void Awake()
{
if (instance == null)
{
instance = this;
DontDestroyOnLoad(this.gameObject);
}
}
// Start is called before the first frame update
void Start()
{
var udpSarlInterface = FindObjectsOfType(typeof(UdpSarlInterface)) as UdpSarlInterface[];
if (udpSarlInterface.Length != 0)
{
udpSarlInterface[0].PhysicalInfluenceReceived += physicalInfluence =>
{
var id = physicalInfluence.Id;
UnityMainThreadDispatcher.Instance().Enqueue(() =>
{
// Instantiate the body if it doesn't exist (later we will remove this part)
if (!BodiesRepository.Instance().Bodies.ContainsKey(id))
{
var bodyGameObject = BodiesRepository.Instance().Spawn(id);
// TODO Position is randomized (the concept of spawners must be introduced)
bodyGameObject.transform.position = new Vector3(Random.Range(-10.0f, 10.0f), Random.Range(-10.0f, 10.0f), Random.Range(-10.0f, 10.0f));
}
// TODO In a first time we just apply the force of the influence (PoC)
BodiesRepository.Instance().Bodies[id].GetComponent <Rigidbody>().AddRelativeForce(physicalInfluence.Force, ForceMode.Force);
//bodies[id].GetComponent<Rigidbody>().AddForceAtPosition(physicalInfluence.Force, physicalInfluence.ForceLocation);
//bodies[id].GetComponent<Rigidbody>().AddTorque(physicalInfluence.AngularForce);
});
//influences.Add(id, physicalInfluence);
};
udpSarlInterface[0].SimulationControlReceived += simulationControl =>
{
if (simulationControl.Type == SimulationControl.ActionType.CreateBody)
{
UnityMainThreadDispatcher.Instance().Enqueue(() =>
{
var id = simulationControl.Data;
Debug.Log("Creating body: " + id);
if (!BodiesRepository.Instance().Bodies.ContainsKey(id))
{
var bodyGameObject = BodiesRepository.Instance().Spawn(id);
// TODO Position is randomized (the concept of spawners must be introduced)
bodyGameObject.transform.position = new Vector3(Random.Range(-10.0f, 10.0f), Random.Range(-10.0f, 10.0f), Random.Range(-10.0f, 10.0f));
}
});
}
};
}
}
/// <summary>
/// Trigger a simulation step
/// </summary>
void Step()
{
UnityMainThreadDispatcher.Instance().Enqueue(() =>
{
// Trigger the phyics simulation
Physics.Simulate(deltaTime);
// Compute the perceptions for all bodies if they have a perceiver component
foreach (var agentBody in BodiesRepository.Instance().Bodies)
{
var perceiver = agentBody.Value.GetComponent(typeof(Perceiver)) as Perceiver;
if (perceiver != null)
{
var perceptions = perceiver.PerceivedObjets;
this.sarlInterface.EmitPerceptions(new PerceptionList(agentBody.Key, perceptions));
}
}
});
}
void OnDestroy()
{
instance = null;
}
