k].Set(wc, 0);
hfvertices[k + 1].Set(-(wc - 0.5f), obj.hfield_data[r * ncol + c], -(wr - 0.5f));
hfuv[k + 1].Set(wc, 1);
}
}
// vertices and uv: left and right
for (c = 0; c < ncol; c += (ncol - 1))
{
for (r = 0; r < nrow; r++)
{
int k = nrow * ncol + 4 * ncol + 2 * ((c > 0?nrow:0) + r);
float wc = c / (float)(ncol - 1);
float wr = r / (float)(nrow - 1);
hfvertices[k].Set(-(wc - 0.5f), -0.5f, -(wr - 0.5f));
hfuv[k].Set(wr, 0);
hfvertices[k + 1].Set(-(wc - 0.5f), obj.hfield_data[r * ncol + c], -(wr - 0.5f));
hfuv[k + 1].Set(wr, 1);
}
}
// faces: surface
for (r = 0; r < nrow - 1; r++)
{
for (c = 0; c < ncol - 1; c++)
{
int f = r * (ncol - 1) + c;
int k = r * ncol + c;
// first face in rectangle
hffaces0[3 * 2 * f] = k;
hffaces0[3 * 2 * f + 2] = k + 1;
hffaces0[3 * 2 * f + 1] = k + ncol + 1;
// second face in rectangle
hffaces0[3 * 2 * f + 3] = k;
hffaces0[3 * 2 * f + 5] = k + ncol + 1;
hffaces0[3 * 2 * f + 4] = k + ncol;
}
}
// faces: front and back
for (r = 0; r < 2; r++)
{
for (c = 0; c < ncol - 1; c++)
{
int f = ((r > 0?(ncol - 1):0) + c);
int k = nrow * ncol + 2 * ((r > 0?ncol:0) + c);
// first face in rectangle
hffaces1[3 * 2 * f] = k;
hffaces1[3 * 2 * f + 2] = k + (r > 0 ? 1 : 3);
hffaces1[3 * 2 * f + 1] = k + (r > 0 ? 3 : 1);
// second face in rectangle
hffaces1[3 * 2 * f + 3] = k;
hffaces1[3 * 2 * f + 5] = k + (r > 0 ? 3 : 2);
hffaces1[3 * 2 * f + 4] = k + (r > 0 ? 2 : 3);
}
}
// faces: left and right
for (c = 0; c < 2; c++)
{
for (r = 0; r < nrow - 1; r++)
{
int f = 2 * (ncol - 1) + ((c > 0?(nrow - 1):0) + r);
int k = nrow * ncol + 4 * ncol + 2 * ((c > 0?nrow:0) + r);
// first face in rectangle
hffaces1[3 * 2 * f] = k;
hffaces1[3 * 2 * f + 2] = k + (c > 0 ? 3 : 1);
hffaces1[3 * 2 * f + 1] = k + (c > 0 ? 1 : 3);
// second face in rectangle
hffaces1[3 * 2 * f + 3] = k;
hffaces1[3 * 2 * f + 5] = k + (c > 0 ? 2 : 3);
hffaces1[3 * 2 * f + 4] = k + (c > 0 ? 3 : 2);
}
}
Debug.Log(ncol);
Debug.Log(nrow);
Debug.Log(Mathf.Min(hffaces1));
Debug.Log(Mathf.Max(hffaces1));
// create mesh with automatic normals and tangents
filt.sharedMesh = new Mesh();
filt.sharedMesh.vertices = hfvertices;
filt.sharedMesh.uv = hfuv;
filt.sharedMesh.subMeshCount = 2;
filt.sharedMesh.SetTriangles(hffaces0, 0);
filt.sharedMesh.SetTriangles(hffaces1, 1);
filt.sharedMesh.RecalculateNormals();
filt.sharedMesh.RecalculateTangents();
// set name
StringBuilder hname = new StringBuilder(100);
MJP.GetElementName(MJP.TElement.HFIELD, obj.dataid, hname, 100);
filt.sharedMesh.name = hname.ToString();
break;
case MJP.TGeom.CAPSULE:
case MJP.TGeom.MESH:
// reuse shared mesh from earlier object
if (obj.mesh_shared >= 0)
{
filt.sharedMesh = objects[obj.mesh_shared].GetComponent <MeshFilter>().sharedMesh;
}
// create new mesh
else
{
string meshName;
// set name
if ((MJP.TGeom)obj.geomtype == MJP.TGeom.CAPSULE)
{
meshName = "Capsule mesh";
}
else
{
StringBuilder mname = new StringBuilder(100);
