feat: initial commit — modified sdsandbox scripts for donkeycar RL training
Key changes vs upstream tawnkramer/sdsandbox: - Car.cs: per-wheel OverlapSphere barrier detection, CCD mode - TcpCarHandler.cs: regen_road with RoadBuilder+PathManager fallback, set_ai_text overlay, BrakeOnUpdate support - PathManager.cs: self-intersection fix with XZ segment retry loop - RoadBuilder.cs: BoxCollider per segment, showBarrierMeshes flag - MapOverlay.cs: minimap refresh on road node position change Unity version: 6000.4.4f1 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
Paul Huliganga
commit
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# sdsandbox-rl-scripts
|
||||
|
||||
Modified C# scripts for the sdsandbox Unity simulator, used with the
|
||||
[donkeycar-rl-autoresearch](https://paje.ca/git/paulh/donkeycar-rl-autoresearch) project.
|
||||
|
||||
## What's here
|
||||
|
||||
- `Scripts/` — all C# scripts from `sdsim/Assets/Scripts/`, including our RL training modifications
|
||||
- `ProjectSettings/` — Unity project settings
|
||||
- `Packages/` — Unity package manifest
|
||||
|
||||
## Key modifications (vs upstream tawnkramer/sdsandbox)
|
||||
|
||||
- **`Car.cs`** — per-wheel OverlapSphere barrier collision detection; CCD mode
|
||||
- **`TcpCarHandler.cs`** — `regen_road` message support with direct RoadBuilder+PathManager fallback when no TrainingManager present; `set_ai_text` overlay message
|
||||
- **`PathManager.cs`** — self-intersection fix: retry loop with XZ segment-segment math (up to 20 retries)
|
||||
- **`RoadBuilder.cs`** — BoxCollider per segment with overlap; `showBarrierMeshes` flag
|
||||
- **`MapOverlay.cs`** — minimap refresh on road node position change (not just count)
|
||||
|
||||
## Setup on a new machine
|
||||
|
||||
1. Clone the upstream sdsandbox (provides all binary assets Unity needs):
|
||||
```bash
|
||||
git clone https://github.com/tawnkramer/sdsandbox
|
||||
```
|
||||
|
||||
2. Clone this repo:
|
||||
```bash
|
||||
git clone git@paje.ca:paulh/sdsandbox-rl-scripts.git
|
||||
```
|
||||
|
||||
3. Overlay our scripts into the sdsandbox project:
|
||||
```bash
|
||||
cp -r sdsandbox-rl-scripts/Scripts/* sdsandbox/sdsim/Assets/Scripts/
|
||||
cp -r sdsandbox-rl-scripts/ProjectSettings/* sdsandbox/sdsim/ProjectSettings/
|
||||
cp -r sdsandbox-rl-scripts/Packages/* sdsandbox/sdsim/Packages/
|
||||
```
|
||||
|
||||
4. Open `sdsandbox/sdsim` in Unity 6000.4.4f1. Unity will reimport assets on first open.
|
||||
|
||||
5. Build: **Edit → Project Settings → Player Builder → WinBuild** (or use the batch build command from the donkeycar-rl-autoresearch SESSION_HANDOFF.md).
|
||||
|
||||
## Unity version
|
||||
|
||||
**Unity 6000.4.4f1** — other versions are not tested and may have incompatible APIs.
|
||||
|
|
@ -0,0 +1,379 @@
|
|||
using UnityEngine;
|
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using System.Collections;
|
||||
|
||||
|
||||
public class Car : MonoBehaviour, ICar{
|
||||
|
||||
public CarSpawner carSpawner;
|
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public WheelCollider[] wheelColliders;
|
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public Transform[] wheelMeshes;
|
||||
|
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public float maxSpeed = 30f;
|
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public float maxTorque = 50f;
|
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public float maxBreakTorque = 50f;
|
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public AnimationCurve torqueCurve;
|
||||
|
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public Transform centrOfMass;
|
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|
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public float requestTorque = 0f;
|
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public float requestBrake = 0f;
|
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public float requestSteering = 0f;
|
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|
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public Vector3 acceleration = Vector3.zero;
|
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public Vector3 velocity = Vector3.zero;
|
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public Vector3 prevVel = Vector3.zero;
|
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|
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public Vector3 startPos;
|
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public Quaternion startRot;
|
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private Quaternion rotation = Quaternion.identity;
|
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private Vector3 gyro = Vector3.zero;
|
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|
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public Rigidbody rb;
|
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|
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//for logging
|
||||
public float lastSteer = 0.0f;
|
||||
public float lastAccel = 0.0f;
|
||||
|
||||
//when the car is doing multiple things, we sometimes want to sort out parts of the training
|
||||
//use this label to pull partial training samples from a run
|
||||
public string activity = "keep_lane";
|
||||
|
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public float maxSteer = 16.0f;
|
||||
|
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//name of the last object we hit.
|
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public string last_collision = "none";
|
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private float last_collision_time = -999f;
|
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private const float collision_hold_seconds = 0.75f;
|
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|
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// Pre-allocated buffer for per-wheel barrier overlap checks (avoids GC per frame).
|
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private Collider[] _wheelOverlapBuf = new Collider[8];
|
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|
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|
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// Use this for initialization
|
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void Awake ()
|
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{
|
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rb = GetComponent<Rigidbody>();
|
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|
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if(rb && centrOfMass)
|
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{
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rb.centerOfMass = centrOfMass.localPosition;
|
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}
|
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|
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// Continuous collision detection prevents the car from tunnelling through
|
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// thin or fast-moving colliders (including barrier walls) between frames.
|
||||
if (rb)
|
||||
rb.collisionDetectionMode = CollisionDetectionMode.Continuous;
|
||||
|
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requestTorque = 0f;
|
||||
requestSteering = 0f;
|
||||
|
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SavePosRot();
|
||||
|
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// had to disable this because PID max steering was affecting the global max_steering
|
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// maxSteer = PlayerPrefs.GetFloat("max_steer", 16.0f);
|
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}
|
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|
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public void SavePosRot()
|
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{
|
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startPos = transform.position;
|
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startRot = transform.rotation;
|
||||
}
|
||||
|
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public void RestorePosRot()
|
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{
|
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Set(startPos, startRot);
|
||||
}
|
||||
|
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public void RequestThrottle(float val)
|
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{
|
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requestTorque = val;
|
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requestBrake = 0f;
|
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//Debug.Log("request throttle: " + val);
|
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}
|
||||
|
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public void SetMaxSteering(float val)
|
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{
|
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maxSteer = val;
|
||||
// had to disable this because PID max steering was affecting the global max_steering
|
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// PlayerPrefs.SetFloat("max_steer", maxSteer);
|
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// PlayerPrefs.Save();
|
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}
|
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|
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public float GetMaxSteering()
|
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{
|
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return maxSteer;
|
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}
|
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|
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public void RequestSteering(float val)
|
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{
|
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requestSteering = Mathf.Clamp(val, -maxSteer, maxSteer);
|
||||
//Debug.Log("request steering: " + val);
|
||||
}
|
||||
|
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public void Set(Vector3 pos, Quaternion rot)
|
||||
{
|
||||
rb.position = pos;
|
||||
rb.rotation = rot;
|
||||
|
||||
//just setting it once doesn't seem to work. Try setting it multiple times..
