/// <summary>
/// Instantiates selected prefab in the unique relative path
/// </summary>
/// <param name="prefabId">Id of instantiated prefab in <see cref="NetworkSettings.DistributedObjectPrefabs"/></param>
/// <param name="relativePath">Relative path to the root where object will be created, can be changed if object name is not unique</param>
/// <returns>Instantiated new distributed object</returns>
/// <exception cref="ArgumentException">Invalid configuration of the instantiated prefab</exception>
private DistributedObject InstantiatePrefab(int prefabId, string relativePath)
{
if (prefabId < 0 || prefabId >= Settings.DistributedObjectPrefabs.Length)
{
throw new ArgumentException(
$"Prefab of distributed object with id {prefabId} is not defined in {typeof(NetworkSettings).Name}.");
}
var distributedObjectParent = HierarchyUtilities.GetOrCreateChild(transform, relativePath);
var newGameObject = Instantiate(Settings.DistributedObjectPrefabs[prefabId], distributedObjectParent);
HierarchyUtilities.ChangeToUniqueName(newGameObject);
var distributedObject = newGameObject.GetComponent <DistributedObject>();
if (distributedObject == null)
{
throw new ArgumentException(
$"Prefab of distributed object with id {prefabId} has no {typeof(DistributedObject).Name} component in the root game object.");
}
instantiatedObjects.Add(new InstantiatedObjectData(prefabId, distributedObject));
return(distributedObject);
}
public GameObject SpawnAgent(AgentConfig config)
{
var go = Instantiate(config.Prefab, transform);
go.name = config.Name;
var agentController = go.GetComponent <AgentController>();
agentController.SensorsChanged += AgentControllerOnSensorsChanged;
agentController.Config = config;
agentController.Config.AgentGO = go;
SIM.LogSimulation(SIM.Simulation.VehicleStart, config.Name);
ActiveAgents.Add(agentController.Config);
agentController.GTID = ++SimulatorManager.Instance.GTIDs;
agentController.Config.GTID = agentController.GTID;
BridgeClient bridgeClient = null;
if (config.Bridge != null)
{
bridgeClient = go.AddComponent <BridgeClient>();
bridgeClient.Init(config.Bridge);
if (config.Connection != null)
{
var split = config.Connection.Split(':');
if (split.Length != 2)
{
throw new Exception("Incorrect bridge connection string, expected HOSTNAME:PORT");
}
bridgeClient.Connect(split[0], int.Parse(split[1]));
}
}
SIM.LogSimulation(SIM.Simulation.BridgeTypeStart, config.Bridge != null ? config.Bridge.Name : "None");
var sensorsController = go.AddComponent <SensorsController>();
agentController.AgentSensorsController = sensorsController;
sensorsController.SetupSensors(config.Sensors);
//Add required components for distributing rigidbody from master to clients
var network = Loader.Instance.Network;
if (network.IsClusterSimulation)
{
HierarchyUtilities.ChangeToUniqueName(go);
if (network.IsClient)
{
//Disable controller and dynamics on clients so it will not interfere mocked components
agentController.enabled = false;
var vehicleDynamics = agentController.GetComponent <IVehicleDynamics>() as MonoBehaviour;
if (vehicleDynamics != null)
{
vehicleDynamics.enabled = false;
}
}
//Change the simulation type only if it's not set in the prefab
var distributedRigidbody = go.GetComponent <DistributedRigidbody>();
if (distributedRigidbody == null)
{
distributedRigidbody = go.AddComponent <DistributedRigidbody>();
distributedRigidbody.SimulationType = DistributedRigidbody.MockingSimulationType.ExtrapolateVelocities;
}
//Add the rest required components for cluster simulation
ClusterSimulationUtilities.AddDistributedComponents(go);
}
go.transform.position = config.Position;
go.transform.rotation = config.Rotation;
agentController.Init();
#if UNITY_EDITOR
// TODO remove hack for editor opaque with alpha clipping 2019.3.3
Array.ForEach(go.GetComponentsInChildren <Renderer>(), renderer =>
{
foreach (var m in renderer.materials)
{
m.shader = Shader.Find(m.shader.name);
}
});
Array.ForEach(go.GetComponentsInChildren <DecalProjector>(), decal =>
{
decal.material.shader = Shader.Find(decal.material.shader.name);
});
#endif
return(go);
}
public GameObject SpawnAgent(AgentConfig config)
{
var go = Instantiate(config.Prefab, transform);
go.name = config.Name;
// set it inactive until we can be sure setting up sensors etc worked without exceptions and it AgentController was initialized
go.SetActive(false);
