private void OnDestroy()
{
if (IsInitialized)
{
controls.Disable();
}
TimeManager.Deinitialize();
Sensors.Deinitialize();
RenderLimiter.RenderLimitEnabled();
BridgeMessageDispatcher?.Dispose();
DestroyImmediate(ManagerHolder);
}
public void Init(int?seed = null)
{
if (ApiManager.Instance != null)
{
FixedUpdateManager = ApiManager.Instance;
IsAPI = true;
}
else
{
FixedUpdateManager = Instance;
IsAPI = false;
}
controls = new SimulatorControls();
controls.Enable();
SimulationConfig config = null;
if (Loader.Instance != null)
{
config = Loader.Instance.SimConfig;
}
var masterSeed = seed ?? config?.Seed ?? new System.Random().Next();
RandomGenerator = new System.Random(masterSeed);
segmentationIdMapping = new SegmentationIdMapping();
//Calculate map bounds and limit position compression
if (Loader.Instance != null && Loader.Instance.Network.IsClusterSimulation)
{
var mapBounds = CalculateMapBounds();
//Add margin to the bounds
mapBounds.size += Vector3.one * 50;
ByteCompression.SetPositionBounds(mapBounds);
}
ManagerHolder = new GameObject("ManagerHolder");
ManagerHolder.transform.SetParent(transform);
BridgeMessageDispatcher = new BridgeMessageDispatcher();
AnalysisManager = InstantiateManager(analysisManagerPrefab, ManagerHolder.transform);
AgentManager = InstantiateManager(agentManagerPrefab, ManagerHolder.transform);
CameraManager = InstantiateManager(cameraManagerPrefab, ManagerHolder.transform);
ControllableManager = InstantiateManager(controllableManagerPrefab, ManagerHolder.transform);
MapManager = InstantiateManager(mapManagerPrefab, ManagerHolder.transform);
NPCManager = InstantiateManager(npcManagerPrefab, ManagerHolder.transform);
NPCManager.InitRandomGenerator(RandomGenerator.Next());
PedestrianManager = InstantiateManager(pedestrianManagerPrefab, ManagerHolder.transform);
PedestrianManager.InitRandomGenerator(RandomGenerator.Next());
EnvironmentEffectsManager = InstantiateManager(environmentEffectsManagerPrefab, ManagerHolder.transform);
EnvironmentEffectsManager.InitRandomGenerator(RandomGenerator.Next());
CustomPassManager = InstantiateManager(customPassManagerPrefab, ManagerHolder.transform);
UIManager = InstantiateManager(uiManagerPrefab, ManagerHolder.transform);
controls.Simulator.ToggleNPCS.performed += ctx => NPCManager.NPCActive = !NPCManager.NPCActive;
controls.Simulator.TogglePedestrians.performed += ctx => PedestrianManager.PedestriansActive = !PedestrianManager.PedestriansActive;
controls.Simulator.ToggleAgent.performed += ctx =>
{
if (int.TryParse(ctx.control.name, out int index))
{
AgentManager.SetCurrentActiveAgent(index - 1);
}
};
controls.Simulator.ToggleReset.performed += ctx => AgentManager.ResetAgent();
controls.Simulator.ToggleControlsUI.performed += ctx => UIManager.UIActive = !UIManager.UIActive;
if (config != null)
{
simulationName = config.Name;
clusterName = config.ClusterName;
mapName = config.MapName;
NPCManager.NPCActive = config.UseTraffic;
PedestrianManager.PedestriansActive = config.UsePedestrians;
if (config.Agents != null)
{
AgentManager.SpawnAgents(config.Agents);
}
apiMode = config.ApiOnly;
headless = config.Headless;
interactive = config.Interactive;
useSeed = config.Seed.HasValue;
npc = config.UseTraffic;
pedestrian = config.UsePedestrians;
timeOfDay = config.TimeOfDay.ToString("HH:mm");
rain = config.Rain;
wet = config.Wetness;
fog = config.Fog;
cloud = config.Cloudiness;
Damage = config.Damage;
if (headless)
{
controls.Disable();
}
}
InitSegmenationColors();
WireframeBoxes = gameObject.AddComponent <WireframeBoxes>();
if (Loader.Instance != null)
{
TimeManager.Initialize(Loader.Instance.Network.MessagesManager);
}
Sensors.Initialize();
IsInitialized = true;
}