|
||||
StartCoroutine(KeepSetting(pos, rot, 1));
|
||||
}
|
||||
|
||||
IEnumerator KeepSetting(Vector3 pos, Quaternion rot, int numIter)
|
||||
{
|
||||
while(numIter > 0)
|
||||
{
|
||||
rb.isKinematic = true;
|
||||
|
||||
yield return new WaitForFixedUpdate();
|
||||
|
||||
rb.position = pos;
|
||||
rb.rotation = rot;
|
||||
transform.position = pos;
|
||||
transform.rotation = rot;
|
||||
|
||||
numIter--;
|
||||
|
||||
rb.isKinematic = false;
|
||||
}
|
||||
}
|
||||
|
||||
public float GetSteering()
|
||||
{
|
||||
return requestSteering;
|
||||
}
|
||||
|
||||
public float GetThrottle()
|
||||
{
|
||||
return requestTorque;
|
||||
}
|
||||
|
||||
public float GetFootBrake()
|
||||
{
|
||||
return requestBrake;
|
||||
}
|
||||
|
||||
public float GetHandBrake()
|
||||
{
|
||||
return 0.0f;
|
||||
}
|
||||
|
||||
public Vector3 GetVelocity()
|
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{
|
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return velocity;
|
||||
}
|
||||
|
||||
public Vector3 GetAccel()
|
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{
|
||||
return acceleration;
|
||||
}
|
||||
public Vector3 GetGyro()
|
||||
{
|
||||
return gyro;
|
||||
}
|
||||
public float GetOrient ()
|
||||
{
|
||||
Vector3 dir = transform.forward;
|
||||
return Mathf.Atan2( dir.z, dir.x);
|
||||
}
|
||||
|
||||
public Transform GetTransform()
|
||||
{
|
||||
return this.transform;
|
||||
}
|
||||
|
||||
public bool IsStill()
|
||||
{
|
||||
return rb.IsSleeping();
|
||||
}
|
||||
|
||||
public void RequestFootBrake(float val)
|
||||
{
|
||||
requestBrake = val;
|
||||
}
|
||||
|
||||
public void RequestHandBrake(float val)
|
||||
{
|
||||
//todo
|
||||
}
|
||||
|
||||
// Update is called once per frame
|
||||
void Update () {
|
||||
|
||||
UpdateWheelPositions();
|
||||
}
|
||||
|
||||
public string GetActivity()
|
||||
{
|
||||
return activity;
|
||||
}
|
||||
|
||||
public void SetActivity(string act)
|
||||
{
|
||||
activity = act;
|
||||
}
|
||||
|
||||
void FixedUpdate()
|
||||
{
|
||||
lastSteer = requestSteering;
|
||||
lastAccel = requestTorque;
|
||||
prevVel = velocity;
|
||||
velocity = transform.InverseTransformDirection(rb.velocity);
|
||||
acceleration = (velocity - prevVel)/Time.deltaTime;
|
||||
gyro = rb.angularVelocity;
|
||||
rotation = rb.rotation;
|
||||
|
||||
// use the torque curve
|
||||
float throttle = torqueCurve.Evaluate(velocity.magnitude / maxSpeed) * requestTorque * maxTorque;
|
||||
float steerAngle = requestSteering;
|
||||
float brake = requestBrake * maxBreakTorque;
|
||||
|
||||
//front two tires.
|
||||
wheelColliders[2].steerAngle = steerAngle;
|
||||
wheelColliders[3].steerAngle = steerAngle;
|
||||
|
||||
//four wheel drive at the moment
|
||||
foreach(WheelCollider wc in wheelColliders)
|
||||
{
|
||||
wc.motorTorque = throttle;
|
||||
wc.brakeTorque = brake;
|
||||
}
|
||||
|
||||
// WheelColliders don't fire OnCollisionStay on this MonoBehaviour. We use
|
||||
// two complementary checks to catch barrier contact from any angle:
|
||||
//
|
||||
// 1) Forward raycast — probes ahead of the car even before contact occurs,
|
||||
// so it fires quickly when driving into a barrier nose-first.
|
||||
if (requestTorque > 0.05f)
|
||||
{
|
||||
Vector3 rayOrigin = transform.position + transform.up * 0.3f;
|
||||
RaycastHit rhit;
|
||||
if (Physics.Raycast(rayOrigin, transform.forward, out rhit, 0.8f))
|
||||
{
|
||||
if (!IsStartingLine(rhit.collider.gameObject.name))
|
||||
RegisterCollision(rhit.collider.gameObject.name);
|
||||
}
|
||||
}
|
||||
|
||||
// 2) Per-wheel OverlapSphere — catches actual contact from any direction
|
||||
// (side, rear, diagonal) regardless of throttle or car orientation.
|
||||
// Uses barrier name filter to avoid false positives from the road surface.
|
||||
foreach (WheelCollider wc in wheelColliders)
|
||||
{
|
||||
Vector3 wheelCenter;
|
||||
Quaternion wheelRot;
|
||||
wc.GetWorldPose(out wheelCenter, out wheelRot);
|
||||
int n = Physics.OverlapSphereNonAlloc(wheelCenter, wc.radius + 0.05f, _wheelOverlapBuf);
|
||||
for (int i = 0; i < n; i++)
|
||||
{
|
||||
if (_wheelOverlapBuf[i] == null) continue;
|
||||
string hitName = _wheelOverlapBuf[i].gameObject.name;
|
||||
if (hitName.Contains("barrier"))
|
||||
{
|
||||
RegisterCollision(hitName);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void FlipUpright()
|
||||
{
|
||||
Quaternion rot = Quaternion.Euler(180f, 0f, 0f);
|
||||
this.transform.rotation = transform.rotation * rot;
|
||||
transform.position = transform.position + Vector3.up * 2;
|
||||
}
|
||||
|
||||
void UpdateWheelPositions()
|
||||
{
|
||||
Quaternion rot;
|
||||
Vector3 pos;
|
||||
|
||||
for(int i = 0; i < wheelColliders.Length; i++)
|
||||
{
|
||||
WheelCollider wc = wheelColliders[i];
|
||||
Transform tm = wheelMeshes[i];
|
||||
|
||||
wc.GetWorldPose(out pos, out rot);
|
||||
|
||||
tm.position = pos;
|
||||
tm.rotation = rot;
|
||||
}
|
||||
}
|
||||
|
||||
//get the name of the last object we collided with
|
||||
public string GetLastCollision()
|
||||
{
|
||||
return last_collision;
|
||||
}
|
||||
|
||||
public void ClearLastCollision()
|
||||
{
|
||||
if (Time.time - last_collision_time > collision_hold_seconds)
|
||||
{
|
||||
last_collision = "none";
|
||||
}
|
||||
}
|
||||
|
||||
bool ShouldPersistCollision(string collisionName, float speedMagnitude)
|
||||
{
|
||||
if (speedMagnitude < 1.5f)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
string lowered = collisionName.ToLowerInvariant();
|
||||
return lowered.Contains("barrier") || lowered.Contains("tree") || lowered.Contains("wall");
|
||||
}
|
||||
|
||||
// The starting/finish line is a physical collider used for lap counting.