MJP.GetElementName(MJP.TElement.MESH, obj.dataid, mname, 100);
meshName = mname.ToString();
}
{
// copy vertices, normals, uv
Vector3[] vertices = new Vector3[obj.mesh_nvertex];
Vector3[] normals = new Vector3[obj.mesh_nvertex];
Vector2[] uv = new Vector2[obj.mesh_nvertex];
for (int k = 0; k < obj.mesh_nvertex; k++)
{
vertices[k].Set(-obj.mesh_position[3 * k],
obj.mesh_position[3 * k + 2],
-obj.mesh_position[3 * k + 1]);
normals[k].Set(-obj.mesh_normal[3 * k],
obj.mesh_normal[3 * k + 2],
-obj.mesh_normal[3 * k + 1]);
uv[k].Set(obj.mesh_texcoord[2 * k],
obj.mesh_texcoord[2 * k + 1]);
}
// copy faces
int[] faces = new int[3 * obj.mesh_nface];
for (int k = 0; k < obj.mesh_nface; k++)
{
faces[3 * k] = obj.mesh_face[3 * k];
faces[3 * k + 1] = obj.mesh_face[3 * k + 2];
faces[3 * k + 2] = obj.mesh_face[3 * k + 1];
}
// number of verices can be modified by uncompressed mesh
int nvert = obj.mesh_nvertex;
// replace with uncompressed mesh when UV needs to be recomputed
// ( recomputeUV && (MJP.TGeom)obj.geomtype==MJP.TGeom.MESH )
{
// make temporary mesh
Mesh temp = new Mesh();
temp.vertices = vertices;
temp.normals = normals;
temp.triangles = faces;
// generate uncompressed UV unwrapping
/* Vector2[] UV = Unwrapping.GeneratePerTriangleUV(temp);
* int N = UV.GetLength(0)/3;
* if( N!=obj.mesh_nface )
* throw new System.Exception("Unexpected number of faces");
* nvert = 3*N;*/
int N = obj.mesh_nface;
nvert = 3 * N;
// create corresponding uncompressed vertices, normals, faces
Vector3[] Vertex = new Vector3[3 * N];
Vector3[] Normal = new Vector3[3 * N];
int[] Face = new int[3 * N];
for (int k = 0; k < N; k++)
{
Vertex[3 * k] = vertices[faces[3 * k]];
Vertex[3 * k + 1] = vertices[faces[3 * k + 1]];
Vertex[3 * k + 2] = vertices[faces[3 * k + 2]];
Normal[3 * k] = normals[faces[3 * k]];
Normal[3 * k + 1] = normals[faces[3 * k + 1]];
Normal[3 * k + 2] = normals[faces[3 * k + 2]];
Face[3 * k] = 3 * k;
Face[3 * k + 1] = 3 * k + 1;
Face[3 * k + 2] = 3 * k + 2;
}
// create uncompressed mesh
filt.sharedMesh = new Mesh();
filt.sharedMesh.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32;
filt.sharedMesh.vertices = Vertex;
filt.sharedMesh.normals = Normal;
filt.sharedMesh.triangles = Face;
filt.sharedMesh.name = meshName;
// filt.sharedMesh.uv = UV;
}
// otherwise create mesh directly
/* else
* {
* filt.sharedMesh = new Mesh();
* filt.sharedMesh.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32;
* filt.sharedMesh.vertices = vertices;
* filt.sharedMesh.normals = normals;
* filt.sharedMesh.triangles = faces;
* filt.sharedMesh.uv = uv;
* filt.sharedMesh.name = meshName;
* filt.sharedMesh.RecalculateNormals(30);
* }*/
// optionally recompute normals for meshes
/* if (recomputeNormal && (MJP.TGeom)obj.geomtype == MJP.TGeom.MESH)
* filt.sharedMesh.RecalculateNormals(60);*/
filt.sharedMesh.RecalculateNormals(25);
