//same as PlaceObjectReceptacle but instead only succeeds if final placed object is within viewport
public bool PlaceObjectReceptacleInViewport(List <ReceptacleSpawnPoint> rsps, SimObjPhysics sop, bool PlaceStationary, int maxPlacementAttempts, int degreeIncrement, bool AlwaysPlaceUpright)
{
if (rsps == null)
{
#if UNITY_EDITOR
Debug.Log("Null list of points to check, please pass in populated list of <ReceptacleSpawnPoint>?");
#endif
return(false); //uh, there was nothing in the List for some reason, so failed to spawn
}
if (rsps.Count == 0)
{
return(false);
}
List <ReceptacleSpawnPoint> goodRsps = new List <ReceptacleSpawnPoint>();
foreach (ReceptacleSpawnPoint p in rsps)
{
if (!p.ParentSimObjPhys.GetComponent <SimObjPhysics>().DoesThisObjectHaveThisSecondaryProperty
(SimObjSecondaryProperty.ObjectSpecificReceptacle))
{
goodRsps.Add(p);
}
}
int tries = 0;
foreach (ReceptacleSpawnPoint p in goodRsps)
{
//if this is an Object Specific Receptacle, stop this check right now! I mean it!
//Placing objects in/on an Object Specific Receptacle uses different logic to place the
//object at the Attachemnet point rather than in the spawn area, so stop this right now!
if (PlaceObject(sop, p, PlaceStationary, degreeIncrement, AlwaysPlaceUpright))
{
//check to make sure the placed object is within the viewport
BaseFPSAgentController primaryAgent = GameObject.Find("PhysicsSceneManager").GetComponent <AgentManager>().ReturnPrimaryAgent();
if (primaryAgent.GetComponent <PhysicsRemoteFPSAgentController>().objectIsOnScreen(sop))
{
return(true);
}
}
tries += 1;
if (maxPlacementAttempts > 0 && tries > maxPlacementAttempts)
{
break;
}
}
//couldn't find valid places to spawn
return(false);
}
private void addAgent(ServerAction action)
{
Vector3 clonePosition = new Vector3(action.x, action.y, action.z);
//disable ambient occlusion on primary agetn because it causes issues with multiple main cameras
primaryAgent.GetComponent <PhysicsRemoteFPSAgentController>().DisableScreenSpaceAmbientOcclusion();
BaseFPSAgentController clone = UnityEngine.Object.Instantiate(primaryAgent);
clone.IsVisible = action.makeAgentsVisible;
clone.actionDuration = this.actionDuration;
// clone.m_Camera.targetDisplay = this.agents.Count;
clone.transform.position = clonePosition;
UpdateAgentColor(clone, agentColors[this.agents.Count]);
clone.ProcessControlCommand(action);
this.agents.Add(clone);
}
public IEnumerator EmitFrame()
{
frameCounter += 1;
bool shouldRender = this.renderImage && serverSideScreenshot;
if (shouldRender)
{
// we should only read the screen buffer after rendering is complete
yield return(new WaitForEndOfFrame());
}
WWWForm form = new WWWForm();
MultiAgentMetadata multiMeta = new MultiAgentMetadata();
multiMeta.agents = new MetadataWrapper[this.agents.Count];
multiMeta.activeAgentId = this.activeAgentId;
multiMeta.sequenceId = this.currentSequenceId;
ThirdPartyCameraMetadata[] cameraMetadata = new ThirdPartyCameraMetadata[this.thirdPartyCameras.Count];
RenderTexture currentTexture = null;
JavaScriptInterface jsInterface = null;
if (shouldRender)
{
currentTexture = RenderTexture.active;
for (int i = 0; i < this.thirdPartyCameras.Count; i++)
{
ThirdPartyCameraMetadata cMetadata = new ThirdPartyCameraMetadata();
Camera camera = thirdPartyCameras.ToArray()[i];
cMetadata.thirdPartyCameraId = i;
cMetadata.position = camera.gameObject.transform.position;
cMetadata.rotation = camera.gameObject.transform.eulerAngles;
cameraMetadata[i] = cMetadata;
ImageSynthesis imageSynthesis = camera.gameObject.GetComponentInChildren <ImageSynthesis> () as ImageSynthesis;
addThirdPartyCameraImageForm(form, camera);
addImageSynthesisImageForm(form, imageSynthesis, this.renderDepthImage, "_depth", "image_thirdParty_depth");
addImageSynthesisImageForm(form, imageSynthesis, this.renderNormalsImage, "_normals", "image_thirdParty_normals");
addImageSynthesisImageForm(form, imageSynthesis, this.renderObjectImage, "_id", "image_thirdParty_image_ids");
addImageSynthesisImageForm(form, imageSynthesis, this.renderClassImage, "_class", "image_thirdParty_classes");
addImageSynthesisImageForm(form, imageSynthesis, this.renderClassImage, "_flow", "image_thirdParty_flow");//XXX fix this in a bit
