internal void randomizeAppearance()
{
var clustering_map = new SortedDictionary <string, Tuple <string, List <GameObject> > >();
foreach (Transform t in root.transform)
{
string prefix = getPrefix(t.gameObject.name);
Renderer render = t.gameObject.GetComponent <Renderer>();
if (render != null)
{
String matname = render.material.name;
if (clustering_map.ContainsKey(prefix))
{
if (clustering_map[prefix].Item1 != matname)
{
Debug.LogWarning(t.gameObject.name + "has inconsistent materials with other objects in its group");
}
}
else
{
clustering_map.Add(prefix, new Tuple <string, List <GameObject> >(matname, new List <GameObject>()));
}
clustering_map[prefix].Item2.Add(t.gameObject);
}
}
foreach (var tup in clustering_map.Values)
{
RandomColor randomizer;
if (DoorGym.Configuration.MaterialParameters.TryGetValue(tup.Item1, out randomizer))
{
var color = randomizer.Next();
foreach (var gobj in tup.Item2)
{
InstancedColor instancer = gobj.GetComponent <InstancedColor>();
if (instancer != null)
{
instancer.Diffuse = color;
}
}
}
}
}
// import renderable objects
private unsafe void ImportObjects(int nobject)
{
string cwd = Path.GetDirectoryName(modelFile);
// make primitives
PrimitiveType[] ptypes =
{
PrimitiveType.Plane,
PrimitiveType.Sphere,
PrimitiveType.Cylinder,
PrimitiveType.Cube
};
GameObject[] primitives = new GameObject[4];
for (int i = 0; i < 4; i++)
{
primitives[i] = GameObject.CreatePrimitive(ptypes[i]);
}
// allocate array
objects = new GameObject[nobject];
// process objects
for (int i = 0; i < nobject; i++)
{
// get object name
StringBuilder name = new StringBuilder(100);
MJP.GetObjectName(i, name, 100);
// create new GameObject, place under root
objects[i] = new GameObject(name.ToString());
MeshFilter filt = objects[i].AddComponent <MeshFilter>();
MeshRenderer rend = objects[i].AddComponent <MeshRenderer>();
InstancedColor colors = objects[i].AddComponent <InstancedColor>();
objects[i].transform.parent = root.transform;
// get MuJoCo object descriptor
MJP.TObject obj;
MJP.GetObject(i, &obj);
// For Furniture Assembly Environment: do not visualize site
if (obj.category == (int)MJP.TCategory.SITE && !objects[i].name.Contains("conn"))
{
objects[i].layer = 9;
}
if (objects[i].name.StartsWith("noviz", StringComparison.Ordinal))
{
objects[i].layer = 10;
}
if (objects[i].name.StartsWith("floor", StringComparison.Ordinal))
{
objects[i].layer = 10;
}
// set mesh
switch ((MJP.TGeom)obj.geomtype)
{
case MJP.TGeom.PLANE:
filt.sharedMesh = primitives[0].GetComponent <MeshFilter>().sharedMesh;
break;
case MJP.TGeom.SPHERE:
filt.sharedMesh = primitives[1].GetComponent <MeshFilter>().sharedMesh;
break;
case MJP.TGeom.CYLINDER:
filt.sharedMesh = primitives[2].GetComponent <MeshFilter>().sharedMesh;
break;
case MJP.TGeom.BOX:
filt.sharedMesh = primitives[3].GetComponent <MeshFilter>().sharedMesh;
break;
case MJP.TGeom.HFIELD:
int nrow = obj.hfield_nrow;
int ncol = obj.hfield_ncol;
int r, c;
// allocate
Vector3[] hfvertices = new Vector3[nrow * ncol + 4 * nrow + 4 * ncol];
Vector2[] hfuv = new Vector2[nrow * ncol + 4 * nrow + 4 * ncol];
int[] hffaces0 = new int[3 * 2 * (nrow - 1) * (ncol - 1)];
int[] hffaces1 = new int[3 * (4 * (nrow - 1) + 4 * (ncol - 1))];
// vertices and uv: surface
for (r = 0; r < nrow; r++)
{
for (c = 0; c < ncol; c++)
{
int k = r * ncol + c;
float wc = c / (float)(ncol - 1);
float wr = r / (float)(nrow - 1);
hfvertices[k].Set(-(wc - 0.5f), obj.hfield_data[k], -(wr - 0.5f));
hfuv[k].Set(wc, wr);
}
}
// vertices and uv: front and back
for (r = 0; r < nrow; r += (nrow - 1))
{
for (c = 0; c < ncol; c++)
{
int k = nrow * ncol + 2 * ((r > 0?ncol:0) + c);
