private void Start()
{
MapOrigin = MapOrigin.Find();
NPCSpawnCheckBitmask = LayerMask.GetMask("NPC", "Agent");
SpawnBoundsSize = new Vector3(MapOrigin.NPCSpawnBoundSize, 50f, MapOrigin.NPCSpawnBoundSize);
NPCMaxCount = MapOrigin.NPCMaxCount;
SimulatorCamera = SimulatorManager.Instance.CameraManager.SimulatorCamera;
MapManager = SimulatorManager.Instance.MapManager;
NPCVehicles.Clear();
foreach (var data in Simulator.Web.Config.NPCVehicles)
{
NPCVehicles.Add(new NPCS {
NPCType = data.Value.NPCType,
Prefab = data.Value.prefab,
});
if (NPCColorData.Count(d => d.Type == data.Value.NPCType) == 0)
{
Debug.LogWarning($"NPC of type {data.Value.NPCType} loaded but no colors to pick configured for this type");
}
}
var network = Loader.Instance.Network;
network.MessagesManager?.RegisterObject(this);
if (!SimulatorManager.Instance.IsAPI && !network.IsClient)
{
SpawnNPCPool();
if (NPCActive)
{
SetNPCOnMap();
}
}
}
private void Start()
{
MapOrigin = MapOrigin.Find();
PedSpawnCheckBitmask = LayerMask.GetMask("Pedestrian", "Agent", "NPC");
SpawnBoundsSize = new Vector3(MapOrigin.PedSpawnBoundSize, 50f, MapOrigin.PedSpawnBoundSize);
PedMaxCount = MapOrigin.PedMaxCount;
SimulatorCamera = SimulatorManager.Instance.CameraManager.SimulatorCamera;
SpawnInfo[] spawnInfos = FindObjectsOfType <SpawnInfo>();
var pt = Vector3.zero;
if (spawnInfos.Length > 0)
{
pt = spawnInfos[0].transform.position;
}
NavMeshHit hit;
if (NavMesh.SamplePosition(pt, out hit, 1f, NavMesh.AllAreas))
{
InitPedestrians();
if (PedestriansActive)
{
SetPedOnMap();
}
}
else
{
var sceneName = SceneManager.GetActiveScene().name;
Debug.LogError($"{sceneName} is missing Pedestrian NavMesh");
gameObject.SetActive(false);
}
}
private void Awake()
{
RigidBody = GetComponentInParent <Rigidbody>();
Actions = GetComponentInParent <VehicleActions>();
Dynamics = GetComponentInParent <IVehicleDynamics>();
MapOrigin = MapOrigin.Find();
}
public void Execute(JSONNode args)
{
var api = ApiManager.Instance;
var map = MapOrigin.Find();
if (map == null)
{
api.SendError(this, "MapOrigin not found. Is the scene loaded?");
return;
}
var position = args["transform"]["position"].ReadDouble3();
var rotation = args["transform"]["rotation"].ReadDouble3();
double northing, easting;
map.PositionToNorthingEasting(position, out northing, out easting);
double latitude, longitude;
map.NorthingEastingToLatLong(northing, easting, out latitude, out longitude);
var result = new JSONObject();
result.Add("latitude", new JSONNumber(latitude));
result.Add("longitude", new JSONNumber(longitude));
result.Add("northing", new JSONNumber(northing));
result.Add("easting", new JSONNumber(easting));
result.Add("altitude", new JSONNumber(position.y + map.AltitudeOffset));
result.Add("orientation", new JSONNumber(-rotation.y));
api.SendResult(this, result);
}
private void Start()
{
MapOrigin = MapOrigin.Find();
spawnsManager = GetComponent <SpawnsManager>();
PedSpawnCheckBitmask = LayerMask.GetMask("Pedestrian", "Agent", "NPC");
PedMaxCount = MapOrigin.PedMaxCount;
SimCameraManager = SimulatorManager.Instance.CameraManager;
SimulatorCamera = SimCameraManager.SimulatorCamera;
MapManager = SimulatorManager.Instance.MapManager;
SpawnInfo[] spawnInfos = FindObjectsOfType <SpawnInfo>();
Loader.Instance.Network.MessagesManager?.RegisterObject(this);
var pt = Vector3.zero;
if (spawnInfos.Length > 0)
{
pt = spawnInfos[0].transform.position;
}
if (Loader.Instance.Network.IsClient)
{
return;
}
if (NavMesh.SamplePosition(pt, out NavMeshHit hit, 1f, NavMesh.AllAreas))
{
if (!SimulatorManager.Instance.IsAPI && !Loader.Instance.Network.IsClient)
{
SpawnPedPool();
if (PedestriansActive)
{
SetPedOnMap(true);
}
}
}
private void Start()
{
MapOrigin = MapOrigin.Find();