}
}
for (int i = 0; i < this.agents.Count; i++)
{
BaseFPSAgentController agent = this.agents.ToArray() [i];
jsInterface = agent.GetComponent <JavaScriptInterface>();
MetadataWrapper metadata = agent.generateMetadataWrapper();
metadata.agentId = i;
// we don't need to render the agent's camera for the first agent
if (shouldRender)
{
addImageForm(form, agent);
addImageSynthesisImageForm(form, agent.imageSynthesis, this.renderDepthImage, "_depth", "image_depth");
addImageSynthesisImageForm(form, agent.imageSynthesis, this.renderNormalsImage, "_normals", "image_normals");
addObjectImageForm(form, agent, ref metadata);
addImageSynthesisImageForm(form, agent.imageSynthesis, this.renderClassImage, "_class", "image_classes");
addImageSynthesisImageForm(form, agent.imageSynthesis, this.renderFlowImage, "_flow", "image_flow");
metadata.thirdPartyCameras = cameraMetadata;
}
multiMeta.agents [i] = metadata;
}
if (shouldRender)
{
RenderTexture.active = currentTexture;
}
var serializedMetadata = Newtonsoft.Json.JsonConvert.SerializeObject(multiMeta);
#if UNITY_WEBGL
// JavaScriptInterface jsI = FindObjectOfType<JavaScriptInterface>();
// jsInterface.SendAction(new ServerAction(){action = "Test"});
if (jsInterface != null)
{
jsInterface.SendActionMetadata(serializedMetadata);
}
#endif
//form.AddField("metadata", JsonUtility.ToJson(multiMeta));
form.AddField("metadata", serializedMetadata);
form.AddField("token", robosimsClientToken);
#if !UNITY_WEBGL
if (synchronousHttp)
{
if (this.sock == null)
{
// Debug.Log("connecting to host: " + robosimsHost);
IPAddress host = IPAddress.Parse(robosimsHost);
IPEndPoint hostep = new IPEndPoint(host, robosimsPort);
this.sock = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
try {
this.sock.Connect(hostep);
}
catch (SocketException e) {
Debug.Log("Socket exception: " + e.ToString());
}
}
if (this.sock != null && this.sock.Connected)
{
byte[] rawData = form.data;
string request = "POST /train HTTP/1.1\r\n" +
"Content-Length: " + rawData.Length.ToString() + "\r\n";
foreach (KeyValuePair <string, string> entry in form.headers)
{
request += entry.Key + ": " + entry.Value + "\r\n";
}
request += "\r\n";
int sent = this.sock.Send(Encoding.ASCII.GetBytes(request));
sent = this.sock.Send(rawData);
// waiting for a frame here keeps the Unity window in sync visually
// its not strictly necessary, but allows the interact() command to work properly
// and does not reduce the overall FPS
yield return(new WaitForEndOfFrame());
byte[] headerBuffer = new byte[1024];
int bytesReceived = 0;
byte[] bodyBuffer = null;
int bodyBytesReceived = 0;
int contentLength = 0;
// read header
while (true)
{
int received = this.sock.Receive(headerBuffer, bytesReceived, headerBuffer.Length - bytesReceived, SocketFlags.None);
if (received == 0)
{
Debug.LogError("0 bytes received attempting to read header - connection closed");
break;
}
bytesReceived += received;;
string headerMsg = Encoding.ASCII.GetString(headerBuffer, 0, bytesReceived);
int offset = headerMsg.IndexOf("\r\n\r\n");
if (offset > 0)
{
contentLength = parseContentLength(headerMsg.Substring(0, offset));
bodyBuffer = new byte[contentLength];
bodyBytesReceived = bytesReceived - (offset + 4);
Array.Copy(headerBuffer, offset + 4, bodyBuffer, 0, bodyBytesReceived);
break;
}
}
// read body
while (bodyBytesReceived < contentLength)
{
// check for 0 bytes received
int received = this.sock.Receive(bodyBuffer, bodyBytesReceived, bodyBuffer.Length - bodyBytesReceived, SocketFlags.None);
if (received == 0)
{
Debug.LogError("0 bytes received attempting to read body - connection closed");
break;
}
bodyBytesReceived += received;
//Debug.Log("total bytes received: " + bodyBytesReceived);
}
string msg = Encoding.ASCII.GetString(bodyBuffer, 0, bodyBytesReceived);
ProcessControlCommand(msg);
}
}
else
{
using (var www = UnityWebRequest.Post("http://" + robosimsHost + ":" + robosimsPort + "/train", form))
{
yield return(www.SendWebRequest());
if (www.isNetworkError || www.isHttpError)
{
Debug.Log("Error: " + www.error);
yield break;
}
ProcessControlCommand(www.downloadHandler.text);
}
}
#endif
}