// always calculate tangents (MuJoCo does not support tangents)
filt.sharedMesh.RecalculateTangents();
}
// print error if number of vertices or faces is over 65535
/* if( obj.mesh_nface>65535 || nvert>65535 )
* Debug.LogError("MESH TOO BIG: " + filt.sharedMesh.name +
* ", vertices " + nvert + ", faces " + obj.mesh_nface);*/
}
break;
}
//TODO: Set segmentation color with Material.SetColor("_SegColor")
// existing material
byte segmentation = 0;
// Try to get segmentation id. If nothing is found, the object will remain background (0)
if (meshSegmentMap.TryGetValue(name.ToString(), out segmentation) == false)
{
meshSegmentMap.TryGetValue(filt.sharedMesh.name, out segmentation);
}
Material base_material = null;
if (materials.TryGetValue(obj.material, out base_material))
{
rend.sharedMaterial = base_material;
colors.Diffuse = new Color(obj.color[0], obj.color[1], obj.color[2], obj.color[3]);
colors.Segmentation = new Color32(segmentation, segmentation, segmentation, segmentation);
}
else // Missing material (shouldn't be possible?)
{
Debug.Log("Couldn't find a Material for id:" + obj.material);
}
// get MuJoCo object transform and set in Unity
MJP.TTransform transform;
int visible;
int selected;
MJP.GetObjectState(i, &transform, &visible, &selected);
SetTransform(objects[i], transform);
}
// delete primitives
for (int i = 0; i < 4; i++)
{
Destroy(primitives[i]);
}
}
// initialize
unsafe void Start()
{
// set selection color
selcolor = new Color(0.5f, 0.5f, 0.5f, 1);
// initialize plugin
MJP.Initialize();
MJP.LoadModel(Application.streamingAssetsPath + "/" + modelFile);
// get number of renderable objects, allocate map
MJP.TSize size;
MJP.GetSize(&size);
nqpos = size.nqpos;
nmocap = size.nmocap;
ncamera = size.ncamera;
nobject = size.nobject;
objects = new GameObject[nobject];
// get root
root = GameObject.Find("MuJoCo");
if (root == null)
{
throw new System.Exception("MuJoCo root object not found");
}
// get camera under root
int nchild = root.transform.childCount;
for (int i = 0; i < nchild; i++)
{
thecamera = root.transform.GetChild(i).gameObject.GetComponent <Camera>();
if (thecamera != null)
{
break;
}
}
if (thecamera == null)
{
throw new System.Exception("No camera found under MuJoCo root object");
}
// make map of renderable objects
for (int i = 0; i < nobject; i++)
{
// get object name
StringBuilder name = new StringBuilder(100);
MJP.GetObjectName(i, name, 100);
// find corresponding GameObject
for (int j = 0; j < nchild; j++)
{
if (root.transform.GetChild(j).name == name.ToString())
{
objects[i] = root.transform.GetChild(j).gameObject;
break;
}
}
// set initial state
if (objects[i])
{
MJP.TTransform transform;
int visible;
int selected;
MJP.GetObjectState(i, &transform, &visible, &selected);
SetTransform(objects[i], transform);
objects[i].SetActive(visible > 0);
}
}
// get camera fov and offscreen resolution
camfov = new float[ncamera + 1];