|
||||
// It must not be treated as a barrier hit — lap counting is handled separately
|
||||
// via the collision_with_starting_line TCP message in TcpCarHandler.
|
||||
bool IsStartingLine(string objectName)
|
||||
{
|
||||
string lower = objectName.ToLowerInvariant();
|
||||
return lower.Contains("starting_line") || lower.Contains("startingline") || lower.Contains("finishline");
|
||||
}
|
||||
|
||||
void RegisterCollision(string collisionName)
|
||||
{
|
||||
last_collision = collisionName;
|
||||
last_collision_time = Time.time;
|
||||
}
|
||||
|
||||
void OnCollisionEnter(Collision col)
|
||||
{
|
||||
if (IsStartingLine(col.gameObject.name)) return;
|
||||
RegisterCollision(col.gameObject.name);
|
||||
}
|
||||
|
||||
void OnCollisionStay(Collision col)
|
||||
{
|
||||
if (IsStartingLine(col.gameObject.name)) return;
|
||||
float speedMagnitude = (rb != null) ? rb.velocity.magnitude : 0.0f;
|
||||
if (ShouldPersistCollision(col.gameObject.name, speedMagnitude))
|
||||
{
|
||||
RegisterCollision(col.gameObject.name);
|
||||
}
|
||||
}
|
||||
|
||||
// Trigger-based barriers (used by built-in tracks like mini-monaco) fire
|
||||
// OnTriggerEnter rather than OnCollisionEnter. Handle them here so that
|
||||
// out-of-bounds detection works on all tracks, not just our custom ones.
|
||||
void OnTriggerEnter(Collider other)
|
||||
{
|
||||
if (IsStartingLine(other.gameObject.name)) return;
|
||||
RegisterCollision(other.gameObject.name);
|
||||
}
|
||||
|
||||
void OnTriggerStay(Collider other)
|
||||
{
|
||||
if (IsStartingLine(other.gameObject.name)) return;
|
||||
float speedMagnitude = (rb != null) ? rb.velocity.magnitude : 0.0f;
|
||||
if (ShouldPersistCollision(other.gameObject.name, speedMagnitude))
|
||||
{
|
||||
RegisterCollision(other.gameObject.name);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
fileFormatVersion: 2
|
||||
guid: ab3484103f28341d0a2099af385e1610
|
||||
timeCreated: 1448832312
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,48 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
public class CarBodyStyle : MonoBehaviour
|
||||
{
|
||||
public GameObject[] bodyParts;
|
||||
|
||||
// sometimes, object can have multiple material, here we are specifying witch one we want to modify
|
||||
public string[] material_name;
|
||||
private int mat_idx = 0;
|
||||
|
||||
public void ApplyColor(Color col)
|
||||
{
|
||||
for (int i = 0; i < bodyParts.Length; i++)
|
||||
{
|
||||
GameObject part = bodyParts[i];
|
||||
Renderer rend = part.GetComponent<Renderer>();
|
||||
Material[] materials = rend.materials;
|
||||
|
||||
if (i < material_name.Length && i < materials.Length)
|
||||
{
|
||||
mat_idx = SearchMaterial(materials, material_name[i]);
|
||||
}
|
||||
else
|
||||
{
|
||||
mat_idx = 0;
|
||||
}
|
||||
// Debug.Log("mat name: " + materials[mat_idx].name);
|
||||
materials[mat_idx].SetColor("_Color", col);
|
||||
}
|
||||
}
|
||||
|
||||
public int SearchMaterial(Material[] materials, string name)
|
||||
{
|
||||
if (name == "default")
|
||||
return 0;
|
||||
|
||||
// search for the material requested name
|
||||
for (int idx = 0; idx < materials.Length; idx++)
|
||||
{
|
||||
// Debug.Log(materials[idx].name + " " + name);
|
||||
if (materials[idx].name == name + " (Instance)")
|
||||
return idx;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 0fb12741290ca1d4998921501601a696
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,78 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using UnityEngine.UI;
|
||||
|
||||
public class CarConfig : MonoBehaviour
|
||||
{
|
||||
public GameObject bodyStyles;
|
||||
public GameObject car_name_base;
|
||||
public GameObject OverheadViewSphere;
|
||||
public TextMesh car_name_text;
|
||||
public Timer timer;
|
||||
|
||||
public void SetStyle(string body_style, int r, int g, int b, string car_name, int font_size)
|
||||
{
|
||||
Debug.Log("Setting car config.");
|
||||
|
||||
if (car_name.Length > 1)
|
||||
{
|
||||
car_name_base.SetActive(true);
|
||||
car_name_text.text = car_name;
|
||||
car_name_text.fontSize = font_size;
|
||||
transform.name = car_name; // rename the gameobject name
|
||||
}
|
||||
|
||||
if (timer != null)
|
||||
{
|
||||
timer.racerName = car_name;
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogError("timer not found while mapping racer name");
|
||||
}
|
||||
|
||||
Color col = new Color();
|
||||
col.r = r / 255.0f;
|
||||
col.g = g / 255.0f;
|
||||
col.b = b / 255.0f;
|
||||
|
||||
Renderer rend = OverheadViewSphere.GetComponent<Renderer>();
|
||||
Material[] materials = rend.materials;
|
||||
materials[0].SetColor("_Color", col);
|
||||
|
||||
|
||||
GameObject bodyStyle;
|
||||
for (int i = 0; i < bodyStyles.transform.childCount; i++) // go through each bodyStyles to find the desired body style
|
||||
{
|
||||
bodyStyle = bodyStyles.transform.GetChild(i).gameObject;
|
||||
if (bodyStyle.name == body_style) // check if it's the requested body style
|
||||
{
|
||||
bodyStyle.SetActive(true);
|
||||
var carBodyStyle = bodyStyle.GetComponent<CarBodyStyle>();
|
||||
if (carBodyStyle != null)
|
||||
