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Rebuild scenes on terrain changes for dynamic heighfields

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This commit is contained in:
Bálint Hodossy
2023-12-07 13:34:33 +00:00
parent 3e3687d022
commit 2adfd09b87
2 changed files with 47 additions and 6 deletions
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unity/Runtime/Components/Shapes/MjHeightFieldShape.cs
+43 -3
View File
@@ -24,6 +24,7 @@ namespace Mujoco
[Serializable]
public class MjHeightFieldShape : IMjShape
{
[Tooltip("Terrain's heightmap should have a minimum value of zero (fully black).")]
public Terrain terrain;
[Tooltip("The path, relative to Application.dataPath, where the heightmap data will be save in PNG format.")]
@@ -31,16 +32,41 @@ public class MjHeightFieldShape : IMjShape
public string FullHeightMapPath => Path.GetFullPath(Path.Combine(Application.dataPath, heightMapExportPath));
public int HeightMapWidth => terrain.terrainData.heightmapTexture.width;
public int HeightMapHeight => terrain.terrainData.heightmapTexture.height;
public int HeightMapLength => terrain.terrainData.heightmapTexture.height;
public Vector3 HeightMapScale => terrain.terrainData.heightmapScale;
public void ToMjcf(XmlElement mjcf, Transform transform){
[Tooltip("At least this many frames will have to pass before the scene is rebuilt with an updated heightmap. Leave as 0 to not update the hfield during simulation. Increasing this can improve performance.")]
public int UpdateLimit;
private int updateCountdown;
[HideInInspector]
public float MinimumHeight;
[HideInInspector]
public float MaximumHeight;
public int HeightFieldId { get; private set; }
public unsafe void ToMjcf(XmlElement mjcf, Transform transform){
ExportHeightMap();
if(terrain.transform.parent != transform) Debug.LogWarning($"The terrain of heightfield {transform.name} needs to be parented to the Geom for proper rendering.");
else terrain.transform.localPosition = new Vector3(-HeightMapHeight*HeightMapScale.x / 2, terrain.transform.localPosition.y, -HeightMapWidth*HeightMapScale.z / 2);
else {
if((terrain.transform.localPosition - new Vector3(-HeightMapLength * HeightMapScale.x / 2, terrain.transform.localPosition.y, -HeightMapWidth * HeightMapScale.z / 2)).magnitude > 0.001) {
Debug.LogWarning($"Terrain of heightfield {transform.name} not aligned with geom. The terrain will be moved to accurately represent the simulated position.");
}
terrain.transform.localPosition = new Vector3(-HeightMapLength*HeightMapScale.x / 2, terrain.transform.localPosition.y, -HeightMapWidth*HeightMapScale.z / 2);
}
var scene = MjScene.Instance;
var assetName = scene.GenerationContext.AddHeightFieldAsset(this);
scene.postInitEvent += (_,_) => HeightFieldId = MujocoLib.mj_name2id(scene.Model, (int)MujocoLib.mjtObj.mjOBJ_HFIELD, assetName);
if(UpdateLimit>0){
updateCountdown = UpdateLimit;
scene.preUpdateEvent += (_, _) => CountdownUpdateCondition();
TerrainCallbacks.heightmapChanged += RebuildScene;
}
mjcf.SetAttribute("hfield", assetName);
}
@@ -52,10 +78,24 @@ public class MjHeightFieldShape : IMjShape
RenderTexture.active = terrain.terrainData.heightmapTexture;
Texture2D texture = new Texture2D(RenderTexture.active.width, RenderTexture.active.height);
texture.ReadPixels(new Rect(0, 0, RenderTexture.active.width, RenderTexture.active.height), 0, 0);
MaximumHeight = texture.GetPixels().Select(c => c.r).Max()*HeightMapScale.y*2;
var minimumHeight = texture.GetPixels().Select(c => c.r).Min()*HeightMapScale.y*2;
if (minimumHeight > 0.0001) Debug.LogWarning("Due to assumptions in MuJoCo heightfields, terrains should have a minimum heightmap value of 0.");
RenderTexture.active = null;
File.WriteAllBytes(FullHeightMapPath, texture.EncodeToPNG());
}
public void CountdownUpdateCondition() {
if(updateCountdown < 1) return;
updateCountdown -= 1;
}
public void RebuildScene(Terrain terrain, RectInt heightRegion, bool synched){
if(updateCountdown > 0) return;
if(!Application.isPlaying || !MjScene.InstanceExists) return;
MjScene.Instance.SceneRecreationAtLateUpdateRequested = true;
updateCountdown = UpdateLimit;
}
public Vector4 GetChangeStamp(){
return Vector4.one;
unity/Runtime/Tools/MjcfGenerationContext.cs
+4 -3
View File
@@ -115,13 +115,14 @@ public class MjcfGenerationContext {
mjcf.SetAttribute("vertex", vertexPositionsStr.ToString());
}
private static void GenerateHeightFieldMjcf(MjHeightFieldShape hFieldComponent, XmlElement mjcf) {
private static void GenerateHeightFieldMjcf(MjHeightFieldShape hFieldComponent, XmlElement mjcf) {
mjcf.SetAttribute("nrow", "0");
mjcf.SetAttribute("ncol", "0");
mjcf.SetAttribute("content_type", "image/png");
mjcf.SetAttribute("file", hFieldComponent.FullHeightMapPath);
mjcf.SetAttribute("size", MjEngineTool.MakeLocaleInvariant($"{hFieldComponent.HeightMapScale.x*hFieldComponent.HeightMapHeight/2} {hFieldComponent.HeightMapScale.z * hFieldComponent.HeightMapWidth/2} {hFieldComponent.HeightMapScale.y} {hFieldComponent.terrain.transform.localPosition.y}"));
var baseHeight = hFieldComponent.terrain.transform.localPosition.y + hFieldComponent.MinimumHeight;
var heightRange = Mathf.Clamp(hFieldComponent.MaximumHeight - hFieldComponent.MinimumHeight, 0.00001f, Mathf.Infinity);
mjcf.SetAttribute("size", MjEngineTool.MakeLocaleInvariant($"{hFieldComponent.HeightMapScale.x*hFieldComponent.HeightMapLength/2} {hFieldComponent.HeightMapScale.z * hFieldComponent.HeightMapWidth/2} {heightRange} {baseHeight}"));
}
}