diff --git a/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs b/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs index 30226fc9..46d05fca 100644 --- a/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs +++ b/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs @@ -18,51 +18,66 @@ using System.Linq; using System.Xml; using UnityEngine; -namespace Mujoco -{ +namespace Mujoco { [Serializable] -public class MjHeightFieldShape : IMjShape -{ +public class MjHeightFieldShape : IMjShape { [Tooltip("Terrain's heightmap should have a minimum value of zero (fully black).")] - public Terrain terrain; + public Terrain Terrain; - [Tooltip("The path, relative to Application.dataPath, where the heightmap data will be save in PNG format.")] - public string heightMapExportPath; + [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 HeightMapLength => terrain.terrainData.heightmapTexture.height; - public Vector3 HeightMapScale => terrain.terrainData.heightmapScale; + public string FullHeightMapPath => Path.GetFullPath(Path.Combine(Application.dataPath, + HeightMapExportPath)); - [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 HeightMapWidth => Terrain.terrainData.heightmapTexture.width; + public int HeightMapLength => Terrain.terrainData.heightmapTexture.height; + public Vector3 HeightMapScale => Terrain.terrainData.heightmapScale; + + [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] + private int _updateCountdown; + + [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."); + if (Terrain.transform.parent != transform) + Debug.LogWarning( + $"The terrain of heightfield {transform.name} needs to be parented to the Geom " + + "for proper rendering."); else { - if((terrain.transform.localPosition - new Vector3(-HeightMapLength * HeightMapScale.x / 2, terrain.transform.localPosition.y, -HeightMapWidth * HeightMapScale.z / 2)).magnitude > 0.001) { - Debug.LogWarning($"Terrain of heightfield {transform.name} not aligned with geom. The terrain will be moved to accurately represent the simulated position."); + 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); + 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); + scene.postInitEvent += (_, _) => + HeightFieldId = + MujocoLib.mj_name2id(scene.Model, (int)MujocoLib.mjtObj.mjOBJ_HFIELD, assetName); - if(UpdateLimit>0){ - updateCountdown = UpdateLimit; + if (UpdateLimit > 0) { + _updateCountdown = UpdateLimit; scene.preUpdateEvent += (_, _) => CountdownUpdateCondition(); TerrainCallbacks.heightmapChanged += RebuildScene; } @@ -71,30 +86,33 @@ public class MjHeightFieldShape : IMjShape } public void FromMjcf(XmlElement mjcf) { - } public void ExportHeightMap() { - RenderTexture.active = terrain.terrainData.heightmapTexture; + 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."); + 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; + 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; + if (_updateCountdown > 0) return; + if (!Application.isPlaying || !MjScene.InstanceExists) return; MjScene.Instance.SceneRecreationAtLateUpdateRequested = true; - updateCountdown = UpdateLimit; + _updateCountdown = UpdateLimit; } public Vector4 GetChangeStamp() { diff --git a/unity/Runtime/Tools/MjcfGenerationContext.cs b/unity/Runtime/Tools/MjcfGenerationContext.cs index 1e3f07ca..2c2ba5f2 100644 --- a/unity/Runtime/Tools/MjcfGenerationContext.cs +++ b/unity/Runtime/Tools/MjcfGenerationContext.cs @@ -34,7 +34,9 @@ public class MjcfGenerationContext { private int _nuserSensor; private int _numGeneratedNames = 0; private Dictionary _meshAssets = new Dictionary(); - private Dictionary _hFieldAssets = new Dictionary(); + + private Dictionary _hFieldAssets = + new Dictionary(); public void GenerateMjcf(XmlElement mjcf) { GenerateConfigurationMjcf(mjcf); @@ -98,7 +100,7 @@ public class MjcfGenerationContext { meshMjcf.SetAttribute("name", meshAsset.Value); GenerateMeshMjcf(meshAsset.Key, meshMjcf); } - foreach (var hFieldAsset in _hFieldAssets) { + foreach (var hFieldAsset in _hFieldAssets) { var hFieldMjcf = (XmlElement)assetMjcf.AppendChild(doc.CreateElement("hfield")); hFieldMjcf.SetAttribute("name", hFieldAsset.Value); GenerateHeightFieldMjcf(hFieldAsset.Key, hFieldMjcf); @@ -114,21 +116,22 @@ 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); - var baseHeight = hFieldComponent.terrain.transform.localPosition.y + hFieldComponent.MinimumHeight; - var heightRange = Mathf.Clamp(hFieldComponent.MaximumHeight - hFieldComponent.MinimumHeight, 0.00001f, Mathf.Infinity); + 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}")); + "size", + MjEngineTool.MakeLocaleInvariant( + $@"{hFieldComponent.HeightMapScale.x * hFieldComponent.HeightMapLength / 2} { + hFieldComponent.HeightMapScale.z * hFieldComponent.HeightMapWidth / 2} {heightRange} { + baseHeight}")); } } }