PedSpawnCheckBitmask = LayerMask.GetMask("Pedestrian", "Agent", "NPC");
SpawnBoundsSize = new Vector3(MapOrigin.PedSpawnBoundSize, 50f, MapOrigin.PedSpawnBoundSize);
PedMaxCount = MapOrigin.PedMaxCount;
SimulatorCamera = SimulatorManager.Instance.CameraManager.SimulatorCamera;
SpawnInfo[] spawnInfos = FindObjectsOfType <SpawnInfo>();
Loader.Instance.Network.MessagesManager?.RegisterObject(this);
var pt = Vector3.zero;
if (spawnInfos.Length > 0)
{
pt = spawnInfos[0].transform.position;
}
if (Loader.Instance.Network.IsClient)
{
return;
}
if (NavMesh.SamplePosition(pt, out NavMeshHit hit, 1f, NavMesh.AllAreas))
{
InitPedestrians();
if (PedestriansActive)
{
SetPedOnMap();
}
}
public void Start()
{
RigidBody = GetComponentInParent <Rigidbody>();
MapOrigin = MapOrigin.Find();
Task.Run(Publisher);
}
private void Start()
{
MapOrigin = MapOrigin.Find();
spawnsManager = GetComponent <SpawnsManager>();
NPCMaxCount = MapOrigin.NPCMaxCount;
SimCameraManager = SimulatorManager.Instance.CameraManager;
SimulatorCamera = SimCameraManager.SimulatorCamera;
MapManager = SimulatorManager.Instance.MapManager;
InitSpawn = true;
NPCVehicles.Clear();
if (Loader.Instance.CurrentSimulation == null)
{
return;
}
if (Loader.Instance.CurrentSimulation.NPCs == null)
{
Loader.Instance.CurrentSimulation.NPCs = Simulator.Web.Config.NPCVehicles.Values.ToArray();
}
foreach (var data in Loader.Instance.CurrentSimulation.NPCs)
{
if (data.Enabled)
{
GameObject obj = null;
foreach (var item in Simulator.Web.Config.NPCVehicles.Values)
{
if (item.Name == data.Name)
{
obj = item.Prefab;
}
}
NPCVehicles.Add(new NPCAssetData
{
NPCType = data.NPCType,
Prefab = obj,
});
if (NPCColorData.Count(d => d.Type == data.NPCType) == 0)
{
Debug.LogWarning($"NPC of type {data.NPCType} loaded but no colors to pick configured for this type");
}
}
}
var network = Loader.Instance.Network;
network.MessagesManager?.RegisterObject(this);
if (!SimulatorManager.Instance.IsAPI && !network.IsClient)
{
SpawnNPCPool();
if (NPCActive)
{
SetNPCOnMap(true);
}
}
}
void Start()
{
MapOrigin = MapOrigin.Find();
WireframeBoxes = SimulatorManager.Instance.WireframeBoxes;
rangeTrigger.SetCallbacks(WhileInRange);
rangeTrigger.transform.localScale = MaxDistance * UnityEngine.Vector3.one;
nextSend = Time.time + 1.0f / Frequency;
}
public void Execute(JSONNode argsArray)
{
var api = ApiManager.Instance;
var map = MapOrigin.Find();
if (map == null)
{
api.SendError(this, "MapOrigin not found. Is the scene loaded?");
return;
}
var results = new JSONArray();
var arr = argsArray.AsArray;
foreach (var args in arr.Children)
{
Vector3 position;
if (args["latitude"] == null)
{
var northing = args["northing"].AsDouble;
var easting = args["easting"].AsDouble;
position = map.NorthingEastingToPosition(northing, easting);
}
else
{
var latitude = args["latitude"].AsDouble;
var longitude = args["longitude"].AsDouble;
double northing, easting;
map.LatLongToNorthingEasting(latitude, longitude, out northing, out easting);
position = map.NorthingEastingToPosition(northing, easting);
}
var altitude = args["altitude"];
if (altitude != null)
{
position.y = altitude.AsFloat - map.AltitudeOffset;
}
Vector3 rotation = Vector3.zero;
var orientation = args["orientation"];
if (orientation != null)
{
rotation.y = -orientation.AsFloat;
}
var result = new JSONObject();
result.Add("position", position);
result.Add("rotation", rotation);
results.Add(result);
}
api.SendResult(this, results);
}
public override void OnBridgeSetup(IBridge bridge)
{
Bridge = bridge;
Writer = bridge.AddWriter <CanBusData>(Topic);
RigidBody = GetComponentInParent <Rigidbody>();
Actions = GetComponentInParent <VehicleActions>();
Dynamics = GetComponentInParent <VehicleDynamics>();
MapOrigin = MapOrigin.Find();
}
void Start()
