// Start is called before the first frame update
void Start()
{
this.transform.position = new Vector3(-6.0f, 1.0f, 2.0f);
coordinate = new IntVector2(1, 0);
Target.position = new Vector3(-18.0f, 0.0f, 18.0f);
maze_size = 5;
//Height, Width => (z, x)
//"NSEW"
Maze = new string[5, 5] {
{ "1101", "1000", "1010", "1101", "1010" },
{ "1011", "0011", "0011", "1001", "0010" },
{ "0101", "0110", "0011", "0011", "0011" },
{ "1001", "1010", "0011", "0011", "0011" },
{ "0111", "0101", "0100", "0110", "0111" }
};
// Debug.Log(GetCellState(coordinate).ToString());
mjr = mujoco.GetComponent <MJRemote>();
}
// run importer
private unsafe void RunImport()
{
Resources.UnloadUnusedAssets();
BuildAssetDatabase(modelFile);
// adjust global settings
Time.fixedDeltaTime = 0.005f;
//PlayerSettings.runInBackground = true;
if (enableRemote)
{
QualitySettings.vSyncCount = (noVSync ? 0 : 1);
}
else
{
QualitySettings.vSyncCount = 1;
}
// disable active cameras
/* Camera[] activecam = FindObjectsOfType<Camera>();
* foreach( Camera ac in activecam )
* ac.gameObject.SetActive(false);
*/
fileName = Path.GetFileName(modelFile);
// initialize plugin and load model
MJP.Close();
MJP.Initialize();
MJP.LoadModel(modelFile);
// get model sizes
MJP.TSize size;
MJP.GetSize(&size);
// import materials
//if( size.nmaterial>0 )
{
// MakeDirectory("Assets", "Materials");
ImportMaterials(size.nmaterial);
}
// create root, destroy old if present
root = GameObject.Find("MuJoCo");
if (root != null)
{
Destroy(root);
}
root = new GameObject("MuJoCo");
if (root == null)
{
throw new System.Exception("Could not create root MuJoCo object");
}
root.transform.localPosition = transform.localPosition;
root.transform.localRotation = transform.localRotation;
root.transform.localScale = transform.localScale;
// add camera to root
AddCamera();
// import renderable objects under root
ImportObjects(size.nobject);
// ImportLights(size.nlight);
// attach script to root
if (enableRemote)
{
// add remote
MJRemote extsim = root.GetComponent <MJRemote>();
if (extsim == null)
{
extsim = root.AddComponent <MJRemote>();
}
extsim.root = root;
extsim.modelFile = fileName + ".mjb";
MJTCPInterface tcpif = this.gameObject.GetComponent <MJTCPInterface>();
if (tcpif == null)
{
tcpif = this.gameObject.AddComponent <MJTCPInterface>();
}
tcpif.root = root;
tcpif.tcpAddress = tcpAddress;
tcpif.tcpPort = tcpPort;
// destroy simulate if present
if (root.GetComponent <MJInternalSimulation>())
{
Destroy(root.GetComponent <MJInternalSimulation>());
}
}
else
{
// add simulate
MJInternalSimulation sim = root.GetComponent <MJInternalSimulation>();
if (sim == null)
{
sim = root.AddComponent <MJInternalSimulation>();
}
sim.root = root;
sim.modelFile = fileName + ".mjb";
// destroy remote if present
if (root.GetComponent <MJRemote>())
{
Destroy(root.GetComponent <MJRemote>());
}
// destroy remote if present
if (this.GetComponent <MJTCPInterface>())
{
Destroy(root.GetComponent <MJTCPInterface>());
}
}
// close plugin
// MJP.Close();
}
// Update is called once per frame
void Update()
{
MJRemote ext = root.GetComponent <MJRemote>();
if (ext == null)
{
return;
}
// check conection each 0.1 sec
if (lastcheck + 0.1f < Time.time)
{
// broken connection: clear
if (!CheckConnection())
{
client = null;
stream = null;
}
lastcheck = Time.time;
}
// not connected: accept connection if pending
if (client == null || !client.Connected)
{
if (listener != null && listener.Pending())
{
// make connection
client = listener.AcceptTcpClient();
stream = client.GetStream();
ext.writeSettings(stream);
}
}
// data available: handle communication
while (client != null && client.Connected && stream != null && stream.DataAvailable)
{
