void LoadSim(int idx) { // read in results from json string predFile = Path.Combine(dataInDir, "eval_sim_" + idx.ToString()); Debug.Log("Visualizing " + predFile); var jsonTextFile = Resources.Load <TextAsset>(predFile); m_curPred = PredInfo.CreateFromJSON(jsonTextFile.ToString()); // read in mesh to use string meshFile = Path.Combine(m_baseModelDir, m_curPred.shape); meshFile += ".obj"; Debug.Log(meshFile); OBJLoader.OBJMesh objLoaderMesh = OBJLoader.LoadOBJMesh(meshFile); Debug.Assert(objLoaderMesh.vertices.Count > 0); Debug.Assert(objLoaderMesh.faces.Count > 0); m_mesh = DataGenUtils.ToUnityMesh(objLoaderMesh); // create init object m_initObj = new GameObject("Sim" + idx.ToString() + "_Init"); MeshFilter mfInit = m_initObj.AddComponent <MeshFilter>(); mfInit.mesh = m_mesh; MeshRenderer mrInit = m_initObj.AddComponent <MeshRenderer>(); mrInit.sharedMaterial = initMat; m_initObj.transform.localScale = m_curPred.scale; m_initObj.transform.position = m_curPred.gt_pos[0]; m_initObj.transform.eulerAngles = m_curPred.gt_rot[0]; // create GT object m_gtObj = new GameObject("Sim" + idx.ToString() + "_GT"); MeshFilter mf = m_gtObj.AddComponent <MeshFilter>(); mf.mesh = m_mesh; MeshRenderer mr = m_gtObj.AddComponent <MeshRenderer>(); mr.sharedMaterial = gtMat; m_gtObj.transform.localScale = m_curPred.scale; m_gtObj.transform.position = m_curPred.gt_pos[0]; m_gtObj.transform.eulerAngles = m_curPred.gt_rot[0]; // create sampled object m_sampObj = new GameObject("Sim" + idx.ToString() + "_Samp"); MeshFilter mf2 = m_sampObj.AddComponent <MeshFilter>(); mf2.mesh = m_mesh; MeshRenderer mr2 = m_sampObj.AddComponent <MeshRenderer>(); mr2.sharedMaterial = sampMat; m_sampObj.transform.localScale = m_curPred.scale; m_sampObj.transform.position = m_curPred.samp_pos[0]; m_sampObj.transform.eulerAngles = m_curPred.samp_rot[0]; }
// Loads the given OBJ file, creates a RigidBody with the given mess, and places // at the origin of the ground. protected void PrepareSimObj(string objFile, float mass, BulletSharp.Math.Vector3 inertia) { Debug.Log("Loading " + objFile + "..."); // Load wavefront file OBJLoader.OBJMesh objloadermesh = OBJLoader.LoadOBJMesh(objFile); Debug.Assert(objloadermesh.vertices.Count > 0); Debug.Assert(objloadermesh.faces.Count > 0); // Debug.Log("VERTS: " + objloadermesh.vertices.Count.ToString()); // Debug.Log("FACES: " + objloadermesh.faces.Count.ToString()); m_btmesh = DataGenUtils.BulletMeshFromUnity(objloadermesh); Debug.Assert(m_btmesh.vertices.Length > 0); Debug.Assert(m_btmesh.indices.Length > 0); // Debug.Log("btVERTS: " + (btmesh.vertices.Length / 3).ToString()); // Debug.Log("btFACES: " + (btmesh.indices.Length / 3).ToString()); // Create a GImpactMeshShape for collider var triVtxarray = new TriangleIndexVertexArray(m_btmesh.indices, m_btmesh.vertices); m_cs = new GImpactMeshShape(triVtxarray); m_cs.LocalScaling = new BulletSharp.Math.Vector3(1); m_cs.Margin = bodyMargin; m_cs.UpdateBound(); AddCollisionShape(m_cs); // move