{
|
||||
carBodyStyle.ApplyColor(col);
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogWarning(bodyStyle.name + " doesn't have a CarBodyStyle component");
|
||||
}
|
||||
return;
|
||||
}
|
||||
else // else just make sure it's disabled
|
||||
{
|
||||
bodyStyle.SetActive(false);
|
||||
}
|
||||
}
|
||||
Debug.LogWarning("body_style not in list of available bodyStyles, using default one instead");
|
||||
|
||||
GameObject defaultBodyStyle = bodyStyles.transform.GetChild(0).gameObject;
|
||||
var defaultCarBodyStyle = defaultBodyStyle.GetComponent<CarBodyStyle>();
|
||||
if (defaultCarBodyStyle != null)
|
||||
{
|
||||
defaultBodyStyle.SetActive(true);
|
||||
defaultCarBodyStyle.ApplyColor(col);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 18637ebcb2c9a94dc9974c66102fb75c
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,47 @@
|
|||
using UnityEngine;
|
||||
using System.Collections;
|
||||
|
||||
public class CarModel
|
||||
{
|
||||
public Vector3 pos = Vector3.zero;
|
||||
public float length = 1f;
|
||||
public float orientation = 0f; //radians rot about Y
|
||||
|
||||
public void SetLength(float val)
|
||||
{
|
||||
length = val;
|
||||
}
|
||||
|
||||
public void Set(Vector3 p, float o)
|
||||
{
|
||||
pos = p;
|
||||
orientation = o;
|
||||
}
|
||||
|
||||
public CarModel move(float distMove, float angleTurn)
|
||||
{
|
||||
CarModel newMod = new CarModel();
|
||||
newMod.pos = pos;
|
||||
newMod.length = length;
|
||||
newMod.orientation = orientation;
|
||||
float theta = orientation;
|
||||
|
||||
if(angleTurn < 0.001f)
|
||||
{
|
||||
newMod.pos.x += distMove * Mathf.Cos(theta);
|
||||
newMod.pos.z += distMove * Mathf.Sin(theta);
|
||||
}
|
||||
else
|
||||
{
|
||||
float Beta = distMove / length * Mathf.Tan( angleTurn );
|
||||
float R = distMove / Beta;
|
||||
float cx = pos.x - Mathf.Sin(theta) * R;
|
||||
float cz = pos.z + Mathf.Cos(theta) * R;
|
||||
newMod.pos.x = cx + Mathf.Sin(theta + Beta) * R;
|
||||
newMod.pos.z = cz - Mathf.Cos(theta + Beta) * R;
|
||||
newMod.orientation = theta + Beta;
|
||||
}
|
||||
|
||||
return newMod;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 2ad110fb87d4845daac10710224235c8
|
||||
timeCreated: 1449523174
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,163 @@
|
|||
using UnityEngine;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine.AI;
|
||||
|
||||
public class PathNode
|
||||
{
|
||||
public Vector3 pos;
|
||||
public Quaternion rotation;
|
||||
public string activity;
|
||||
}
|
||||
|
||||
public class CarPath
|
||||
{
|
||||
public List<PathNode> nodes;
|
||||
public List<PathNode> centerNodes;
|
||||
public NavMeshPath navMeshPath;
|
||||
public int iActiveSpan = 0;
|
||||
|
||||
|
||||
public CarPath()
|
||||
{
|
||||
nodes = new List<PathNode>();
|
||||
centerNodes = new List<PathNode>();
|
||||
navMeshPath = new NavMeshPath();
|
||||
}
|
||||
|
||||
public int GetClosestSpanIndex(Vector3 carPos)
|
||||
{
|
||||
float minDistance = float.MaxValue;
|
||||
int minDistanceIndex = -1;
|
||||
for (int i = 0; i < nodes.Count; i++)
|
||||
{
|
||||
float dist = Vector3.Distance(nodes[i].pos, carPos);
|
||||
if (dist < minDistance)
|
||||
{
|
||||
minDistance = dist;
|
||||
minDistanceIndex = i;
|
||||
}
|
||||
}
|
||||
return minDistanceIndex;
|
||||
}
|
||||
|
||||
public PathNode GetNode(int index)
|
||||
{
|
||||
if (index < nodes.Count)
|
||||
return nodes[index];
|
||||
|
||||
return null;
|
||||
}
|
||||
|
||||
public void SmoothPath(float factor = 0.5f)
|
||||
{
|
||||
LineSeg3d.SegResult segRes = new LineSeg3d.SegResult();
|
||||
|
||||
for (int iN = 1; iN < nodes.Count - 2; iN++)
|
||||
{
|
||||
PathNode p = nodes[iN - 1];
|
||||
PathNode c = nodes[iN];
|
||||
PathNode n = nodes[iN + 1];
|
||||
|
||||
LineSeg3d seg = new LineSeg3d(ref p.pos, ref n.pos);
|
||||
Vector3 closestP = seg.ClosestPointOnSegmentTo(ref c.pos, ref segRes);
|
||||
Vector3 dIntersect = closestP - c.pos;
|
||||
c.pos += dIntersect.normalized * factor;
|
||||
}
|
||||
}
|
||||
public double getDistance(Vector3 currentPosition, Vector3 target)
|
||||
{
|
||||
double distance = 0.0;
|
||||
if (NavMesh.CalculatePath(currentPosition, target, NavMesh.AllAreas, this.navMeshPath))
|
||||
{
|
||||
if (this.navMeshPath.corners.Length > 5)
|
||||
{
|
||||
//ignore the first corners -> more stable
|
||||
distance += (this.navMeshPath.corners[2] - currentPosition).magnitude;
|
||||
for (int i = 3; i < this.navMeshPath.corners.Length; i++)
|
||||
{
|
||||
Vector3 start = this.navMeshPath.corners[i - 1];
|
||||
Vector3 end = this.navMeshPath.corners[i];
|
||||
distance += (end - start).magnitude;
|
||||
}
|
||||
}
|
||||
}
|
||||
return distance;
|
||||
}
|
||||
|
||||
public bool GetCrossTrackErr(Vector3 pos, ref int iActiveSpan, ref float err, int lookAhead = 1)
|
||||
{
|
||||
int nextIActiveSpan = (iActiveSpan + 1) % (nodes.Count);
|
||||
int aheadIActiveSpan = (iActiveSpan + lookAhead) % (nodes.Count);
|
||||
|
||||
PathNode a = nodes[iActiveSpan];
|
||||
PathNode b = nodes[nextIActiveSpan];
|
||||
PathNode c = nodes[aheadIActiveSpan];
|
||||
|
||||
//2d path.