{
WireframeBoxes = SimulatorManager.Instance.WireframeBoxes;
rangeTrigger.SetCallbacks(WhileInRange);
rangeTrigger.transform.localScale = MaxDistance * Vector3.one;
nextSend = SimulatorManager.Instance.CurrentTime + 1.0f / Frequency;
MapOrigin = MapOrigin.Find();
startTime = SimulatorManager.Instance.CurrentTime;
prevTimes = new Dictionary <string, double>();
isToRecord = false;
}
public void Execute(JSONNode args)
{
var api = ApiManager.Instance;
var map = MapOrigin.Find();
if (map == null)
{
api.SendError("MapOrigin not found. Is the scene loaded?");
return;
}
Vector3 position;
if (args["latitude"] == null)
{
var northing = args["northing"].AsDouble;
var easting = args["easting"].AsDouble;
position = map.FromNorthingEasting(northing, easting);
}
else
{
var latitude = args["latitude"].AsDouble;
var longitude = args["longitude"].AsDouble;
double northing, easting;
map.FromLatitudeLongitude(latitude, longitude, out northing, out easting);
position = map.FromNorthingEasting(northing, easting);
}
var altitude = args["altitude"];
if (altitude != null)
{
position.y = altitude.AsFloat - map.AltitudeOffset;
}
Vector3 rotation = Vector3.zero;
var orientation = args["orientation"];
if (orientation != null)
{
rotation.y = -orientation.AsFloat;
}
var result = new JSONObject();
result.Add("position", position);
result.Add("rotation", rotation);
api.SendResult(result);
}
protected virtual void Start()
{
MapOrigin = MapOrigin.Find();
SpawnsManager = GetComponent <SpawnsManager>();
NPCMaxCount = MapOrigin.NPCMaxCount;
NPCVehicles.Clear();
InitialSpawn = false;
if (Loader.Instance.CurrentSimulation == null)
{
return;
}
if (Loader.Instance.CurrentSimulation.NPCs == null)
{
Loader.Instance.CurrentSimulation.NPCs = Simulator.Web.Config.NPCVehicles.Values.ToArray();
}
foreach (var data in Loader.Instance.CurrentSimulation.NPCs)
{
if (data.Enabled)
{
GameObject obj = null;
foreach (var item in Simulator.Web.Config.NPCVehicles.Values)
{
if (item.Name == data.Name)
{
obj = item.Prefab;
}
}
NPCVehicles.Add(new NPCAssetData
{
NPCType = data.NPCType,
Prefab = obj,
Name = data.Name,
AssetGuid = data.AssetGuid
});
if (NPCColorData.Count(d => d.Type == data.NPCType) == 0)
{
Debug.LogWarning($"NPC of type {data.NPCType} loaded but no colors to pick configured for this type");
}
}
}
var network = Loader.Instance.Network;
network.MessagesManager?.RegisterObject(this);
if (!SimulatorManager.Instance.IsAPI && !network.IsClient) // TODO API mode always remove need to pool check
{
SpawnNPCPool();
}
}
protected virtual void Initialize()
{
if (IsInitialized)
{
return;
}
MapOrigin = MapOrigin.Find();
SpawnBoundsSize = new Vector3(MapOrigin.NPCSpawnBoundSize, 50f, MapOrigin.NPCSpawnBoundSize);
VisibleLM = LayerMask.GetMask("Default", "NPC", "Pedestrian", "Obstacle");
NPCSpawnCheckBitmask = LayerMask.GetMask("NPC", "Agent", "Pedestrian");
CacheSpawnPoints();
IsInitialized = true;
}
private void Start()
{
MapOrigin = MapOrigin.Find();
NPCSpawnCheckBitmask = LayerMask.GetMask("NPC", "Agent");
SpawnBoundsSize = new Vector3(MapOrigin.NPCSpawnBoundSize, 50f, MapOrigin.NPCSpawnBoundSize);
NPCMaxCount = MapOrigin.NPCMaxCount;
SimulatorCamera = SimulatorManager.Instance.CameraManager.SimulatorCamera;
if (!SimulatorManager.Instance.IsAPI)
{
SpawnNPCPool();
if (NPCActive)
{
SetNPCOnMap();
}
}
}
void Start()
{
WireframeBoxes = SimulatorManager.Instance.WireframeBoxes;
if (RangeTrigger == null)
{
RangeTrigger = GetComponentInChildren <RangeTrigger>();
}
RangeTrigger.SetCallbacks(WhileInRange);
RangeTrigger.transform.localScale = MaxDistance * Vector3.one;
MapOrigin = MapOrigin.Find();
Detected = new Dictionary <uint, Tuple <Detected3DObject, Collider> >();
CurrentIDs = new HashSet <uint>();
StartCoroutine(OnPublish());
