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Allow spawning multiple prefabs #8

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Allow spawning multiple prefabs #8

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84 changes: 56 additions & 28 deletions Assets/Flightmare/Scripts/CameraController.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ namespace RPGFlightmare
public class CameraController : MonoBehaviour
{
// ==============================================================================
// Default Parameters
// Default Parameters
// ==============================================================================
[HideInInspector]
public const int pose_client_default_port = 10253;
Expand Down Expand Up @@ -89,15 +89,15 @@ public class CameraController : MonoBehaviour
private Texture2D rendered_frame;
private object socket_lock;
// Unity Image Synthesis
// post processing including object/category segmentation,
// optical flow, depth image.
// post processing including object/category segmentation,
// optical flow, depth image.
private RPGImageSynthesis img_post_processing;
private sceneSchedule scene_schedule;
private Vector3 thirdPV_cam_offset;
private int activate_vehicle_cam = 0;

/* =====================
* UNITY PLAYER EVENT HOOKS
* UNITY PLAYER EVENT HOOKS
* =====================
*/
// Function called when Unity Player is loaded.
Expand Down Expand Up @@ -163,7 +163,7 @@ public void Start()
StartCoroutine(WaitForRender());
}

// Co-routine in Unity, executed every frame.
// Co-routine in Unity, executed every frame.
public IEnumerator WaitForRender()
{
// Wait until end of frame to transmit images
Expand Down Expand Up @@ -242,10 +242,10 @@ public void ConnectToClient(string inputIPString)

}

/*
/*
* Update is called once per frame
* Take the most recent ZMQ message and use it to position the cameras.
* If there has not been a recent message, the renderer should probably pause rendering until a new request is received.
* If there has not been a recent message, the renderer should probably pause rendering until a new request is received.
*/
void Update()
{
Expand Down Expand Up @@ -300,12 +300,12 @@ void Update()
{
sendReady();
}
return; // no need to worry about the rest if not ready.
return; // no need to worry about the rest if not ready.
}
else
{
pub_message = new PubMessage_t(settings);
// after initialization, we only receive sub_message message of the vehicle.
// after initialization, we only receive sub_message message of the vehicle.
sub_message = JsonConvert.DeserializeObject<SubMessage_t>(msg[1].ConvertToString());
// Ensure that dynamic object settings such as depth-scaling and color are set correctly.
updateDynamicObjectSettings();
Expand Down Expand Up @@ -342,7 +342,7 @@ void Update()
}

/* ==================================
* FlightGoggles High Level Functions
* FlightGoggles High Level Functions
* ==================================
*/
// Tries to initialize uninitialized objects multiple times until the object is initialized.
Expand Down Expand Up @@ -459,7 +459,7 @@ void instantiateCameras()
Debug.Log(camera.ID);
// Get camera object
GameObject obj = internal_state.getGameobject(camera.ID, HD_camera);
//
//
var currentCam = obj.GetComponent<Camera>();
currentCam.fieldOfView = camera.fov;
currentCam.nearClipPlane = camera.nearClipPlane[0];
Expand Down Expand Up @@ -516,7 +516,7 @@ void updateObjectPositions()
// string camera_ID = vehicle_i.ID + "_" + camera.ID;
// Get camera object
GameObject obj = internal_state.getGameobject(camera.ID, HD_camera);
//
//
var currentCam = obj.GetComponent<Camera>();
currentCam.fieldOfView = camera.fov;
// apply translation and rotation;
Expand Down Expand Up @@ -562,11 +562,30 @@ void updateObjectPositions()

foreach (Object_t obj_state in sub_message.objects)
{
Debug.Log("Updating object with id " + obj_state.ID);
// Fallback to this template if loading the requested object is impossible
// NOTE: it would be better to have a "404-template"
GameObject template = gate_template;
// Check if the object exists. If not, the prefab 'obj_state.prefabID'
// should be loaded and used as template.
if(!internal_state.contains(obj_state.ID)) {
// Try loading the requested resource
GameObject prefab = Resources.Load(obj_state.prefabID) as GameObject;
if(prefab == null)
{
Debug.Log("Failed loading object, using default");
}
else
{
// ok, use it :)
template = prefab;
}
}
// Get the object (it is created in case it is missing)
GameObject obj = internal_state.getGameobject(obj_state.ID, template);
// Apply translation, rotation, and scaling
// GameObject prefab = Resources.Load(obj_state.prefabID) as GameObject;
GameObject other_obj = internal_state.getGameobject(obj_state.ID, gate_template);
other_obj.transform.SetPositionAndRotation(ListToVector3(obj_state.position), ListToQuaternion(obj_state.rotation));
other_obj.transform.localScale = ListToVector3(obj_state.size);
obj.transform.SetPositionAndRotation(ListToVector3(obj_state.position), ListToQuaternion(obj_state.rotation));
obj.transform.localScale = ListToVector3(obj_state.size);
}
{
// third person view camera
Expand Down Expand Up @@ -653,14 +672,14 @@ void updateLidarData()
{

float angle_i = lidar.start_angle + angle_resolution * beam_i;
// Find direction and origin of raytrace for LIDAR.
// Find direction and origin of raytrace for LIDAR.
var raycastDirection = lidar_rotation * new Vector3((float)Math.Cos(angle_i), 0, (float)Math.Sin(angle_i));
// Run the raytrace
bool hasHit = Physics.Raycast(lidar_position, raycastDirection, out lidarHit, lidar.max_distance);
// Get distance. Return max+1 if out of range
float raycastDistance = hasHit ? lidarHit.distance : lidar.max_distance + 1;
// Save the result of the raycast.
// vehicle_collisions.Add(raycastDistance); // don't use add..
// vehicle_collisions.Add(raycastDistance); // don't use add..
pub_message.pub_vehicles[vehicle_count - 1].lidar_ranges.Add(raycastDistance);
Debug.DrawLine(lidar_position, lidar_position + raycastDirection * raycastDistance, Color.red);
}
Expand All @@ -669,7 +688,7 @@ void updateLidarData()
}

