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Edit hfield_data in Unity

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This commit is contained in:
Bálint Hodossy
2023-12-21 16:04:25 +00:00
parent 1028051d1a
commit 2c024164ea
2 changed files with 74 additions and 32 deletions
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unity/Runtime/Components/Shapes/MjHeightFieldShape.cs
+57 -24
View File
@@ -26,9 +26,12 @@ public class MjHeightFieldShape : IMjShape {
public Terrain Terrain;
[Tooltip("The path, relative to Application.dataPath, where the heightmap " +
"data will be save in PNG format.")]
"data will be saved/exported in PNG format. Leave blank if hfield data should " +
"be set instead programmatically (faster).")]
public string HeightMapExportPath;
public bool ExportImage => !string.IsNullOrEmpty(HeightMapExportPath);
public string FullHeightMapPath => Path.GetFullPath(Path.Combine(Application.dataPath,
HeightMapExportPath));
@@ -38,57 +41,59 @@ public class MjHeightFieldShape : IMjShape {
[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.")]
"If nonzero, increasing this can improve performance.")]
public int UpdateLimit;
private int _updateCountdown;
[HideInInspector]
[HideInInspector]
public float MinimumHeight { get; private set; }
[HideInInspector]
[HideInInspector]
public float MaximumHeight { get; private set; }
public int HeightFieldId { get; private set; }
public unsafe void ToMjcf(XmlElement mjcf, Transform transform) {
ExportHeightMap();
if (Terrain.transform.parent != transform)
Debug.LogWarning(
$"The terrain of heightfield {transform.name} needs to be parented to the Geom " +
"for proper rendering.");
else {
if ((Terrain.transform.localPosition - new Vector3(-HeightMapLength * HeightMapScale.x / 2,
if ((Terrain.transform.localPosition - new Vector3(
-(HeightMapLength - 1) * HeightMapScale.x / 2f,
Terrain.transform.localPosition.y,
-HeightMapWidth * HeightMapScale.z / 2)).magnitude > 0.001) {
-(HeightMapWidth - 1) * HeightMapScale.z / 2)).magnitude > 0.001) {
Debug.LogWarning($"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 = new Vector3(-(HeightMapLength - 1) * HeightMapScale.x / 2,
Terrain.transform.localPosition.y,
-HeightMapWidth * HeightMapScale.z / 2);
-(HeightMapWidth - 1) * 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 (Application.isPlaying) {
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;
if (UpdateLimit > 1) scene.preUpdateEvent += (_, _) => CountdownUpdateCondition();
TerrainCallbacks.heightmapChanged += (_, _, _) => RebuildHeightField();
}
mjcf.SetAttribute("hfield", assetName);
PrepareHeightMap();
}
public void FromMjcf(XmlElement mjcf) {
}
public void ExportHeightMap() {
public void PrepareHeightMap() {
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),
@@ -96,11 +101,32 @@ public class MjHeightFieldShape : IMjShape {
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());
if (ExportImage) {
if (minimumHeight > 0.0001)
Debug.LogWarning("Due to assumptions in MuJoCo heightfields, terrains should have a " +
"minimum heightmap value of 0.");
File.WriteAllBytes(FullHeightMapPath, texture.EncodeToPNG());
} else if (Application.isPlaying) {
MjScene.Instance.postInitEvent += (_, _) => UpdateHeightFieldData();
}
}
public unsafe void UpdateHeightFieldData() {
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);
RenderTexture.active = null;
float[] curData = texture.GetPixels(0, 0, texture.width, texture.height)
.Select(c => c.r * 2).ToArray();
int adr = MjScene.Instance.Model->hfield_adr[HeightFieldId];
for (int i = 0; i < curData.Length; i++) {
MjScene.Instance.Model->hfield_data[adr + i] = curData[i];
}
}
public void CountdownUpdateCondition() {
@@ -108,11 +134,18 @@ public class MjHeightFieldShape : IMjShape {
_updateCountdown -= 1;
}
public void RebuildScene(Terrain terrain, RectInt heightRegion, bool synched) {
if (_updateCountdown > 0) return;
public void RebuildHeightField() {
// The update rate limiting countdown goes from UpdateLimit + 1 to 1, since if the Update
// limit is at 1, we can update on every frame and don't need a countdown.
if (_updateCountdown > 1) return;
if (!Application.isPlaying || !MjScene.InstanceExists) return;
MjScene.Instance.SceneRecreationAtLateUpdateRequested = true;
_updateCountdown = UpdateLimit;
if (ExportImage) {
// If we export an image, it needs to be read by the compiler so we might as well rebuild the scene.
MjScene.Instance.SceneRecreationAtLateUpdateRequested = true;
} else {
UpdateHeightFieldData();
}
_updateCountdown = UpdateLimit + 1;
}
public Vector4 GetChangeStamp() {
unity/Runtime/Tools/MjcfGenerationContext.cs
+17 -8
View File
@@ -118,20 +118,29 @@ public class MjcfGenerationContext {
}
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);
if (hFieldComponent.ExportImage) {
mjcf.SetAttribute("content_type", "image/png");
mjcf.SetAttribute("file", hFieldComponent.FullHeightMapPath);
mjcf.SetAttribute("nrow", "0");
mjcf.SetAttribute("ncol", "0");
} else {
mjcf.SetAttribute("nrow", hFieldComponent.HeightMapLength.ToString());
mjcf.SetAttribute("ncol", hFieldComponent.HeightMapWidth.ToString());
}
var baseHeight = hFieldComponent.Terrain.transform.localPosition.y +
hFieldComponent.MinimumHeight;
var heightRange = Mathf.Clamp(
hFieldComponent.MaximumHeight - hFieldComponent.MinimumHeight, 0.00001f, Mathf.Infinity);
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}"));
$@"{hFieldComponent.HeightMapScale.x * (hFieldComponent.HeightMapLength - 1) / 2f} {
hFieldComponent.HeightMapScale.z * (hFieldComponent.HeightMapWidth - 1) / 2f} {
heightRange} {
baseHeight}"));
}
}
}