|
||||
pos.y = a.pos.y;
|
||||
|
||||
LineSeg3d pathSeg = new LineSeg3d(ref a.pos, ref c.pos);
|
||||
LineSeg3d.SegResult segRes = new LineSeg3d.SegResult();
|
||||
Vector3 closePt = pathSeg.ClosestPointOnSegmentTo(ref pos, ref segRes);
|
||||
Vector3 errVec = pathSeg.ClosestVectorTo(ref pos);
|
||||
|
||||
pathSeg.Draw(Color.green);
|
||||
Debug.DrawLine(a.pos, closePt, Color.blue);
|
||||
Debug.DrawRay(closePt, errVec, Color.white);
|
||||
|
||||
float sign = 1.0f;
|
||||
|
||||
Vector3 cp = Vector3.Cross(pathSeg.m_dir.normalized, errVec.normalized);
|
||||
|
||||
if (cp.y > 0.0f)
|
||||
sign = -1f;
|
||||
|
||||
err = errVec.magnitude * sign;
|
||||
|
||||
int oldActiveSpan = iActiveSpan ;
|
||||
|
||||
float dista = Vector3.Distance(a.pos, pos);
|
||||
float distb = Vector3.Distance(b.pos, pos);
|
||||
if (dista > distb)
|
||||
{
|
||||
iActiveSpan = (iActiveSpan + 1) % (nodes.Count);
|
||||
}
|
||||
|
||||
// if (iActiveSpan - oldActiveSpan <= 0) { return true; } // we lapped
|
||||
return false; // we are on the same lap
|
||||
}
|
||||
|
||||
public (float xmin, float xmax, float ymin, float ymax, float zmin, float zmax) GetPathBounds()
|
||||
{
|
||||
(float xmin, float xmax, float ymin, float ymax, float zmin, float zmax) bounds;
|
||||
bounds.xmin = bounds.ymin = bounds.zmin = float.MaxValue;
|
||||
bounds.xmax = bounds.ymax = bounds.zmax = float.MinValue;
|
||||
|
||||
foreach (PathNode node in centerNodes)
|
||||
{
|
||||
|
||||
Vector3 pos = node.pos;
|
||||
float x = pos.x;
|
||||
float y = pos.y;
|
||||
float z = pos.z;
|
||||
|
||||
if (x < bounds.xmin)
|
||||
bounds.xmin = x;
|
||||
if (x > bounds.xmax)
|
||||
bounds.xmax = x;
|
||||
|
||||
if (y < bounds.ymin)
|
||||
bounds.ymin = y;
|
||||
if (y > bounds.ymax)
|
||||
bounds.ymax = y;
|
||||
|
||||
if (z < bounds.zmin)
|
||||
bounds.zmin = z;
|
||||
if (z > bounds.zmax)
|
||||
bounds.zmax = z;
|
||||
|
||||
}
|
||||
return bounds;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 71b3d88cc247f4490bbdc990e9941183
|
||||
timeCreated: 1449527982
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,51 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
public class CarPusher : MonoBehaviour {
|
||||
|
||||
public Car car;
|
||||
public float amountToPushSideways = 1.0f;
|
||||
public float amountToRotate = 10.0f;
|
||||
public float durationTillNextPush = 3.0f;
|
||||
public bool doPush = true;
|
||||
public bool doRotate = true;
|
||||
|
||||
float timer = 0.0f;
|
||||
|
||||
// Use this for initialization
|
||||
void Start () {
|
||||
timer = durationTillNextPush - 1.0f;
|
||||
}
|
||||
|
||||
void PushCar()
|
||||
{
|
||||
Vector3 sideVec = car.gameObject.transform.right.normalized;
|
||||
float randScale = Random.Range( -1f * amountToPushSideways, amountToPushSideways);
|
||||
car.transform.position = car.transform.position + (sideVec * randScale);
|
||||
}
|
||||
|
||||
void RotateCar()
|
||||
{
|
||||
float randRot = Random.Range( -1f * amountToRotate, amountToRotate);
|
||||
Quaternion rotY = Quaternion.Euler(0.0f, randRot, 0.0f);
|
||||
car.transform.rotation = car.transform.rotation * rotY;
|
||||
}
|
||||
|
||||
// Update is called once per frame
|
||||
void Update ()
|
||||
{
|
||||
timer += Time.deltaTime;
|
||||
|
||||
if(timer > durationTillNextPush)
|
||||
{
|
||||
timer = 0.0f;
|
||||
|
||||
if(doPush)
|
||||
PushCar();
|
||||
|
||||
if(doRotate)
|
||||
RotateCar();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 4a4f2387b0f594d808f4ade6f32da6ed
|
||||
timeCreated: 1482953591
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,528 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using tk;
|
||||
using System;
|
||||
|
||||
public class CarSpawner : MonoBehaviour
|
||||
{
|
||||
|
||||
public PathManager pathManager;
|
||||
public GameObject carPrefab;
|
||||
public Transform[] startsTm; // list containing multiple starting points
|
||||
public bool EnableTrainingManager = false;
|
||||
|
||||
public delegate void OnNewCar(GameObject carObj);
|
||||
public OnNewCar OnNewCarCB;
|
||||
|
||||
public int numCarRows = 2;
|
||||
public float distCarCols = 4.5f;
|
||||
public float distCarRows = 5f;
|
||||
|
||||
public GameObject mainCamera;
|
||||
public GameObject splitScreenCamPrefab;
|
||||
public GameObject splitScreenOHCamPrefab;
|
||||
public int SplitScreenWidth = 2;
|
||||
public RaceCameras raceCameras;
|
||||
|
||||
public GameObject racerStatusPrefab;
|
||||
public RectTransform raceStatusPanel;
|
||||
int raceStatusWidth = 380;
|
||||
int raceStatusHeight = 100;
|
||||
int n_columns = 2; // number of columns in the RaceStatus panel
|
||||
|
||||
public List<GameObject> cars = new List<GameObject>();
|
||||
public List<GameObject> cameras = new List<GameObject>();
|
||||
|
||||
static public GameObject getChildGameObject(GameObject fromGameObject, string withName)
|
||||
{
|
||||
//Author: Isaac Dart, June-13.
|
||||
Transform[] ts = fromGameObject.transform.GetComponentsInChildren<Transform>(true);
|
||||
foreach (Transform t in ts) if (t.gameObject.name == withName) return t.gameObject;
|
||||
|
||||
Debug.LogError("couldn't find: " + withName);
|
||||
return null;
|
||||
}
|
||||
|
||||
// Find the car for the given JsonTcpClient and remove it from the scene.
|
||||
public bool RemoveCar(tk.JsonTcpClient client)
|
||||
{
|
||||
GameObject toRemove = null;
|
||||
|
||||
foreach (GameObject go in cars)
|
||||
{
|
||||
GameObject TcpClientObj = getChildGameObject(go, "TCPClient");
|
||||
|
||||
if (TcpClientObj != null)
|
||||
{
|
||||
tk.TcpCarHandler handler = TcpClientObj.GetComponent<tk.TcpCarHandler>();
|
||||
|
||||
if (handler != null && handler.GetClient() == client)
|
||||
{
|
||||
toRemove = go;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (toRemove != null)
|
||||
{
|
||||
int iSplitScreenCam = cars.IndexOf(toRemove);
|
||||
if (GlobalState.overheadCamera) { iSplitScreenCam += 1; }
|
||||
|
||||
if (raceCameras != null)
|
||||
{
|
||||
int carID = toRemove.GetInstanceID() - 4;
|
||||
if (raceCameras.carProgress.ContainsKey(carID))
