public bool SetObjectPoses(ObjectPose[] objectPoses)
{
SetupScene();
bool shouldFail = false;
if (objectPoses != null && objectPoses.Length > 0)
{
// Perform object location sets
SimObjPhysics[] sceneObjects = FindObjectsOfType <SimObjPhysics>();
Dictionary <string, SimObjPhysics> nameToObject = new Dictionary <string, SimObjPhysics>();
foreach (SimObjPhysics sop in sceneObjects)
{
if (sop.IsPickupable)
{
sop.gameObject.SetActive(false);
//sop.gameObject.GetComponent<SimpleSimObj>().IsDisabled = true;
nameToObject[sop.name] = sop;
}
}
HashSet <SimObjPhysics> placedOriginal = new HashSet <SimObjPhysics>();
for (int ii = 0; ii < objectPoses.Length; ii++)
{
ObjectPose objectPose = objectPoses[ii];
if (!nameToObject.ContainsKey(objectPose.objectName))
{
Debug.Log("No object of name " + objectPose.objectName + " found in scene.");
shouldFail = true;
continue;
}
SimObjPhysics obj = nameToObject[objectPose.objectName];
SimObjPhysics existingSOP = obj.GetComponent <SimObjPhysics>();
SimObjPhysics copy;
if (placedOriginal.Contains(existingSOP))
{
copy = Instantiate(existingSOP);
copy.name += "_copy_" + ii;
copy.ObjectID = existingSOP.ObjectID + "_copy_" + ii;
copy.objectID = copy.ObjectID;
}
else
{
copy = existingSOP;
placedOriginal.Add(existingSOP);
}
copy.transform.position = objectPose.position;
copy.transform.eulerAngles = objectPose.rotation;
copy.gameObject.SetActive(true);
//copy.GetComponent<SimpleSimObj>().IsDisabled = false;
}
}
SetupScene();
return(!shouldFail);
}
public bool SetObjectPoses(ObjectPose[] objectPoses, out string errorMessage, bool placeStationary)
{
SetupScene();
errorMessage = "";
bool shouldFail = false;
if (objectPoses != null && objectPoses.Length > 0)
{
// Perform object location sets
SimObjPhysics[] sceneObjects = FindObjectsOfType <SimObjPhysics>();
// this will contain all pickupable and moveable objects currently in the scene
Dictionary <string, SimObjPhysics> nameToObject = new Dictionary <string, SimObjPhysics>();
Dictionary <string, SimObjPhysics> isStaticNameToObject = new Dictionary <string, SimObjPhysics>();
// get all sim objects in scene that are either pickupable or moveable and prepare them to be repositioned, cloned, or disabled
foreach (SimObjPhysics sop in sceneObjects)
{
// note that any moveable or pickupable sim objects not explicitly passed in via objectPoses
// will be disabled since we SetActive(false)
if (sop.IsPickupable || sop.IsMoveable)
{
sop.gameObject.SetActive(false);
// sop.gameObject.GetComponent<SimpleSimObj>().IsDisabled = true;
nameToObject[sop.name] = sop;
}
// track all static sim objects as well for reference later
if (sop.isStatic)
{
isStaticNameToObject[sop.name] = sop;
}
}
HashSet <SimObjPhysics> placedOriginal = new HashSet <SimObjPhysics>();
for (int ii = 0; ii < objectPoses.Length; ii++)
{
ObjectPose objectPose = objectPoses[ii];
if (!nameToObject.ContainsKey(objectPose.objectName))
{
errorMessage = "No Pickupable or Moveable object of name " + objectPose.objectName + " found in scene.";
Debug.Log(errorMessage);
shouldFail = true;
continue;
}
if (isStaticNameToObject.ContainsKey(objectPose.objectName))
{
errorMessage = objectPose.objectName + " is not a Moveable or Pickupable object. SetObjectPoses only works with Moveable and Pickupable sim objects.";
Debug.Log(errorMessage);
shouldFail = true;
continue;
}
if (!nameToObject.ContainsKey(objectPose.objectName) && !isStaticNameToObject.ContainsKey(objectPose.objectName))
{
errorMessage = objectPose.objectName + " does not exist in scene.";
shouldFail = true;
continue;
}
SimObjPhysics obj = nameToObject[objectPose.objectName];
SimObjPhysics existingSOP = obj.GetComponent <SimObjPhysics>();
SimObjPhysics copy;
if (placedOriginal.Contains(existingSOP))
{
copy = Instantiate(existingSOP);
copy.name += "_copy_" + ii;
copy.ObjectID = existingSOP.ObjectID + "_copy_" + ii;
copy.objectID = copy.ObjectID;
}
else
{
copy = existingSOP;
placedOriginal.Add(existingSOP);
}
copy.transform.position = objectPose.position;
copy.transform.eulerAngles = objectPose.rotation;
copy.gameObject.SetActive(true);
if (placeStationary)
{
copy.GetComponent <Rigidbody>().collisionDetectionMode = CollisionDetectionMode.Discrete;
copy.GetComponent <Rigidbody>().isKinematic = true;
}
// copy.GetComponent<SimpleSimObj>().IsDisabled = false;
}
}
SetupScene();
return(!shouldFail);
}