for (int i = -1; i < ncamera; i++)
{
MJP.TCamera cam;
MJP.GetCamera(i, &cam);
camfov[i + 1] = cam.fov;
// plugin returns offscreen width and height for all cameras
offwidth = cam.width;
offheight = cam.height;
}
// prepare offscreen rendering
offtex = new Texture2D(offwidth, offheight, TextureFormat.RGB24, false);
offrt = new RenderTexture(offwidth, offheight, 24);
offrt.width = offwidth;
offrt.height = offheight;
offrt.Create();
// synchronize time
MJP.SetTime(Time.time);
// preallocate buffer with maximum possible message size
buffersize = Math.Max(4, Math.Max(4 * nqpos, 28 * nmocap));
buffer = new byte[buffersize];
// start listening for connections
listener = new TcpListener(System.Net.IPAddress.Parse(tcpAddress), tcpPort);
listener.Start();
}
// import renderable objects
private unsafe void ImportObjects(int nobject)
{
// make primitives
PrimitiveType[] ptypes =
{
PrimitiveType.Plane,
PrimitiveType.Sphere,
PrimitiveType.Cylinder,
PrimitiveType.Cube
};
GameObject[] primitives = new GameObject[4];
for (int i = 0; i < 4; i++)
{
primitives[i] = GameObject.CreatePrimitive(ptypes[i]);
}
// allocate array
objects = new GameObject[nobject];
// process objects
for (int i = 0; i < nobject; i++)
{
// get object name
StringBuilder name = new StringBuilder(100);
MJP.GetObjectName(i, name, 100);
// create new GameObject, place under root
objects[i] = new GameObject(name.ToString());
objects[i].AddComponent <MeshFilter>();
objects[i].AddComponent <MeshRenderer>();
objects[i].transform.parent = root.transform;
// get components
MeshFilter filt = objects[i].GetComponent <MeshFilter>();
MeshRenderer rend = objects[i].GetComponent <MeshRenderer>();
// get MuJoCo object descriptor
MJP.TObject obj;
MJP.GetObject(i, &obj);
// set mesh
switch ((MJP.TGeom)obj.geomtype)
{
case MJP.TGeom.PLANE:
filt.sharedMesh = primitives[0].GetComponent <MeshFilter>().sharedMesh;
break;
case MJP.TGeom.SPHERE:
filt.sharedMesh = primitives[1].GetComponent <MeshFilter>().sharedMesh;
break;
case MJP.TGeom.CYLINDER:
filt.sharedMesh = primitives[2].GetComponent <MeshFilter>().sharedMesh;
break;
case MJP.TGeom.BOX:
filt.sharedMesh = primitives[3].GetComponent <MeshFilter>().sharedMesh;
break;
case MJP.TGeom.HFIELD:
int nrow = obj.hfield_nrow;
int ncol = obj.hfield_ncol;
int r, c;
// allocate
Vector3[] hfvertices = new Vector3[nrow * ncol + 4 * nrow + 4 * ncol];
Vector2[] hfuv = new Vector2[nrow * ncol + 4 * nrow + 4 * ncol];
int[] hffaces0 = new int[3 * 2 * (nrow - 1) * (ncol - 1)];
int[] hffaces1 = new int[3 * (4 * (nrow - 1) + 4 * (ncol - 1))];
// vertices and uv: surface
for (r = 0; r < nrow; r++)
{
for (c = 0; c < ncol; c++)
{
int k = r * ncol + c;
float wc = c / (float)(ncol - 1);
float wr = r / (float)(nrow - 1);
hfvertices[k].Set(-(wc - 0.5f), obj.hfield_data[k], -(wr - 0.5f));
hfuv[k].Set(wc, wr);
}
}
// vertices and uv: front and back
for (r = 0; r < nrow; r += (nrow - 1))
{