|
||||
{
|
||||
raceCameras.carProgress.Remove(carID);
|
||||
}
|
||||
}
|
||||
|
||||
RemoveTimer(toRemove);
|
||||
cars.Remove(toRemove);
|
||||
|
||||
if (cameras.Count > iSplitScreenCam)
|
||||
{
|
||||
GameObject SplitScreenCamGo = cameras[iSplitScreenCam];
|
||||
RemoveSplitScreenCam(SplitScreenCamGo);
|
||||
}
|
||||
GameObject.Destroy(toRemove);
|
||||
|
||||
Debug.Log("Removed car");
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogError("failed to remove car");
|
||||
return false;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
public void RemoveGhostCars()
|
||||
{
|
||||
foreach (GameObject car in cars)
|
||||
{
|
||||
tk.TcpCarHandler tcpCarHandler = car.GetComponentInChildren<tk.TcpCarHandler>();
|
||||
if (tcpCarHandler != null && tcpCarHandler.IsGhostCar())
|
||||
{
|
||||
tcpCarHandler.Boot();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void RemoveAllCars()
|
||||
{
|
||||
// Remove each car one by one
|
||||
foreach (GameObject car in cars)
|
||||
{
|
||||
int i = cars.IndexOf(car);
|
||||
|
||||
if (raceCameras != null)
|
||||
{
|
||||
int carID = car.GetInstanceID() - 4;
|
||||
if (raceCameras.carProgress.ContainsKey(carID))
|
||||
{
|
||||
raceCameras.carProgress.Remove(carID);
|
||||
}
|
||||
}
|
||||
|
||||
RemoveTimer(car);
|
||||
cars.Remove(car);
|
||||
|
||||
if (cameras.Count > i)
|
||||
{
|
||||
GameObject SplitScreenCamGo = cameras[i + 1];
|
||||
RemoveSplitScreenCam(SplitScreenCamGo);
|
||||
}
|
||||
GameObject.Destroy(car);
|
||||
}
|
||||
RemoveUiReferences();
|
||||
}
|
||||
|
||||
void UpdateRaceStatusPannel()
|
||||
{
|
||||
int n_children = raceStatusPanel.transform.childCount;
|
||||
int row = n_children;
|
||||
if (row > n_columns)
|
||||
row = n_columns;
|
||||
|
||||
int col = (n_children / n_columns) + (n_children % n_columns);
|
||||
float width = row * raceStatusWidth;
|
||||
float height = col * raceStatusHeight;
|
||||
raceStatusPanel.SetSizeWithCurrentAnchors(RectTransform.Axis.Horizontal, width);
|
||||
raceStatusPanel.SetSizeWithCurrentAnchors(RectTransform.Axis.Vertical, height);
|
||||
raceStatusPanel.anchoredPosition = new Vector3(8.0f, -1 * height, 0.0f);
|
||||
}
|
||||
|
||||
public void AddTimer(Timer t, tk.JsonTcpClient client)
|
||||
{
|
||||
if (racerStatusPrefab == null)
|
||||
return;
|
||||
|
||||
GameObject go = Instantiate(racerStatusPrefab) as GameObject;
|
||||
RaceStatus rs = go.GetComponent<RaceStatus>();
|
||||
rs.Init(t, client);
|
||||
go.transform.SetParent(raceStatusPanel.transform);
|
||||
go.transform.GetComponent<RectTransform>().localScale = raceStatusPanel.transform.localScale;
|
||||
|
||||
UpdateRaceStatusPannel(); // update the UI with the new child count
|
||||
Debug.Log("Added timer");
|
||||
|
||||
}
|
||||
|
||||
public void RemoveTimer(GameObject go)
|
||||
{
|
||||
Timer timer = getChildGameObject(go, "Timer").GetComponent<Timer>();
|
||||
|
||||
if (timer != null && raceStatusPanel != null)
|
||||
{
|
||||
int count = raceStatusPanel.transform.childCount;
|
||||
for (int i = 0; i < count; i++)
|
||||
{
|
||||
Transform child = raceStatusPanel.transform.GetChild(i);
|
||||
RaceStatus rs = child.GetComponent<RaceStatus>();
|
||||
if (rs.timer == timer)
|
||||
{
|
||||
child.transform.SetParent(null); // detach from parent
|
||||
Destroy(child.gameObject); // destroy child
|
||||
UpdateRaceStatusPannel(); // update the UI with the new child count
|
||||
Debug.Log("removed timer");
|
||||
return;
|
||||
}
|
||||
}
|
||||
Debug.LogError("failed to find timer while removing it");
|
||||
return;
|
||||
}
|
||||
Debug.LogError("failed to remove timer");
|
||||
}
|
||||
|
||||
public void AddSplitScreenCam(int index)
|
||||
{
|
||||
if (cameras.Count < GlobalState.maxSplitScreen && !GlobalState.raceCameras)
|
||||
{
|
||||
if (index == 0 && GlobalState.overheadCamera)
|
||||
{
|
||||
GameObject splitScreenOHCamGo = Instantiate(splitScreenOHCamPrefab);
|
||||
OverHeadCamera OHCam = splitScreenOHCamGo.GetComponent<OverHeadCamera>();
|
||||
OHCam.pathManager = pathManager;
|
||||
OHCam.Init();
|
||||
|
||||
cameras.Add(splitScreenOHCamGo);
|
||||
}
|
||||
else
|
||||
{
|
||||
GameObject splitScreenCamGo = Instantiate(splitScreenCamPrefab);
|
||||
cameras.Add(splitScreenCamGo);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void RemoveSplitScreenCam(GameObject splitScreenCamGo)
|
||||
{
|
||||
GameObject.Destroy(splitScreenCamGo);
|
||||
cameras.Remove(splitScreenCamGo);
|
||||
UpdateSplitScreenCams();
|
||||
Debug.Log("removed split screen camera");
|
||||
}
|
||||
|
||||
public void UpdateSplitScreenCams()
|
||||
{
|
||||
|
||||
if (GlobalState.raceCameras)
|
||||
{
|
||||
if (mainCamera != null) { mainCamera.SetActive(false); }
|
||||
return;
|
||||
}
|
||||
|
||||
int num_cameras = cars.Count;
|
||||
if (GlobalState.overheadCamera) { num_cameras += 1; }
|
||||
if (num_cameras > GlobalState.maxSplitScreen) { num_cameras = GlobalState.maxSplitScreen; }
|
||||
|
||||
// check if the number of cameras match the number of cars
|
||||
if ((cameras.Count != num_cameras))
|
||||
{
|
||||
// remove all cameras in there
|
||||
foreach (GameObject splitScreenCamGo in cameras)
|
||||
{
|
||||
GameObject.Destroy(splitScreenCamGo);
|
||||
}
|
||||
cameras.Clear();
|
||||
|
||||
// and recreate some new ones
|
||||
for (int i = 0; i < num_cameras; i++)
|
||||
{
|
||||
AddSplitScreenCam(i);
|
||||
}
|
||||
}
|
||||
|
||||
// for each camera, update the rect
|
||||
for (int i = 0; i < num_cameras; i++)
|
||||
{
|
||||
|
||||
if (i > 0 || !GlobalState.overheadCamera) // if the camera isn't overhead, assign a car to it
|
||||
{
|
||||
GameObject splitScreenCamGo = cameras[i];
|
||||
GameObject car;
|
||||
if (GlobalState.overheadCamera) { car = cars[i - 1]; }
|
||||
else { car = cars[i]; }
|
||||
|
||||
// set target to the corresponding car
|
||||
Camera splitScreenCam = splitScreenCamGo.GetComponent<Camera>();
|
||||
|
||||
DrawLidar dLidar = splitScreenCamGo.GetComponent<DrawLidar>();
|
||||
dLidar.car = car;
|
||||
|
||||
CameraFollow cameraFollow = splitScreenCam.GetComponent<CameraFollow>();
