Bálint Hodossy
130 lines
4.6 KiB
C#
130 lines
4.6 KiB
C#
// Copyright 2019 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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using System;
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using System.IO;
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using System.Linq;
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using System.Xml;
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using UnityEngine;
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namespace Mujoco {
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[Serializable]
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public class MjHeightFieldShape : IMjShape {
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[Tooltip("Terrain's heightmap should have a minimum value of zero (fully black).")]
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public Terrain Terrain;
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[Tooltip("The path, relative to Application.dataPath, where the heightmap " +
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"data will be save in PNG format.")]
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public string HeightMapExportPath;
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public string FullHeightMapPath => Path.GetFullPath(Path.Combine(Application.dataPath,
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HeightMapExportPath));
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public int HeightMapWidth => Terrain.terrainData.heightmapTexture.width;
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public int HeightMapLength => Terrain.terrainData.heightmapTexture.height;
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public Vector3 HeightMapScale => Terrain.terrainData.heightmapScale;
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[Tooltip("At least this many frames will have to pass before the scene is rebuilt with an " +
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"updated heightmap. Leave as 0 to not update the hfield during simulation. " +
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"Increasing this can improve performance.")]
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public int UpdateLimit;
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private int _updateCountdown;
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[HideInInspector]
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public float MinimumHeight { get; private set; }
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[HideInInspector]
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public float MaximumHeight { get; private set; }
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public int HeightFieldId { get; private set; }
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public unsafe void ToMjcf(XmlElement mjcf, Transform transform) {
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ExportHeightMap();
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if (Terrain.transform.parent != transform)
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Debug.LogWarning(
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$"The terrain of heightfield {transform.name} needs to be parented to the Geom " +
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"for proper rendering.");
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else {
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if ((Terrain.transform.localPosition - new Vector3(-HeightMapLength * HeightMapScale.x / 2,
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Terrain.transform.localPosition.y,
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-HeightMapWidth * HeightMapScale.z / 2)).magnitude > 0.001) {
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Debug.LogWarning($"Terrain of heightfield {transform.name} not aligned with geom. The " +
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" terrain will be moved to accurately represent the simulated position.");
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}
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Terrain.transform.localPosition = new Vector3(-HeightMapLength * HeightMapScale.x / 2,
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Terrain.transform.localPosition.y,
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-HeightMapWidth * HeightMapScale.z / 2);
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}
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var scene = MjScene.Instance;
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var assetName = scene.GenerationContext.AddHeightFieldAsset(this);
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scene.postInitEvent += (_, _) =>
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HeightFieldId =
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MujocoLib.mj_name2id(scene.Model, (int)MujocoLib.mjtObj.mjOBJ_HFIELD, assetName);
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if (UpdateLimit > 0) {
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_updateCountdown = UpdateLimit;
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scene.preUpdateEvent += (_, _) => CountdownUpdateCondition();
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TerrainCallbacks.heightmapChanged += RebuildScene;
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}
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mjcf.SetAttribute("hfield", assetName);
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}
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public void FromMjcf(XmlElement mjcf) {
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}
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public void ExportHeightMap() {
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RenderTexture.active = Terrain.terrainData.heightmapTexture;
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Texture2D texture = new Texture2D(RenderTexture.active.width, RenderTexture.active.height);
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texture.ReadPixels(new Rect(0, 0, RenderTexture.active.width, RenderTexture.active.height),
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0,
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0);
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MaximumHeight = texture.GetPixels().Select(c => c.r).Max() * HeightMapScale.y * 2;
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var minimumHeight = texture.GetPixels().Select(c => c.r).Min() * HeightMapScale.y * 2;
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if (minimumHeight > 0.0001)
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Debug.LogWarning("Due to assumptions in MuJoCo heightfields, terrains should have a " +
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"minimum heightmap value of 0.");
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RenderTexture.active = null;
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File.WriteAllBytes(FullHeightMapPath, texture.EncodeToPNG());
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}
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public void CountdownUpdateCondition() {
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if (_updateCountdown < 1) return;
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_updateCountdown -= 1;
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}
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public void RebuildScene(Terrain terrain, RectInt heightRegion, bool synched) {
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if (_updateCountdown > 0) return;
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if (!Application.isPlaying || !MjScene.InstanceExists) return;
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MjScene.Instance.SceneRecreationAtLateUpdateRequested = true;
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_updateCountdown = UpdateLimit;
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}
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public Vector4 GetChangeStamp() {
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return Vector4.one;
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}
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public Tuple<Vector3[], int[]> BuildMesh() {
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return null;
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}
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public void DebugDraw(Transform transform) {
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}
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}
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}
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