/* =============================================
* FlightGoggles Initialization Functions
* FlightGoggles Initialization Functions
* =============================================
*/
void resizeScreen()
Expand Down Expand Up @@ -705,11 +724,20 @@ void instantiateObjects()
// Initialize additional objects
foreach (var obj_state in settings.objects)
{
// GameObject prefab = Resources.Load(obj_state.prefabID) as GameObject;
Debug.Log("obj_state id : " + obj_state.ID);
GameObject obj = internal_state.getGameobject(obj_state.ID, gate_template);
Debug.Log("Instantiating obj_state id : " + obj_state.ID);
// Try loading the given prefab.
GameObject prefab = Resources.Load(obj_state.prefabID) as GameObject;
// If the operation fails, fallback to the "template"
if(prefab == null)
{
Debug.Log("Failed loading object, using default");
// NOTE: it would be better to have a "404-template"
prefab = gate_template;
}
// Add the object and set its pose / size
GameObject obj = internal_state.getGameobject(obj_state.ID, prefab);
obj.transform.SetPositionAndRotation(ListToVector3(obj_state.position), ListToQuaternion(obj_state.rotation));
obj.transform.localScale = ListToVector3(obj_state.size);
// obj.layer = 9;
}
foreach (var vehicle in settings.vehicles)
{
Expand All @@ -733,7 +761,7 @@ void setCameraViewports()
GameObject obj = internal_state.getGameobject(camera.ID, HD_camera);
var currentCam = obj.GetComponent<Camera>();
// Make sure camera renders to the correct portion of the screen.
// currentCam.pixelRect = new Rect(settings.camWidth * camera.outputIndex, 0,
// currentCam.pixelRect = new Rect(settings.camWidth * camera.outputIndex, 0,
// settings.camWidth * (camera.outputIndex+1), settings.camHeight);
currentCam.pixelRect = new Rect(0, 0,
settings.camWidth, settings.camHeight);
Expand Down Expand Up @@ -839,7 +867,7 @@ void sendFrameOnWire()
}
byte[] readImageFromScreen(Camera_t cam_config)
{
// rendered_frame.ReadPixels(new Rect(cam_config.outputIndex*(cam_config.width), 0,
// rendered_frame.ReadPixels(new Rect(cam_config.outputIndex*(cam_config.width), 0,
// (cam_config.outputIndex+1)*cam_config.width, cam_config.height), 0, 0);
rendered_frame.ReadPixels(new Rect(0, 0,
cam_config.width, cam_config.height), 0, 0);
Expand All @@ -857,7 +885,7 @@ byte[] readImageFromHiddenCamera(Camera subcam, Camera_t cam_config)
RenderTexture.active = templRT;
subcam.targetTexture = templRT;
//
// subcam.pixelRect = new Rect(cam_config.width * cam_config.outputIndex, 0,
// subcam.pixelRect = new Rect(cam_config.width * cam_config.outputIndex, 0,
// cam_config.width * ( cam_config.outputIndex+1), cam_config.height);
subcam.pixelRect = new Rect(0, 0,
cam_config.width, cam_config.height);
Expand All @@ -880,7 +908,7 @@ byte[] readImageFromHiddenCamera(Camera subcam, Camera_t cam_config)
}

/* ==================================
* FlightGoggles Helper Functions
* FlightGoggles Helper Functions
* ==================================
*/

Expand Down Expand Up @@ -1162,4 +1190,4 @@ void FlyingCamSettings()
// writer.Close();
// }

// }
// }
12 changes: 9 additions & 3 deletions Assets/Flightmare/Scripts/MessageSpec.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,12 @@ public class UnityState_t

private Dictionary<string, ObjectState_t> objects;

// Tells if the given object exists inside the environment.
public bool contains(string ID)
{
return objects.ContainsKey(ID);
}

// Advanced getters/setters
// Get Wrapper object, defaulting to a passed in template if it does not exist.
public ObjectState_t getWrapperObject(string ID, GameObject template)
Expand Down Expand Up @@ -164,7 +170,7 @@ public class Object_t
// =============================
public class SettingsMessage_t
{
// Startup parameters.
// Startup parameters.
// public bool sceneIsInternal { get; set; }
public int scene_id { get; set; }

Expand All @@ -178,7 +184,7 @@ public class SettingsMessage_t
// ==============================================================================
public int numVehicles { get { return vehicles.Count(); } }
public Vehicle_t mainVehicle { get; set; }
// we noly count the number of camera on the main vehicle.
// we noly count the number of camera on the main vehicle.
public int numCameras { get; set; }
public Camera_t mainCamera { get; set; }
// public List<Camera_t> cameras{ get; set; }
Expand All @@ -190,7 +196,7 @@ public class SettingsMessage_t
public void InitParamsters()
{
// kind of ugly, the purpose is to handle
// the vehile that has no cameras.
// the vehile that has no cameras.
if (numVehicles > 0)
{
mainVehicle = vehicles[(int)(numVehicles / 2)];
Expand Down