|
||||
cameraFollow.target = getChildGameObject(car, "CameraFollowTm").transform;
|
||||
}
|
||||
|
||||
int x_index = i % SplitScreenWidth;
|
||||
int y_index = i / SplitScreenWidth;
|
||||
int number_in_row = Math.Min((cameras.Count - y_index * SplitScreenWidth), SplitScreenWidth);
|
||||
int number_of_row = 1 + ((cameras.Count - 1) / SplitScreenWidth);
|
||||
|
||||
float w = 1 / (float)(number_in_row);
|
||||
float h = 1 / (float)(number_of_row);
|
||||
|
||||
float x = (x_index) / (float)number_in_row;
|
||||
float y = (y_index) / (float)number_of_row;
|
||||
|
||||
GameObject go = cameras[i];
|
||||
Camera camera = go.GetComponent<Camera>();
|
||||
camera.rect = new Rect(x, y, w, h);
|
||||
|
||||
if (GlobalState.overheadCamera && i == 0) { OverHeadCamera ohcam = go.GetComponent<OverHeadCamera>(); ohcam.Init(); }
|
||||
}
|
||||
|
||||
if (cameras.Count == 0 && mainCamera != null && !GlobalState.raceCameras)
|
||||
{
|
||||
mainCamera.SetActive(true);
|
||||
}
|
||||
else if (mainCamera != null)
|
||||
{
|
||||
mainCamera.SetActive(false); // make sure we are disabling main camera to avoid background rendering
|
||||
}
|
||||
}
|
||||
|
||||
public void CarTextFacecamera(GameObject car, Transform target)
|
||||
{
|
||||
GameObject carNameObj = getChildGameObject(car, "CarName");
|
||||
|
||||
if (!carNameObj)
|
||||
return;
|
||||
|
||||
FaceTarget ft = carNameObj.GetComponent<FaceTarget>();
|
||||
|
||||
if (!ft)
|
||||
return;
|
||||
|
||||
ft.target = target;
|
||||
|
||||
}
|
||||
|
||||
public bool IsOccupied(Vector3 pos)
|
||||
{
|
||||
int carCount = cars.Count - 1;
|
||||
|
||||
for (int iCar = 0; iCar < carCount; iCar++)
|
||||
{
|
||||
GameObject go = cars[iCar];
|
||||
Car car = go.GetComponent<Car>();
|
||||
if (Vector3.Distance(car.startPos, pos) < 1.0f)
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
public (Vector3, Quaternion) GetStartPosRot(int iCar)
|
||||
{
|
||||
|
||||
int iSpawn = iCar % startsTm.Length;
|
||||
Transform spawn = startsTm[iSpawn];
|
||||
Vector3 pos = spawn.position;
|
||||
Quaternion rot = spawn.rotation;
|
||||
|
||||
int iCol = (iCar / startsTm.Length) % numCarRows;
|
||||
int iRow = (iCar / startsTm.Length) / numCarRows;
|
||||
|
||||
Vector3 offset = Vector3.zero;
|
||||
offset.z = -distCarRows * iRow;
|
||||
offset.x = -distCarCols * iCol;
|
||||
|
||||
return (spawn.position + rot * offset, rot);
|
||||
}
|
||||
|
||||
public (Vector3, Quaternion) GetCarStartPosRot()
|
||||
{
|
||||
|
||||
Vector3 startPos = startsTm[0].position; // default position
|
||||
Quaternion startRot = startsTm[0].rotation; // default rotation
|
||||
|
||||
if (IsOccupied(startPos))
|
||||
{
|
||||
int iCar = 0;
|
||||
while (IsOccupied(startPos))
|
||||
{
|
||||
(startPos, startRot) = GetStartPosRot(iCar);
|
||||
iCar++;
|
||||
}
|
||||
}
|
||||
|
||||
return (startPos, startRot);
|
||||
}
|
||||
|
||||
|
||||
public GameObject Spawn(tk.JsonTcpClient client, bool paceCar)
|
||||
{
|
||||
if (carPrefab == null)
|
||||
{
|
||||
Debug.LogError("No carPrefab set in CarSpawner!");
|
||||
return null;
|
||||
}
|
||||
|
||||
// Create a car object, and also hook up all the connections
|
||||
// to various places in game that need to hook into the car.
|
||||
GameObject go = GameObject.Instantiate(carPrefab) as GameObject;
|
||||
|
||||
if (go == null)
|
||||
{
|
||||
Debug.LogError("CarSpawner failed to instantiate prefab!");
|
||||
return null;
|
||||
}
|
||||
|
||||
cars.Add(go);
|
||||
|
||||
(Vector3 startPos, Quaternion startRot) = GetCarStartPosRot();
|
||||
go.transform.SetPositionAndRotation(startPos, startRot);
|
||||
go.GetComponent<Car>().SavePosRot();
|
||||
UpdateSplitScreenCams();
|
||||
|
||||
GameObject TcpClientObj = getChildGameObject(go, "TCPClient");
|
||||
|
||||
|
||||
// CarTextFacecamera(go, cam.transform);
|
||||
|
||||
if (TcpClientObj != null)
|
||||
{
|
||||
// without this it will not connect.
|
||||
TcpClientObj.SetActive(true);
|
||||
|
||||
// now set the connection settings.
|
||||
TcpCarHandler carHandler = TcpClientObj.GetComponent<TcpCarHandler>();
|
||||
|
||||
if (carHandler != null)
|
||||
carHandler.Init(client);
|
||||
}
|
||||
|
||||
if (OnNewCarCB != null)
|
||||
OnNewCarCB.Invoke(go);
|
||||
|
||||
///////////////////////////////////////////////
|
||||
// Search scene to find these.
|
||||
MenuHandler menuHandler = GameObject.FindObjectOfType<MenuHandler>();
|
||||
Canvas canvas = GameObject.FindObjectOfType<Canvas>();
|
||||
GameObject panelMenu = getChildGameObject(canvas.gameObject, "Panel Menu");
|
||||
GameObject pidPanel = getChildGameObject(canvas.gameObject, "PIDPanel");
|
||||
///////////////////////////////////////////////
|
||||
|
||||
// set camera target follow tm
|
||||
|
||||
// Set menu handler hooks
|
||||
if (menuHandler != null)
|
||||
{
|
||||
menuHandler.PIDContoller = getChildGameObject(go, "PIDController");
|
||||
menuHandler.Logger = getChildGameObject(go, "Logger");
|
||||
menuHandler.NetworkSteering = getChildGameObject(go, "TCPClient");
|
||||
menuHandler.carJSControl = getChildGameObject(go, "JoyStickCarContoller");
|
||||
menuHandler.trainingManager = getChildGameObject(go, "TrainingManager").GetComponent<TrainingManager>();
|
||||
menuHandler.trainingManager.carObj = go;
|
||||
|
||||
if (EnableTrainingManager)
|
||||
{
|
||||
menuHandler.trainingManager.gameObject.SetActive(true);
|
||||
|
||||
getChildGameObject(go, "OverheadViewSphere").SetActive(true);
|
||||
}
|
||||
|
||||
if (GlobalState.bAutoHideSceneMenu && panelMenu != null)
|
||||
{
|
||||
panelMenu.SetActive(false);
|
||||
}
|
||||
}
|
||||
|
||||
if (paceCar && !GlobalState.manualDriving)
|
||||
{
|
||||
GameObject pidController_go = getChildGameObject(go, "PIDController");
|
||||
pidController_go.SetActive(true);
|
||||
}
|
||||
else if (paceCar && GlobalState.manualDriving)
|
||||
{
|
||||
GameObject jsController = getChildGameObject(go, "JoyStickCarContoller");
|
||||
jsController.SetActive(true);
|
||||
}
|
||||
|
||||
// Add race status, if possible.
