private void InitScenario()
{
// First release any previously loaded objects
foreach (GameObject car in cars)
{
Destroy(car);
}
cars.Clear();
if (envModel != null)
{
Destroy(envModel);
}
if (ESMiniLib.SE_Init(Application.streamingAssetsPath + OSC_filename,
disable_controllers ? 1 : 0,
OSG_visualization ? 1 : 0,
threads ? 1 : 0,
0) != 0) // don't create .dat-recording for replayer
{
print("failed to load scenario");
return;
}
// Load environment 3D model
string sceneGraphFilename = Marshal.PtrToStringAnsi(ESMiniLib.SE_GetSceneGraphFilename());
Debug.Log("Loading " + Path.GetFileNameWithoutExtension(sceneGraphFilename));
envModel = (GameObject)Instantiate(Resources.Load(Path.GetFileNameWithoutExtension(sceneGraphFilename)));
}
public void Reload()
{
Debug.Log("Reload");
cam.transform.SetParent(null);
ESMiniLib.SE_Close();
InitScenario();
}
static void ParamDeclarationCallback(IntPtr user_data_ptr)
{
UserData user_data = (UserData)Marshal.PtrToStructure(user_data_ptr, typeof(UserData));
Debug.Log(user_data.message_ + ": Set TargetSpeedFactor = " + user_data.speedFactor_);
ESMiniLib.SE_SetParameterDouble("TargetSpeedFactor", user_data.speedFactor_);
}
private void Start()
{
state = new ScenarioObjectState();
cam = GameObject.FindWithTag("MainCamera");
// Prepare and register callback for initializing scneario parameters
// The user_data is typically not needed, but included here just to show
// how to pass any kind of structure to the callback.
UserData user_data = new UserData("This is a message", 1.6);
user_data_ptr = Marshal.AllocHGlobal(Marshal.SizeOf(user_data));
Marshal.StructureToPtr(user_data, user_data_ptr, false);
// This call must be made BEFORE SE_Init(), and is only needed once.
ESMiniLib.SE_RegisterParameterDeclarationCallback(ParamDeclarationCallback, user_data_ptr);
InitScenario();
}
private void Update()
{
ESMiniLib.SE_StepDT(Time.deltaTime);
if (ESMiniLib.SE_GetQuitFlag())
{
#if UNITY_EDITOR
// Application.Quit() does not work in the editor so
// UnityEditor.EditorApplication.isPlaying need to be set to false to end the game
ESMiniLib.SE_Close();
UnityEditor.EditorApplication.isPlaying = false;
#else
Application.Quit();
#endif
}
// Check nr of objects
for (int i = 0; i < ESMiniLib.SE_GetNumberOfObjects(); i++)
{
ESMiniLib.SE_GetObjectState(i, ref state);
// Instantiate objects
if (cars.Count <= i)
{
// Add scenario controlled objects
int model_id = Mathf.Min(state.model_id, objectNames.Count - 1);
cars.Add((GameObject)Instantiate(Resources.Load(objectNames[model_id])));
Debug.Log("Adding " + objectNames[model_id]);
// Attach camera to first object
if (i == 0)
{
cam.transform.SetParent(cars[0].transform);
cam.transform.position = new Vector3(0.0f, 4f, -12.0f);
cam.transform.rotation = Quaternion.Euler(10, 0, 0);
}
}
// Adapt to Unity coordinate system
cars[i].transform.position = RH2Unity(new Vector3(state.x, state.y, state.z));
cars[i].transform.rotation = Quaternion.Euler(RHHPR2UnityXYZ(new Vector3(state.h, state.p, state.r)));
}
}
private void InitScenario()
{
// First release any previously loaded objects
foreach (GameObject car in cars)
{
Destroy(car);
}
cars.Clear();
if (envModel != null)
{
Destroy(envModel);
}
if (ESMiniLib.SE_Init(Application.streamingAssetsPath + OSC_filename,
disable_controllers ? 1 : 0,
OSG_visualization ? 1 : 0,
threads ? 1 : 0,
0) != 0) // don't create .dat-recording for replayer
{
print("failed to load scenario");
return;
}
// Load environment 3D model
string sceneGraphFilename = Marshal.PtrToStringAnsi(ESMiniLib.SE_GetSceneGraphFilename());
Debug.Log("Loading " + Path.GetFileNameWithoutExtension(sceneGraphFilename));
envModel = (GameObject)Instantiate(Resources.Load(Path.GetFileNameWithoutExtension(sceneGraphFilename)));
// Fetch names of entities within the scenario
int nObjects = ESMiniLib.SE_GetNumberOfObjects();
for (int i = 0; i < nObjects; i++)
{
string typeName = Marshal.PtrToStringAnsi(ESMiniLib.SE_GetObjectTypeName(i));
string objectName = Marshal.PtrToStringAnsi(ESMiniLib.SE_GetObjectName(i));
string modelFileName = Marshal.PtrToStringAnsi(ESMiniLib.SE_GetObjectModelFileName(i));
Debug.Log("Object[" + i + "]: " + objectName + " (type: " + typeName + ", model: " + modelFileName + ")");
}
}
void OnApplicationQuit()
{
Debug.Log("Quit");
ESMiniLib.SE_Close();
}
void OnApplicationQuit()
{
Debug.Log("Quit");
ESMiniLib.SE_Close();
Marshal.FreeHGlobal(user_data_ptr);
}