float wc = c / (float)(ncol - 1);
float wr = r / (float)(nrow - 1);
hfvertices[k].Set(-(wc - 0.5f), -0.5f, -(wr - 0.5f));
hfuv[k].Set(wc, 0);
hfvertices[k + 1].Set(-(wc - 0.5f), obj.hfield_data[r * ncol + c], -(wr - 0.5f));
hfuv[k + 1].Set(wc, 1);
}
}
// vertices and uv: left and right
for (c = 0; c < ncol; c += (ncol - 1))
{
for (r = 0; r < nrow; r++)
{
int k = nrow * ncol + 4 * ncol + 2 * ((c > 0?nrow:0) + r);
float wc = c / (float)(ncol - 1);
float wr = r / (float)(nrow - 1);
hfvertices[k].Set(-(wc - 0.5f), -0.5f, -(wr - 0.5f));
hfuv[k].Set(wr, 0);
hfvertices[k + 1].Set(-(wc - 0.5f), obj.hfield_data[r * ncol + c], -(wr - 0.5f));
hfuv[k + 1].Set(wr, 1);
}
}
// faces: surface
for (r = 0; r < nrow - 1; r++)
{
for (c = 0; c < ncol - 1; c++)
{
int f = r * (ncol - 1) + c;
int k = r * ncol + c;
// first face in rectangle
hffaces0[3 * 2 * f] = k;
hffaces0[3 * 2 * f + 2] = k + 1;
hffaces0[3 * 2 * f + 1] = k + ncol + 1;
// second face in rectangle
hffaces0[3 * 2 * f + 3] = k;
hffaces0[3 * 2 * f + 5] = k + ncol + 1;
hffaces0[3 * 2 * f + 4] = k + ncol;
}
}
// faces: front and back
for (r = 0; r < 2; r++)
{
for (c = 0; c < ncol - 1; c++)
{
int f = ((r > 0?(ncol - 1):0) + c);
int k = nrow * ncol + 2 * ((r > 0?ncol:0) + c);
// first face in rectangle
hffaces1[3 * 2 * f] = k;
hffaces1[3 * 2 * f + 2] = k + (r > 0 ? 1 : 3);
hffaces1[3 * 2 * f + 1] = k + (r > 0 ? 3 : 1);
// second face in rectangle
hffaces1[3 * 2 * f + 3] = k;
hffaces1[3 * 2 * f + 5] = k + (r > 0 ? 3 : 2);
hffaces1[3 * 2 * f + 4] = k + (r > 0 ? 2 : 3);
}
}
// faces: left and right
for (c = 0; c < 2; c++)
{
for (r = 0; r < nrow - 1; r++)
{
int f = 2 * (ncol - 1) + ((c > 0?(nrow - 1):0) + r);
int k = nrow * ncol + 4 * ncol + 2 * ((c > 0?nrow:0) + r);
// first face in rectangle
hffaces1[3 * 2 * f] = k;
hffaces1[3 * 2 * f + 2] = k + (c > 0 ? 3 : 1);
hffaces1[3 * 2 * f + 1] = k + (c > 0 ? 1 : 3);
// second face in rectangle
hffaces1[3 * 2 * f + 3] = k;
hffaces1[3 * 2 * f + 5] = k + (c > 0 ? 2 : 3);
hffaces1[3 * 2 * f + 4] = k + (c > 0 ? 3 : 2);
}
}
Debug.Log(ncol);
Debug.Log(nrow);
Debug.Log(Mathf.Min(hffaces1));
Debug.Log(Mathf.Max(hffaces1));
// create mesh with automatic normals and tangents
filt.sharedMesh = new Mesh();
filt.sharedMesh.vertices = hfvertices;
filt.sharedMesh.uv = hfuv;
filt.sharedMesh.subMeshCount = 2;
filt.sharedMesh.SetTriangles(hffaces0, 0);
filt.sharedMesh.SetTriangles(hffaces1, 1);
filt.sharedMesh.RecalculateNormals();
filt.sharedMesh.RecalculateTangents();
// set name
StringBuilder hname = new StringBuilder(100);
MJP.GetElementName(MJP.TElement.HFIELD, obj.dataid, hname, 100);
filt.sharedMesh.name = hname.ToString();
break;
case MJP.TGeom.CAPSULE:
case MJP.TGeom.MESH:
// reuse shared mesh from earlier object
if (obj.mesh_shared >= 0)
{
filt.sharedMesh = objects[obj.mesh_shared].GetComponent <MeshFilter>().sharedMesh;
}
// create new mesh
else
{
string meshName;
// set name
if ((MJP.TGeom)obj.geomtype == MJP.TGeom.CAPSULE)
{
meshName = "Capsule mesh";
}
else
{
StringBuilder mname = new StringBuilder(100);
MJP.GetElementName(MJP.TElement.MESH, obj.dataid, mname, 100);
meshName = mname.ToString();
}
{
// copy vertices, normals, uv
Vector3[] vertices = new Vector3[obj.mesh_nvertex];
Vector3[] normals = new Vector3[obj.mesh_nvertex];
Vector2[] uv = new Vector2[obj.mesh_nvertex];
for (int k = 0; k < obj.mesh_nvertex; k++)
{
vertices[k].Set(-obj.mesh_position[3 * k],
obj.mesh_position[3 * k + 2],
-obj.mesh_position[3 * k + 1]);
normals[k].Set(-obj.mesh_normal[3 * k],
obj.mesh_normal[3 * k + 2],
-obj.mesh_normal[3 * k + 1]);
uv[k].Set(obj.mesh_texcoord[2 * k],
obj.mesh_texcoord[2 * k + 1]);
}
// copy faces
