File size: 6,348 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 | // 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;
// internal imports
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 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));
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. " +
"If nonzero, increasing this can improve performance.")]
public int UpdateLimit;
private int _updateCountdown;
[HideInInspector]
public float MinimumHeight { get; private set; }
[HideInInspector]
public float MaximumHeight { get; private set; }
public int HeightFieldId { get; private set; }
public unsafe void ToMjcf(XmlElement mjcf, Transform transform) {
if (Terrain.transform.parent != transform)
Debug.LogWarning(
$"The terrain of heightfield {transform.name} needs to be parented to the Geom " +
"for proper rendering.");
else {
if ((Terrain.transform.localPosition - new Vector3(
-(HeightMapLength - 1) * HeightMapScale.x / 2f,
Terrain.transform.localPosition.y,
-(HeightMapWidth - 1) * HeightMapScale.z / 2)).magnitude > 0.001) {
Debug.LogWarning($"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 - 1) * HeightMapScale.x / 2,
Terrain.transform.localPosition.y,
-(HeightMapWidth - 1) * HeightMapScale.z / 2);
}
var scene = MjScene.Instance;
var assetName = scene.GenerationContext.AddHeightFieldAsset(this);
if (Application.isPlaying) {
scene.postInitEvent += (unused_first, unused_second) =>
HeightFieldId =
MujocoLib.mj_name2id(scene.Model, (int)MujocoLib.mjtObj.mjOBJ_HFIELD, assetName);
}
if (UpdateLimit > 0) {
_updateCountdown = UpdateLimit;
if (UpdateLimit > 1) {
scene.preUpdateEvent += (unused_first, unused_second) => CountdownUpdateCondition();
}
TerrainCallbacks.heightmapChanged += (unused_first, unused_second, unused_third) =>
RebuildHeightField();
}
mjcf.SetAttribute("hfield", assetName);
PrepareHeightMap();
}
public void FromMjcf(XmlElement mjcf) {
}
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),
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;
RenderTexture.active = null;
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 += (unused_first, unused_second) => 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() {
if (_updateCountdown < 1) return;
_updateCountdown -= 1;
}
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;
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() {
return Vector4.one;
}
public Tuple<Vector3[], int[]> BuildMesh() {
return null;
}
public void DebugDraw(Transform transform) {}
}
}
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