it up so resting on the ground plane float miny = float.MaxValue; float cury; for (int i = 0; i < objloadermesh.vertices.Count; i++) { cury = objloadermesh.vertices[i][1]; if (cury < miny) { miny = cury; } } miny = -miny; m_rbInitTransVec = new BulletSharp.Math.Vector3(0, miny + bodyMargin + m_groundMargin, 0); m_rbInitTrans = Matrix.Translation(m_rbInitTransVec); // * Matrix.RotationY(Random.Range(0.0f, 360.0f)); m_rb = CreateRigidBody(mass, inertia, m_rbInitTrans, m_cs, bodyMat, bodyFriction, viz: RENDER_MODE); m_rb.AngularFactor = angularFactor; m_rb.SetSleepingThresholds(linearSleepThresh, angularSleepThresh); if (DEBUG) { Debug.Log("LOADED MOMENT: " + m_rb.LocalInertia.ToString()); } // if (DEBUG) Debug.Log("WORLD MOMENT: " + m_rb.InvInertiaTensorWorld.ToString()); // Debug.Log("Min y: " + (-miny).ToString()); if (DEBUG) { Debug.Log(m_rb.CenterOfMassPosition.ToString()); } }
// returns false if we don't want to use this sim bool LoadSim(int predIdx, int idx, bool createGt) { // read in results from json string predFile = Path.Combine(m_predDataDirs[predIdx], "eval_sim_" + idx.ToString() + ".json"); Debug.Log("Visualizing " + predFile); string jsonTextFile = ReadFile(predFile); m_curPreds.Add(PredInfo.CreateFromJSON(jsonTextFile)); if (showTopplingOnly && !m_curPreds[predIdx].toppled) { // don't want to use this return(false); } if (showNonTopplingOnly && m_curPreds[predIdx].toppled) { return(false); } // find mesh to use string meshFile = ""; for (int i = 0; i < m_baseModelDirs.Count; i++) { meshFile = Path.Combine(m_baseModelDirs[i], m_curPreds[predIdx].shape); meshFile += ".obj"; if (File.Exists(meshFile)) { break; } } Debug.Log(meshFile); if (meshFile == "") { Debug.Log("Couldn't find mesh " + m_curPreds[predIdx].shape + "!"); Application.Quit(); } OBJLoader.OBJMesh objLoaderMesh = OBJLoader.LoadOBJMesh(meshFile); Debug.Assert(objLoaderMesh.vertices.Count > 0); Debug.Assert(objLoaderMesh.faces.Count > 0); m_mesh = DataGenUtils.ToUnityMesh(objLoaderMesh); // create GT object if (createGt && !hideGroundTruth) { m_gtObj = new GameObject("Sim" + idx.ToString() + "_GT"); MeshFilter mf = m_gtObj.AddComponent <MeshFilter>(); mf.mesh = m_mesh; MeshRenderer mr = m_gtObj.AddComponent <MeshRenderer>(); mr.sharedMaterial = gtMat; m_gtObj.transform.localScale = m_curPreds[predIdx].scale; m_gtObj.transform.position = m_curPreds[predIdx].gt_pos[0]; m_gtObj.transform.eulerAngles = m_curPreds[predIdx].gt_euler_rot[0]; } // create sampled object m_predObjs.Add(new GameObject("Sim" + idx.ToString() + "_Pred")); MeshFilter mf2 = m_predObjs[predIdx].AddComponent <MeshFilter>(); mf2.mesh = m_mesh; MeshRenderer mr2 = m_predObjs[predIdx].AddComponent <MeshRenderer>(); mr2.sharedMaterial = predMats[predIdx]; m_predObjs[predIdx].transform.localScale = m_curPreds[predIdx].scale; m_predObjs[predIdx].transform.position = m_curPreds[predIdx].pred_pos[0]; m_predObjs[predIdx].transform.eulerAngles = m_curPreds[predIdx].pred_rot[0]; return(true); }