int[] faces = new int[3 * obj.mesh_nface];
for (int k = 0; k < obj.mesh_nface; k++)
{
faces[3 * k] = obj.mesh_face[3 * k];
faces[3 * k + 1] = obj.mesh_face[3 * k + 2];
faces[3 * k + 2] = obj.mesh_face[3 * k + 1];
}
// number of verices can be modified by uncompressed mesh
int nvert = obj.mesh_nvertex;
// replace with uncompressed mesh when UV needs to be recomputed
// ( recomputeUV && (MJP.TGeom)obj.geomtype==MJP.TGeom.MESH )
{
// make temporary mesh
Mesh temp = new Mesh();
temp.vertices = vertices;
temp.normals = normals;
temp.triangles = faces;
// generate uncompressed UV unwrapping
/* Vector2[] UV = Unwrapping.GeneratePerTriangleUV(temp);
* int N = UV.GetLength(0)/3;
* if( N!=obj.mesh_nface )
* throw new System.Exception("Unexpected number of faces");
* nvert = 3*N;*/
int N = obj.mesh_nface;
nvert = 3 * N;
// create corresponding uncompressed vertices, normals, faces
Vector3[] Vertex = new Vector3[3 * N];
Vector3[] Normal = new Vector3[3 * N];
int[] Face = new int[3 * N];
for (int k = 0; k < N; k++)
{
Vertex[3 * k] = vertices[faces[3 * k]];
Vertex[3 * k + 1] = vertices[faces[3 * k + 1]];
Vertex[3 * k + 2] = vertices[faces[3 * k + 2]];
Normal[3 * k] = normals[faces[3 * k]];
Normal[3 * k + 1] = normals[faces[3 * k + 1]];
Normal[3 * k + 2] = normals[faces[3 * k + 2]];
Face[3 * k] = 3 * k;
Face[3 * k + 1] = 3 * k + 1;
Face[3 * k + 2] = 3 * k + 2;
}
// create uncompressed mesh
filt.sharedMesh = new Mesh();
filt.sharedMesh.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32;
filt.sharedMesh.vertices = Vertex;
filt.sharedMesh.normals = Normal;
filt.sharedMesh.triangles = Face;
filt.sharedMesh.name = meshName;
// filt.sharedMesh.uv = UV;
}
// otherwise create mesh directly
/* else
* {
* filt.sharedMesh = new Mesh();
* filt.sharedMesh.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32;
* filt.sharedMesh.vertices = vertices;
* filt.sharedMesh.normals = normals;
* filt.sharedMesh.triangles = faces;
* filt.sharedMesh.uv = uv;
* filt.sharedMesh.name = meshName;
* filt.sharedMesh.RecalculateNormals(30);
* }*/
// optionally recompute normals for meshes
/* if (recomputeNormal && (MJP.TGeom)obj.geomtype == MJP.TGeom.MESH)
* filt.sharedMesh.RecalculateNormals(60);*/
filt.sharedMesh.RecalculateNormals(25);
// always calculate tangents (MuJoCo does not support tangents)
filt.sharedMesh.RecalculateTangents();
}
// print error if number of vertices or faces is over 65535
/* if( obj.mesh_nface>65535 || nvert>65535 )
* Debug.LogError("MESH TOO BIG: " + filt.sharedMesh.name +
* ", vertices " + nvert + ", faces " + obj.mesh_nface);*/
}
break;
}
//TODO: Set segmentation color with Material.SetColor("_SegColor")
// existing material
byte segmentation = 0;
// Try to get segmentation id. If nothing is found, the object will remain background (0)
if (meshSegmentMap.TryGetValue(name.ToString(), out segmentation) == false)
{
meshSegmentMap.TryGetValue(filt.sharedMesh.name, out segmentation);
}
Material base_material = null;
if (materials.TryGetValue(obj.material, out base_material))
{
rend.sharedMaterial = base_material;
colors.Diffuse = new Color(obj.color[0], obj.color[1], obj.color[2], obj.color[3]);
colors.Segmentation = new Color32(segmentation, segmentation, segmentation, segmentation);
}
else // Missing material (shouldn't be possible?)
{
Debug.Log("Couldn't find a Material for id:" + obj.material);
}
// get MuJoCo object transform and set in Unity
MJP.TTransform transform;
int visible;
int selected;
MJP.GetObjectState(i, &transform, &visible, &selected);
SetTransform(objects[i], transform);
}
// delete primitives
for (int i = 0; i < 4; i++)
{
Destroy(primitives[i]);
}
}