}
private void Start()
{
MapOrigin = MapOrigin.Find();
NPCSpawnCheckBitmask = LayerMask.GetMask("NPC", "Agent");
SpawnBoundsSize = new Vector3(MapOrigin.NPCSpawnBoundSize, 50f, MapOrigin.NPCSpawnBoundSize);
NPCMaxCount = MapOrigin.NPCMaxCount;
SimulatorCamera = SimulatorManager.Instance.CameraManager.SimulatorCamera;
var network = Loader.Instance.Network;
network.MessagesManager?.RegisterObject(this);
if (!SimulatorManager.Instance.IsAPI && !network.IsClient)
{
SpawnNPCPool();
if (NPCActive)
{
SetNPCOnMap();
}
}
}
bool ImportApolloMapCalculate(string filePath)
{
using (var fs = File.OpenRead(filePath))
{
ApolloMap = ProtoBuf.Serializer.Deserialize <Map>(fs);
}
var mapName = "Map" + "_" + Encoding.UTF8.GetString(ApolloMap.header.vendor) + "_" + Encoding.UTF8.GetString(ApolloMap.header.district);
if (!CreateMapHolders(filePath, mapName))
{
return(false);
}
MapOrigin = MapOrigin.Find(); // get or create a map origin
if (!CreateOrUpdateMapOrigin(ApolloMap, MapOrigin))
{
Debug.LogWarning("Could not find latitude or/and longitude in map header Or not supported projection, mapOrigin is not updated.");
}
ImportJunctions();
ImportLanes();
ImportRoads();
ConnectLanes();
ImportOverlaps();
ImportStopSigns();
ImportSignals();
SetIntersectionTriggerBounds();
ImportYields();
UpdateStopLines(); // Update stoplines using intersecting lanes end points
// SetLaneYieldLanes();
// ImportCrossWalks();
// ImportParkingSpaces();
// ImportSpeedBumps();
// ImportClearAreas();
return(true);
}
protected override void Initialize()
{
WireframeBoxes = SimulatorManager.Instance.WireframeBoxes;
MapOrigin = MapOrigin.Find();
}
public void Start()
{
MapOrigin = MapOrigin.Find();
Task.Run(Publisher);
}
private void Awake()
{
MapOrigin = MapOrigin.Find();
startPosition = transform.position;
startRotation = transform.rotation;
}
private void Start()
{
MapOrigin = MapOrigin.Find();
spawnsManager = GetComponent<SpawnsManager>();
PedSpawnCheckBitmask = LayerMask.GetMask("Pedestrian", "Agent", "NPC");
PedMaxCount = MapOrigin.PedMaxCount;
SimCameraManager = SimulatorManager.Instance.CameraManager;
SimulatorCamera = SimCameraManager.SimulatorCamera;
MapManager = SimulatorManager.Instance.MapManager;
PedestrianData.Clear();
if (Loader.Instance.CurrentSimulation == null)
{
return;
}
if (Loader.Instance.CurrentSimulation.Peds == null)
{
Loader.Instance.CurrentSimulation.Peds = Simulator.Web.Config.Pedestrians.Values.ToArray();
}
foreach (var data in Loader.Instance.CurrentSimulation.Peds)
{
if (data.Enabled)
{
GameObject obj = null;
foreach (var item in Simulator.Web.Config.Pedestrians.Values)
{
if (item.Name == data.Name)
{
obj = item.Prefab;
}
}
PedestrianData.Add(new PedAssetData
{
Prefab = obj,
Name = obj.name,
});
}
}
SpawnInfo[] spawnInfos = FindObjectsOfType<SpawnInfo>();
Loader.Instance.Network.MessagesManager?.RegisterObject(this);
var pt = Vector3.zero;
if (spawnInfos.Length > 0)
{
pt = spawnInfos[0].transform.position;
}
if (Loader.Instance.Network.IsClient)
{
return;
}
if (NavMesh.SamplePosition(pt, out NavMeshHit hit, 1f, NavMesh.AllAreas))
{
if (!SimulatorManager.Instance.IsAPI && !Loader.Instance.Network.IsClient)
{
var pool = SpawnPedPool();
if (pool != null)
{
if (PedestriansActive)
{
SetPedOnMap(true);
}
}
else
{
Debug.Log("No pedestrian pool, disabled pedestrian manager ");
gameObject.SetActive(false);
}
}
}
private void Awake()
{
MapOrigin = MapOrigin.Find();
GPSLocation = MapOrigin.PositionToGpsLocation(Vector3.zero);
}
private void Awake()
{
mapOrigin = MapOrigin.Find();
gpsLocation = mapOrigin.GetGpsLocation(Vector3.zero);
}
private void Awake()
{
MapOrigin = MapOrigin.Find();
}
private void Awake()
{
RigidBody = GetComponentInParent <Rigidbody>();
MapOrigin = MapOrigin.Find();
}
