protected virtual void AddRandomSimulationObject()
{
int templateIndex = 0;
if (controllerState.noObjects - noObjects < controllerState.initialBigObjects)
{
templateIndex = Random.Range(0, numberOfDistinctObjectUsed / 2);
templateIndex = templateIndex * 2 + 1;
}
else
{
templateIndex = Random.Range(0, numberOfDistinctObjectUsed);
}
/*
* if (controllerState.noObjects - noObjects < controllerState.initialBigObjects)
* {
* templateIndex = 3;
* }
* else
* {
* templateIndex = Random.Range(2, numberOfDistinctObjectUsed);
* }
*/
GameObject refObject = gameObjectTemplates[templateIndex];
GameObject obj = Object.Instantiate(refObject);
obj.SetActive(true);
float x_pos = Random.Range(controllerState.throwMinX, controllerState.throwMaxX);
float y_pos = Random.Range(controllerState.throwMinY, controllerState.throwMaxY);
float z_pos = Random.Range(controllerState.throwMinZ, controllerState.throwMaxZ);
obj.GetComponent <Rigidbody>().position = new Vector3(x_pos, y_pos, z_pos);
SimulationObjectState objState = new SimulationObjectState();
objState.material = (templateIndex < 2) ? 0 : 1;
objState.size = (templateIndex % 2 == 0) ? 0 : 1;
int colorIndex = Random.Range(0, numberOfDistinctColorsUsed);
SimulationColor col = new SimulationColor((SimulationColor.TYPE)colorIndex);
Material newMat = Instantiate(refObject.GetComponent <Renderer>().material);
newMat.SetColor("_BaseColor", col.GetColor((SimulationMaterial.TYPE)objState.material));
obj.GetComponent <Renderer>().material = newMat;
objState.SetGameObject(obj);
objState.color = colorIndex;
objState.templateIndex = templateIndex;
prevObjectState = objState;
prevCreatedObject = obj;
}
static public string toJSON(List <SimulationObjectState> objStates)
{
if (objStates != null)
{
SimulationSceneState sceneState = new SimulationSceneState();
foreach (SimulationObjectState obj in objStates)
{
SimulationColor col = new SimulationColor((SimulationColor.TYPE)obj.color);
SimulationMaterial mat = new SimulationMaterial((SimulationMaterial.TYPE)obj.material);
sceneState.objectStates.Add(SimulationObjectState.createJSONFromObject(obj.GetGameObject(), mat, col, obj.size, obj.templateIndex));
}
return(JsonUtility.ToJson(sceneState));
}
return("");
}
static public List <SimulationObjectState> fromJSON(string sceneStateStr, GameObject[] gameObjectTemplates, int removedObjectIndex)
{
List <SimulationObjectState> ret = new List <SimulationObjectState>();
SimulationSceneState sceneState = JsonUtility.FromJson <SimulationSceneState>(sceneStateStr);
if (sceneState != null)
{
for (int i = 0; i < sceneState.objectStates.Count; i++)
{
bool active = i != removedObjectIndex;
SimulationObjectState objState = SimulationObjectState.createObjectFromJSON(sceneState.objectStates[i], gameObjectTemplates, active);
if (objState != null)
{
ret.Add(objState);
}
}
}
return(ret);
}
static public string createJSONFromObject(GameObject obj, SimulationMaterial mat, SimulationColor col, int size, int templateIndex)
{
if (obj != null)
{
SimulationObjectState state = new SimulationObjectState();
state.position = obj.transform.position;
state.rotation = obj.transform.rotation;
state.velocity = obj.GetComponent <Rigidbody>().velocity;
state.inertiaTensor = obj.GetComponent <Rigidbody>().inertiaTensor;
state.inertiaTensorRotation = obj.GetComponent <Rigidbody>().inertiaTensorRotation;
state.angularVelocity = obj.GetComponent <Rigidbody>().angularVelocity;
state.material = (int)mat.type;
state.color = (int)col.type;
state.size = size;
//state.sceneIndex = sceneIndex;
state.templateIndex = templateIndex;
state.active = obj.activeSelf ? 1 : 0;
return(JsonUtility.ToJson(state));
}
return("");
}
void Update()
{
if ((SimulationState)controllerState.simulationState == SimulationState.CREATE_SCENE)
{
if (createSceneState == CreateSceneState.THROW)
{
if (prevCreatedObject == null)
{
AddRandomSimulationObject();
}
else
{
if (IsObjectStable(prevCreatedObject))
{
if (IsCreatedObjectValid(prevCreatedObject))
{
createdSimulationObjects.Add(prevObjectState);
noObjects--;
prevCreatedObject = null;
prevObjectState = null;
}
else
{
prevCreatedObject.SetActive(false);
Destroy(prevCreatedObject);
prevCreatedObject = null;
prevObjectState = null;
}
}
}
if (noObjects <= 0)
{
createSceneState = CreateSceneState.WAIT_WITH_PIPE;
}
}
else if (createSceneState == CreateSceneState.WAIT_WITH_PIPE)
{
if (IsSceneStable())
{
bool changeState = true;
foreach (GameObject obj in pipeObjects)
{
if (obj.activeSelf == true)
{
changeState = false;
obj.SetActive(false);
break;
}
}
if (changeState)
{
createSceneState = CreateSceneState.WAIT_WITHOUT_PIPE;
}
}
}
else if (createSceneState == CreateSceneState.WAIT_WITHOUT_PIPE)
{
if (IsSceneStable())
{
// Append filename to folder name (format is '0005 shot.png"')
WriteGroundTruthInfo("InitialStable");
createSceneState = CreateSceneState.STOP;
}
}
else if (createSceneState == CreateSceneState.STOP)
{
if (controllerState.stopWaitFrame <= 0)
{
stop();
}
controllerState.stopWaitFrame--;
}
}
else if ((SimulationState)controllerState.simulationState == SimulationState.CREATE_FINAL_STABLE)
{
if (removeObjectState == RemoveObjectState.WAIT)
{
if (IsSceneStable())
{
WriteGroundTruthInfo(string.Format("FinalStable_{0:D04}", controllerState.removedObjectIndex));
removeObjectState = RemoveObjectState.STOP;
}
}
else if (removeObjectState == RemoveObjectState.STOP)
{
if (controllerState.stopWaitFrame <= 0)
{
stop();
}
controllerState.stopWaitFrame--;
}
}
if ((maxSimulationFrames != 0 && Time.frameCount >= maxSimulationFrames) || (Time.frameCount >= hardCodedMaxSimulationFrames))
{
//Reset simulation by deleting the directory
System.IO.Directory.Delete(simulationFolder);
stop();
}
}