var agentController = go.GetComponent <AgentController>();
agentController.Config = config;
agentController.Config.AgentGO = go;
var lane = go.AddComponent <VehicleLane>();
var baseLink = go.GetComponentInChildren <BaseLink>();
if (baseLink == null)
{
baseLink = new GameObject("BaseLink").AddComponent <BaseLink>();
baseLink.transform.SetParent(go.transform, false);
}
ActiveAgents.Add(agentController.Config);
agentController.GTID = ++SimulatorManager.Instance.GTIDs;
agentController.Config.GTID = agentController.GTID;
BridgeClient bridgeClient = null;
if (config.Bridge != null)
{
bridgeClient = go.AddComponent <BridgeClient>();
bridgeClient.Init(config.Bridge);
if (!String.IsNullOrEmpty(config.Connection))
{
bridgeClient.Connect(config.Connection);
}
}
var sensorsController = go.AddComponent <SensorsController>();
agentController.AgentSensorsController = sensorsController;
//Add required components for distributing rigidbody from master to clients
var network = Loader.Instance.Network;
if (network.IsClusterSimulation)
{
HierarchyUtilities.ChangeToUniqueName(go);
if (network.IsClient)
{
//Disable controller and dynamics on clients so it will not interfere mocked components
agentController.enabled = false;
var vehicleDynamics = agentController.GetComponent <IVehicleDynamics>() as MonoBehaviour;
if (vehicleDynamics != null)
{
vehicleDynamics.enabled = false;
}
}
//Change the simulation type only if it's not set in the prefab
var distributedRigidbody = go.GetComponent <DistributedRigidbody>();
if (distributedRigidbody == null)
{
distributedRigidbody = go.AddComponent <DistributedRigidbody>();
distributedRigidbody.SimulationType = DistributedRigidbody.MockingSimulationType.ExtrapolateVelocities;
}
//Add the rest required components for cluster simulation
ClusterSimulationUtilities.AddDistributedComponents(go);
}
go.transform.position = config.Position;
go.transform.rotation = config.Rotation;
sensorsController.SetupSensors(config.Sensors);
agentController.Init();
go.SetActive(true);
return(go);
}
public GameObject SpawnAgent(AgentConfig config)
{
var go = Instantiate(config.Prefab, transform);
go.name = config.Name;
// set it inactive until we can be sure setting up sensors etc worked without exceptions and it AgentController was initialized
go.SetActive(false);
var controller = go.GetComponent <IAgentController>();
if (controller == null)
{
Debug.LogWarning($"{nameof(IAgentController)} implementation not found on the {config.Name} vehicle. This vehicle can't be used as an ego vehicle.");
}
else
{
controller.Config = config;
controller.Config.AgentGO = go;
ActiveAgents.Add(controller.Config);
controller.GTID = ++SimulatorManager.Instance.GTIDs;
controller.Config.GTID = controller.GTID;
}
var lane = go.AddComponent <VehicleLane>();
var baseLink = go.GetComponentInChildren <BaseLink>();
if (baseLink == null)
{
baseLink = new GameObject("BaseLink").AddComponent <BaseLink>();
baseLink.transform.SetParent(go.transform, false);
}
var sensorsController = go.GetComponent <ISensorsController>() ?? go.AddComponent <SensorsController>();
if (controller != null)
{
controller.AgentSensorsController = sensorsController;
}
//Add required components for distributing rigidbody from master to clients
var network = Loader.Instance.Network;
if (network.IsClusterSimulation)
{
HierarchyUtilities.ChangeToUniqueName(go);
//Add the rest required components for cluster simulation
ClusterSimulationUtilities.AddDistributedComponents(go);
if (network.IsClient)
{
controller?.DisableControl();
}
}
BridgeClient bridgeClient = null;
if (config.BridgeData != null)
{
var dir = Path.Combine(Simulator.Web.Config.PersistentDataPath, "Bridges");
var vfs = VfsEntry.makeRoot(dir);
Simulator.Web.Config.CheckDir(vfs.GetChild(config.BridgeData.AssetGuid), Simulator.Web.Config.LoadBridgePlugin);
bridgeClient = go.AddComponent <BridgeClient>();
config.Bridge = BridgePlugins.Get(config.BridgeData.Type);
bridgeClient.Init(config.Bridge);
if (!String.IsNullOrEmpty(config.Connection))
{
bridgeClient.Connect(config.Connection);
}
}
go.transform.position = config.Position;
go.transform.rotation = config.Rotation;
sensorsController.SetupSensors(config.Sensors);
controller?.Init();
if (SimulatorManager.Instance.IsAPI)
{
SimulatorManager.Instance.EnvironmentEffectsManager.InitRainVFX(go.transform);
}
go.SetActive(true);
return(go);
}