// get command
ReadAll(stream, 4);
int cmd = BitConverter.ToInt32(buffer, 0);
// process command
switch ((Command)cmd)
{
// GetInput: send lastkey, select, active, refpos[3], refquat[4]
case Command.GetInput:
ext.writeInput(stream);
break;
// GetImage: send 3*width*height bytes
case Command.GetImage:
ext.writeColorImage(stream);
break;
case Command.GetSegmentationImage:
ext.writeSegmentationImage(stream);
break;
// SaveSnapshot: no data exchange
case Command.SaveSnapshot:
ext.writeSnapshot();
break;
// SaveVideoframe: no data exchange
case Command.SaveVideoframe:
ext.writeVideo();
break;
// SetCamera: receive camera index
case Command.SetCamera:
ext.setCamera(stream);
break;
// SetQpos: receive qpos vector
case Command.SetQpos:
ext.setQpos(stream);
break;
// SetMocap: receive mocap_pos and mocap_quat vectors
case Command.SetMocap:
ext.setMocap(stream);
break;
case Command.ChangeWorld:
ReadAll(stream, 4);
int strlen = BitConverter.ToInt32(buffer, 0);
ReadAll(stream, strlen);
string path = System.Text.Encoding.UTF8.GetString(buffer, 0, strlen);
Debug.Log("Change World");
GameObject.Find("Importer").GetComponent <MJImport>().Import(path); //Kills MJRemote
return; //don't processess more commands until next frame
case Command.GetWorldInfo:
Debug.Log("Write Info");
ext.writeSettings(stream);
break;
case Command.RandomizeAppearance:
ext.randomizeAppearance();
break;
case Command.GetDepthImage:
ext.writeDepthImage(stream);
break;
}
}
}
// run importer
private unsafe void RunImport()
{
// adjust global settings
Time.fixedDeltaTime = 0.005f;
PlayerSettings.runInBackground = true;
if (enableRemote)
{
QualitySettings.vSyncCount = (noVSync ? 0 : 1);
}
else
{
QualitySettings.vSyncCount = 1;
}
// disable active cameras
Camera[] activecam = FindObjectsOfType <Camera>();
foreach (Camera ac in activecam)
{
ac.gameObject.SetActive(false);
}
// get filename only (not path or extension)
int i1 = modelFile.LastIndexOf('/');
int i2 = modelFile.LastIndexOf('.');
if (i1 >= 0 && i2 > i1)
{
fileName = modelFile.Substring(i1 + 1, i2 - i1 - 1);
}
else
{
throw new System.Exception("Unexpected model file format");
}
// initialize plugin and load model
MJP.Initialize();
MJP.LoadModel(modelFile);
// get model sizes
MJP.TSize size;
MJP.GetSize(&size);
// save binary model
MakeDirectory("Assets", "StreamingAssets");
MJP.SaveMJB("Assets/StreamingAssets/" + fileName + ".mjb");
// import textures
if (size.ntexture > 0 && importTexture)
{
MakeDirectory("Assets", "Textures");
ImportTextures(size.ntexture);
}
// import materials
if (size.nmaterial > 0)
{
MakeDirectory("Assets", "Materials");
ImportMaterials(size.nmaterial);
}
// create root, destroy old if present
root = GameObject.Find("MuJoCo");
if (root != null)
{
DestroyImmediate(root);
}
root = new GameObject("MuJoCo");
if (root == null)
{
throw new System.Exception("Could not create root MuJoCo object");
}
// add camera to root
AddCamera();
// import renderable objects under root
ImportObjects(size.nobject);
// attach script to root
if (enableRemote)
{
// add remote
MJRemote rem = root.GetComponent <MJRemote>();
if (rem == null)
{
rem = root.AddComponent <MJRemote>();
}
rem.modelFile = fileName + ".mjb";
rem.tcpAddress = tcpAddress;
rem.tcpPort = tcpPort;
// destroy simulate if present
if (root.GetComponent <MJSimulate>())
{
DestroyImmediate(root.GetComponent <MJSimulate>());
}
}
else
{
// add simulate
MJSimulate sim = root.GetComponent <MJSimulate>();
if (sim == null)
{
sim = root.AddComponent <MJSimulate>();
}
sim.modelFile = fileName + ".mjb";
// destroy remote if present
if (root.GetComponent <MJRemote>())
{
DestroyImmediate(root.GetComponent <MJRemote>());
}
}
// close plugin
MJP.Close();
}
