diff --git a/unity/Editor/Components/MjShapeComponentEditor.cs b/unity/Editor/Components/MjShapeComponentEditor.cs index 41b8ba22..99e24740 100644 --- a/unity/Editor/Components/MjShapeComponentEditor.cs +++ b/unity/Editor/Components/MjShapeComponentEditor.cs @@ -30,7 +30,7 @@ public class MjShapeComponentEditor : Editor { var shapeType = serializedObject.FindProperty("ShapeType"); EditorGUILayout.PropertyField(shapeType); EditorGUILayout.PropertyField( - serializedObject.FindProperty($"{shapeType.enumDisplayNames[shapeType.enumValueIndex]}"), + serializedObject.FindProperty($"{shapeType.enumNames[shapeType.enumValueIndex]}"), includeChildren: true); serializedObject.ApplyModifiedProperties(); } diff --git a/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs b/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs new file mode 100644 index 00000000..28dedbe6 --- /dev/null +++ b/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs @@ -0,0 +1,75 @@ +// Copyright 2019 DeepMind Technologies Limited +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +using System; +using System.IO; +using System.Linq; +using System.Xml; +using UnityEngine; + +namespace Mujoco +{ + +[Serializable] +public class MjHeightFieldShape : IMjShape +{ + + public Terrain terrain; + + [Tooltip("The path, relative to Application.dataPath, where the heightmap data will be save in PNG format.")] + public string heightMapExportPath; + + 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 Vector3 HeightMapScale => terrain.terrainData.heightmapScale; + + public void ToMjcf(XmlElement mjcf, Transform transform) + { + ExportHeightMap(); + var scene = MjScene.Instance; + var assetName = scene.GenerationContext.AddHeightFieldAsset(this); + mjcf.SetAttribute("hfield", assetName); + } + + public void FromMjcf(XmlElement mjcf) + { + + } + + public void ExportHeightMap() + { + 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; + File.WriteAllBytes(FullHeightMapPath, texture.EncodeToPNG()); + } + + + public Vector4 GetChangeStamp() + { + return Vector4.one; + } + + public Tuple BuildMesh() + { + return Tuple.Create(new Vector3[]{}, new int[]{}); + } + + public void DebugDraw(Transform transform) + { + } +} +} diff --git a/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs.meta b/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs.meta new file mode 100644 index 00000000..25ac41ef --- /dev/null +++ b/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 4572cd1b5f036db4483a214346587960 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/unity/Runtime/Components/Shapes/MjShapeComponent.cs b/unity/Runtime/Components/Shapes/MjShapeComponent.cs index 2ebf4958..dc530fd2 100644 --- a/unity/Runtime/Components/Shapes/MjShapeComponent.cs +++ b/unity/Runtime/Components/Shapes/MjShapeComponent.cs @@ -34,7 +34,8 @@ public abstract class MjShapeComponent : MjComponent { Cylinder, Box, Plane, - Mesh + Mesh, + HField } public ShapeTypes ShapeType; @@ -46,6 +47,7 @@ public abstract class MjShapeComponent : MjComponent { public MjEllipsoidShape Ellipsoid = new MjEllipsoidShape(); public MjPlaneShape Plane = new MjPlaneShape(); public MjMeshShape Mesh = new MjMeshShape(); + public MjHeightFieldShape HField = new MjHeightFieldShape(); public IMjShape Shape { get { @@ -58,6 +60,7 @@ public abstract class MjShapeComponent : MjComponent { case ShapeTypes.Box: return Box; case ShapeTypes.Plane: return Plane; case ShapeTypes.Mesh: return Mesh; + case ShapeTypes.HField: return HField; } } } diff --git a/unity/Runtime/Tools/MjcfGenerationContext.cs b/unity/Runtime/Tools/MjcfGenerationContext.cs index c2ff59d8..454a6906 100644 --- a/unity/Runtime/Tools/MjcfGenerationContext.cs +++ b/unity/Runtime/Tools/MjcfGenerationContext.cs @@ -34,6 +34,7 @@ public class MjcfGenerationContext { private int _nuserSensor; private int _numGeneratedNames = 0; private Dictionary _meshAssets = new Dictionary(); + private Dictionary _hFieldAssets = new Dictionary(); public void GenerateMjcf(XmlElement mjcf) { GenerateConfigurationMjcf(mjcf); @@ -50,6 +51,17 @@ public class MjcfGenerationContext { } return _meshAssets[mesh]; } + + // Adds a mesh to the list of assets that will be added to the generated MJCF. + // Returns the unique name that identifies this new asset. + public string AddHeightFieldAsset(MjHeightFieldShape hField) { + if (!_hFieldAssets.ContainsKey(hField)) { + var uniqueName = $"hfield_{_numGeneratedNames}"; + _numGeneratedNames++; + _hFieldAssets.Add(hField, uniqueName); + } + return _hFieldAssets[hField]; + } public string GenerateName(Component comp) { var settings = MjGlobalSettings.Instance; @@ -81,10 +93,15 @@ public class MjcfGenerationContext { private void GenerateAssetsMjcf(XmlElement mjcf) { var doc = mjcf.OwnerDocument; var assetMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("asset")); - foreach (var asset in _meshAssets) { + foreach (var meshAsset in _meshAssets) { var meshMjcf = (XmlElement)assetMjcf.AppendChild(doc.CreateElement("mesh")); - meshMjcf.SetAttribute("name", asset.Value); - GenerateMeshMjcf(asset.Key, meshMjcf); + meshMjcf.SetAttribute("name", meshAsset.Value); + GenerateMeshMjcf(meshAsset.Key, meshMjcf); + } + foreach (var hFieldAsset in _hFieldAssets) { + var hFieldMjcf = (XmlElement)assetMjcf.AppendChild(doc.CreateElement("hfield")); + hFieldMjcf.SetAttribute("name", hFieldAsset.Value); + GenerateHeightFieldMjcf(hFieldAsset.Key, hFieldMjcf); } } @@ -97,5 +114,15 @@ public class MjcfGenerationContext { } mjcf.SetAttribute("vertex", vertexPositionsStr.ToString()); } + + private static void GenerateHeightFieldMjcf(MjHeightFieldShape hFieldComponent, XmlElement mjcf) { + mjcf.SetAttribute("nrow", "0"); + mjcf.SetAttribute("ncol", "0"); + mjcf.SetAttribute("content_type", "image/png"); + mjcf.SetAttribute("file", hFieldComponent.FullHeightMapPath); + + mjcf.SetAttribute("size", MjEngineTool.MakeLocaleInvariant($"{hFieldComponent.HeightMapScale.x*hFieldComponent.HeightMapHeight/2} {hFieldComponent.HeightMapScale.z * hFieldComponent.HeightMapWidth/2} {hFieldComponent.HeightMapScale.y*2} {hFieldComponent.terrain.transform.position.y}")); + + } } }