for (c = 0; c < ncol; c++)
{
int k = nrow * ncol + 2 * ((r > 0?ncol:0) + c);
float wc = c / (float)(ncol - 1);
float wr = r / (float)(nrow - 1);
hfvertices[k].Set(-(wc - 0.5f), -0.5f, -(wr - 0.5f));
hfuv[k].Set(wc, 0);
hfvertices[k + 1].Set(-(wc - 0.5f), obj.hfield_data[r * ncol + c], -(wr - 0.5f));
hfuv[k + 1].Set(wc, 1);
}
}
// vertices and uv: left and right
for (c = 0; c < ncol; c += (ncol - 1))
{
for (r = 0; r < nrow; r++)
{
int k = nrow * ncol + 4 * ncol + 2 * ((c > 0?nrow:0) + r);
float wc = c / (float)(ncol - 1);
float wr = r / (float)(nrow - 1);
hfvertices[k].Set(-(wc - 0.5f), -0.5f, -(wr - 0.5f));
hfuv[k].Set(wr, 0);
hfvertices[k + 1].Set(-(wc - 0.5f), obj.hfield_data[r * ncol + c], -(wr - 0.5f));
hfuv[k + 1].Set(wr, 1);
}
}
// faces: surface
for (r = 0; r < nrow - 1; r++)
{
for (c = 0; c < ncol - 1; c++)
{
int f = r * (ncol - 1) + c;
int k = r * ncol + c;
// first face in rectangle
hffaces0[3 * 2 * f] = k;
hffaces0[3 * 2 * f + 2] = k + 1;
hffaces0[3 * 2 * f + 1] = k + ncol + 1;
// second face in rectangle
hffaces0[3 * 2 * f + 3] = k;
hffaces0[3 * 2 * f + 5] = k + ncol + 1;
hffaces0[3 * 2 * f + 4] = k + ncol;
}
}
// faces: front and back
for (r = 0; r < 2; r++)
{
for (c = 0; c < ncol - 1; c++)
{
int f = ((r > 0?(ncol - 1):0) + c);
int k = nrow * ncol + 2 * ((r > 0?ncol:0) + c);
// first face in rectangle
hffaces1[3 * 2 * f] = k;
hffaces1[3 * 2 * f + 2] = k + (r > 0 ? 1 : 3);
hffaces1[3 * 2 * f + 1] = k + (r > 0 ? 3 : 1);
// second face in rectangle
hffaces1[3 * 2 * f + 3] = k;
hffaces1[3 * 2 * f + 5] = k + (r > 0 ? 3 : 2);
hffaces1[3 * 2 * f + 4] = k + (r > 0 ? 2 : 3);
}
}
// faces: left and right
for (c = 0; c < 2; c++)
{
for (r = 0; r < nrow - 1; r++)
{
int f = 2 * (ncol - 1) + ((c > 0?(nrow - 1):0) + r);
int k = nrow * ncol + 4 * ncol + 2 * ((c > 0?nrow:0) + r);
// first face in rectangle
hffaces1[3 * 2 * f] = k;
hffaces1[3 * 2 * f + 2] = k + (c > 0 ? 3 : 1);
hffaces1[3 * 2 * f + 1] = k + (c > 0 ? 1 : 3);
// second face in rectangle
hffaces1[3 * 2 * f + 3] = k;
hffaces1[3 * 2 * f + 5] = k + (c > 0 ? 2 : 3);
hffaces1[3 * 2 * f + 4] = k + (c > 0 ? 3 : 2);
}
}
Debug.Log(ncol);
Debug.Log(nrow);
Debug.Log(Mathf.Min(hffaces1));
Debug.Log(Mathf.Max(hffaces1));
// create mesh with automatic normals and tangents
filt.sharedMesh = new Mesh();
filt.sharedMesh.vertices = hfvertices;
filt.sharedMesh.uv = hfuv;
filt.sharedMesh.subMeshCount = 2;
filt.sharedMesh.SetTriangles(hffaces0, 0);
filt.sharedMesh.SetTriangles(hffaces1, 1);
filt.sharedMesh.RecalculateNormals();
filt.sharedMesh.RecalculateTangents();
// set name
StringBuilder hname = new StringBuilder(100);
MJP.GetElementName(MJP.TElement.HFIELD, obj.dataid, hname, 100);
filt.sharedMesh.name = hname.ToString();
break;
case MJP.TGeom.CAPSULE:
case MJP.TGeom.MESH:
// reuse shared mesh from earlier object
if (obj.mesh_shared >= 0)
{
filt.sharedMesh = objects[obj.mesh_shared].GetComponent <MeshFilter>().sharedMesh;
