public void CreateTask() //create all objects for the current task
{
Vector3 targHolder_scale = new Vector3(1.2f * 0.07f, 0.0001f, 1.2f * 0.07f);
for (int i = 0; i < objNumber; i++)
{
GameObject oriObj = CreateObject(); //orignal object has shape,color,transform
//oriObj.AddComponent<BoxCollider>();
oriObj.AddComponent <Rigidbody>();
oriObj.GetComponent <Rigidbody>().isKinematic = true;
GameObject targHolder = GameObject.CreatePrimitive(PrimitiveType.Cube);//target holder to hold the object, its a plane
targHolder.transform.position = targetPosition[i];
targHolder.transform.localScale = targHolder_scale;
//Material tmp = Resources.Load<Material>("c1"); //give a color to the holder
//tmp.color = new Color(0.5f,1,1);
//targHolder.GetComponent<Renderer>().material = tmp;
GameObject grabHolder = Instantiate(oriObj); //the position for agent to grab the object
Destroy(grabHolder.GetComponent <BoxCollider>());
Destroy(grabHolder.GetComponent <MeshRenderer>());
GameObject releaseHolder = Instantiate(oriObj); //the position for agent to release the object
releaseHolder.transform.position = new Vector3(targetPosition[i].x, oriObj.transform.position.y, targetPosition[i].z);
Destroy(releaseHolder.GetComponent <BoxCollider>());
Destroy(releaseHolder.GetComponent <MeshRenderer>());
//ObjDict od = new ObjDict((i+1).ToString(),materials.Count,prefabs.Count,oriObj,targObj,targHolder,false);//now fill the dictionary
ObjDict od = gameObject.AddComponent <ObjDict>();
od.Initialize((i + 1).ToString(), materials.Count, prefabs.Count, oriObj, targHolder, grabHolder, releaseHolder, false);
dict.Add(i, od);
}
}
public object GetObj(int id)
{
lock (Locker)
{
if (ObjDict.ContainsKey(id))
{
return(ObjDict[id]);
}
return(null);
}
}
private void OnValidate()
{
if (cache == null)
{
cache = new ObjDict();
}
var emtpyOnes = cache.Filter(o => IsDefaultKey(o.Key) && o.Value != null).ToList();
foreach (var x in emtpyOnes)
{
cache.Add(CalcKey(x.Value), x.Value);
cache.Remove(x.Key);
}
}
public ReturnObject PerformAction(ObjDict objDict)
{
ReturnObject rc = new ReturnObject();
foreach (var item in objDict.ControlKeys)
{
objDict.MoveNext();
if (objDict.CurrentControlKey is string)
{
PerformAction(objDict.CurrentControlKey.ToString(), objDict.CurrentAction, objDict.CurrentValue.ToString(), (int)objDict.CurrentWaitTime);
}
else if (objDict.CurrentControlKey is UIControl)
{
PerformAction((UIControl)objDict.CurrentControlKey, objDict.CurrentAction, objDict.CurrentValue.ToString(), (int)objDict.CurrentWaitTime);
}
}
return(rc);
}