}
// create new mesh
else
{
// copy vertices, normals, uv
Vector3[] vertices = new Vector3[obj.mesh_nvertex];
Vector3[] normals = new Vector3[obj.mesh_nvertex];
Vector2[] uv = new Vector2[obj.mesh_nvertex];
for (int k = 0; k < obj.mesh_nvertex; k++)
{
vertices[k].Set(-obj.mesh_position[3 * k],
obj.mesh_position[3 * k + 2],
-obj.mesh_position[3 * k + 1]);
normals[k].Set(-obj.mesh_normal[3 * k],
obj.mesh_normal[3 * k + 2],
-obj.mesh_normal[3 * k + 1]);
uv[k].Set(obj.mesh_texcoord[2 * k],
obj.mesh_texcoord[2 * k + 1]);
}
// copy faces
int[] faces = new int[3 * obj.mesh_nface];
for (int k = 0; k < obj.mesh_nface; k++)
{
faces[3 * k] = obj.mesh_face[3 * k];
faces[3 * k + 1] = obj.mesh_face[3 * k + 2];
faces[3 * k + 2] = obj.mesh_face[3 * k + 1];
}
// number of verices can be modified by uncompressed mesh
int nvert = obj.mesh_nvertex;
// replace with uncompressed mesh when UV needs to be recomputed
if (recomputeUV && (MJP.TGeom)obj.geomtype == MJP.TGeom.MESH)
{
// make temporary mesh
Mesh temp = new Mesh();
temp.vertices = vertices;
temp.normals = normals;
temp.triangles = faces;
// generate uncompressed UV unwrapping
Vector2[] UV = Unwrapping.GeneratePerTriangleUV(temp);
int N = UV.GetLength(0) / 3;
if (N != obj.mesh_nface)
{
throw new System.Exception("Unexpected number of faces");
}
nvert = 3 * N;
// create corresponding uncompressed vertices, normals, faces
Vector3[] Vertex = new Vector3[3 * N];
Vector3[] Normal = new Vector3[3 * N];
int[] Face = new int[3 * N];
for (int k = 0; k < N; k++)
{
Vertex[3 * k] = vertices[faces[3 * k]];
Vertex[3 * k + 1] = vertices[faces[3 * k + 1]];
Vertex[3 * k + 2] = vertices[faces[3 * k + 2]];
Normal[3 * k] = normals[faces[3 * k]];
Normal[3 * k + 1] = normals[faces[3 * k + 1]];
Normal[3 * k + 2] = normals[faces[3 * k + 2]];
Face[3 * k] = 3 * k;
Face[3 * k + 1] = 3 * k + 1;
Face[3 * k + 2] = 3 * k + 2;
}
// create uncompressed mesh
filt.sharedMesh = new Mesh();
filt.sharedMesh.vertices = Vertex;
filt.sharedMesh.normals = Normal;
filt.sharedMesh.triangles = Face;
filt.sharedMesh.uv = UV;
}
// otherwise create mesh directly
else
{
filt.sharedMesh = new Mesh();
filt.sharedMesh.vertices = vertices;
filt.sharedMesh.normals = normals;
filt.sharedMesh.triangles = faces;
filt.sharedMesh.uv = uv;
}
// optionally recompute normals for meshes
if (recomputeNormal && (MJP.TGeom)obj.geomtype == MJP.TGeom.MESH)
{
filt.sharedMesh.RecalculateNormals();
}
// always calculate tangents (MuJoCo does not support tangents)
filt.sharedMesh.RecalculateTangents();
// set name
if ((MJP.TGeom)obj.geomtype == MJP.TGeom.CAPSULE)
{
filt.sharedMesh.name = "Capsule mesh";
}
else
{
StringBuilder mname = new StringBuilder(100);
MJP.GetElementName(MJP.TElement.MESH, obj.dataid, mname, 100);
filt.sharedMesh.name = mname.ToString();
}
// print error if number of vertices or faces is over 65535
if (obj.mesh_nface > 65535 || nvert > 65535)
{
Debug.LogError("MESH TOO BIG: " + filt.sharedMesh.name +
", vertices " + nvert + ", faces " + obj.mesh_nface);
}
}
break;
}
// existing material
if (obj.material >= 0)
{
// not modified
if (obj.color[0] == 0.5f && obj.color[1] == 0.5f && obj.color[2] == 0.5f && obj.color[3] == 1)
{
rend.sharedMaterial = materials[obj.material];
}
// color override
else
{
rend.sharedMaterial = new Material(materials[obj.material]);
AdjustMaterial(rend.sharedMaterial, obj.color[0], obj.color[1], obj.color[2], obj.color[3]);
}
}
// new material
else
{
rend.sharedMaterial = new Material(Shader.Find("Standard"));
AdjustMaterial(rend.sharedMaterial, obj.color[0], obj.color[1], obj.color[2], obj.color[3]);
}
// get MuJoCo object transform and set in Unity
MJP.TTransform transform;
int visible;
int selected;
MJP.GetObjectState(i, &transform, &visible, &selected);
SetTransform(objects[i], transform);
}
// delete primitives
for (int i = 0; i < 4; i++)
{
DestroyImmediate(primitives[i]);
}
AssetDatabase.Refresh();
}
// initialize
unsafe void Start()
{
// set selection color
selcolor = new Color(0.5f, 0.5f, 0.5f, 1);
// initialize plugin
//// MJP.Initialize();
// MJP.LoadModel(Application.streamingAssetsPath + "/" + modelFile);
// get number of renderable objects, allocate map
MJP.TSize size;
MJP.GetSize(&size);
ncamera = size.ncamera;
nobject = size.nobject;
objects = new GameObject[nobject];
// get root
// root = GameObject.Find("MuJoCo");
if (root == null)
{
throw new System.Exception("MuJoCo root object not found");
}
// get camera under root
int nchild = root.transform.childCount;
for (int i = 0; i < nchild; i++)
{
thecamera = root.transform.GetChild(i).gameObject.GetComponent <Camera>();
if (thecamera != null)
{
break;
}
}
if (thecamera == null)
{
throw new System.Exception("No camera found under MuJoCo root object");
}
// make map of renderable objects
for (int i = 0; i < nobject; i++)
{
// get object name
StringBuilder name = new StringBuilder(100);
MJP.GetObjectName(i, name, 100);
// find corresponding GameObject
for (int j = 0; j < nchild; j++)
{
if (root.transform.GetChild(j).name == name.ToString())
{
objects[i] = root.transform.GetChild(j).gameObject;
break;
}
}
// set initial state
if (objects[i])
{
MJP.TTransform transform;
int visible;
int selected;
MJP.GetObjectState(i, &transform, &visible, &selected);
SetTransform(objects[i], transform);
objects[i].SetActive(visible > 0);
}
}
int offwidth = 1280;
int offheight = 720;
// get camera fov and offscreen resolution
camfov = new float[ncamera + 1];
for (int i = -1; i < ncamera; i++)
{
MJP.TCamera cam;
MJP.GetCamera(i, &cam);
camfov[i + 1] = cam.fov;
// plugin returns offscreen width and height for all cameras
offwidth = cam.width;
offheight = cam.height;
}
off_render = new OffscreenRenderer(offwidth, offheight);
// synchronize time
MJP.SetTime(Time.time);
videotime = Time.time;
}