|
||||
GameObject to = getChildGameObject(go, "Timer");
|
||||
|
||||
if (to != null)
|
||||
{
|
||||
AddTimer(to.GetComponent<Timer>(), client);
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogError("failed to find Timer");
|
||||
}
|
||||
|
||||
return go;
|
||||
}
|
||||
|
||||
internal void EnsureOneCar()
|
||||
{
|
||||
// pace car doesn't always mean cars.Count = 0, so will need to refactor that
|
||||
if (cars.Count == 0)
|
||||
Spawn(null, GlobalState.paceCar);
|
||||
}
|
||||
|
||||
public void RemoveUiReferences()
|
||||
{
|
||||
Camera cam = Camera.main;
|
||||
|
||||
///////////////////////////////////////////////
|
||||
// Search scene to find these.
|
||||
CameraFollow cameraFollow = cam.transform.GetComponent<CameraFollow>();
|
||||
MenuHandler menuHandler = GameObject.FindObjectOfType<MenuHandler>();
|
||||
Canvas canvas = GameObject.FindObjectOfType<Canvas>();
|
||||
GameObject panelMenu = getChildGameObject(canvas.gameObject, "Panel Menu");
|
||||
PID_UI pid_ui = null;
|
||||
GameObject pidPanel = getChildGameObject(canvas.gameObject, "PIDPanel");
|
||||
///////////////////////////////////////////////
|
||||
|
||||
if (pidPanel)
|
||||
pid_ui = pidPanel.GetComponent<PID_UI>();
|
||||
|
||||
// set camera target follow tm
|
||||
if (cameraFollow != null)
|
||||
cameraFollow.target = null;
|
||||
|
||||
// Set menu handler hooks
|
||||
if (menuHandler != null)
|
||||
{
|
||||
menuHandler.PIDContoller = null;
|
||||
menuHandler.Logger = null;
|
||||
menuHandler.NetworkSteering = null;
|
||||
menuHandler.carJSControl = null;
|
||||
menuHandler.trainingManager = null;
|
||||
}
|
||||
|
||||
// Set the PID ui hooks
|
||||
if (pid_ui != null)
|
||||
{
|
||||
pid_ui.pid = null;
|
||||
pid_ui.logger = null;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: f7b37e7667e6449eb95452eb5655f48f
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,27 @@
|
|||
using UnityEngine;
|
||||
using System.Collections;
|
||||
|
||||
public class CollisionSensor : MonoBehaviour {
|
||||
|
||||
public delegate void OnCollideCB(string objType);
|
||||
|
||||
public OnCollideCB collideCB;
|
||||
|
||||
|
||||
public void OnCollisionEnter(Collision collision)
|
||||
{
|
||||
if(collideCB != null)
|
||||
{
|
||||
string objType = "none";
|
||||
|
||||
foreach (ContactPoint contact in collision.contacts)
|
||||
{
|
||||
objType = contact.otherCollider.gameObject.tag;
|
||||
//Debug.DrawRay(contact.point, contact.normal, Color.white);
|
||||
}
|
||||
|
||||
collideCB.Invoke(objType);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 3f04f1d47c6d243908093d88e03f355c
|
||||
timeCreated: 1449512093
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,72 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
public class DrawLidar : MonoBehaviour
|
||||
{
|
||||
public Lidar lidar;
|
||||
public GameObject car;
|
||||
static Material lineMaterial;
|
||||
|
||||
void OnPostRender()
|
||||
{
|
||||
if (GlobalState.drawLidar == true)
|
||||
{
|
||||
if (car == null) { return; }
|
||||
if (lidar == null)
|
||||
{
|
||||
lidar = car.GetComponentInChildren<Lidar>();
|
||||
return;
|
||||
}
|
||||
else if (lidar.enabled == false) { return; }
|
||||
Draw();
|
||||
}
|
||||
}
|
||||
|
||||
static void CreateLineMaterial()
|
||||
{
|
||||
if (!lineMaterial)
|
||||
{
|
||||
// Unity has a built-in shader that is useful for drawing
|
||||
// simple colored things.
|
||||
Shader shader = Shader.Find("Hidden/Internal-Colored");
|
||||
lineMaterial = new Material(shader);
|
||||
lineMaterial.hideFlags = HideFlags.HideAndDontSave;
|
||||
// Turn on alpha blending
|
||||
lineMaterial.SetInt("_SrcBlend", (int)UnityEngine.Rendering.BlendMode.SrcAlpha);
|
||||
lineMaterial.SetInt("_DstBlend", (int)UnityEngine.Rendering.BlendMode.OneMinusSrcAlpha);
|
||||
// Turn backface culling off
|
||||
lineMaterial.SetInt("_Cull", (int)UnityEngine.Rendering.CullMode.Off);
|
||||
// Turn off depth writes
|
||||
lineMaterial.SetInt("_ZWrite", 0);
|
||||
}
|
||||
}
|
||||
|
||||
public void Draw()
|
||||
{
|
||||
CreateLineMaterial();
|
||||
lineMaterial.SetPass(0); // Apply the line material
|
||||
|
||||
GL.Begin(GL.LINES); // Draw lines
|
||||
|
||||
if (lidar.pointArr == null)
|
||||
return;
|
||||
|
||||
Vector3 lidarPos = lidar.transform.position;
|
||||
foreach (LidarPoint p in lidar.pointArr.points)
|
||||
{
|
||||
if (p == null)
|
||||
continue;
|
||||
|
||||
GL.Color(new Color(1, 0, 0, 0.8F));
|
||||
|
||||
Vector3 ppoint = new Vector3(p.x, p.y, p.z) + lidarPos;
|
||||
|
||||
GL.Vertex3(lidarPos.x, lidarPos.y, lidarPos.z);
|
||||
GL.Vertex3(ppoint.x, ppoint.y, ppoint.z);
|
||||
}
|
||||
|
||||
GL.End();
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: d34136b32b3d9f64fb84431d5f971b9e
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,9 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 4873f492b6b4141b1be922502923dcee
|
||||
folderAsset: yes
|
||||
timeCreated: 1503686012
|
||||
licenseType: Free
|
||||
DefaultImporter:
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,38 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using UnityEditor;
|
||||
|
||||
public class BundleBuilder : Editor
|
||||
{
|
||||
[MenuItem("Build/ Build All AssetsBundles")]
|
||||
static void BuildAllAssetsBundles()
|
||||
{
|
||||
BuildTarget[] platforms = new BuildTarget[] { BuildTarget.StandaloneWindows64, BuildTarget.StandaloneLinux64, BuildTarget.StandaloneOSX };
|
||||
foreach (BuildTarget platform in platforms)
|
||||
{
|
||||
BuildAssetBundles(platform);
|
||||
}
|
||||
}
|
||||
|
||||
[MenuItem("Build/ Build Active Target AssetsBundles")]
|
||||
static void BuildCurrentTargetAssetsBundles()
|
||||
{
|
||||
BuildTarget platform = EditorUserBuildSettings.activeBuildTarget;
|
||||
BuildAssetBundles(platform);
|
||||
}
|
||||
|
||||
|
||||
static void BuildAssetBundles(BuildTarget platform)
|
||||
{
|
||||
string path = System.IO.Path.Combine(System.IO.Directory.GetCurrentDirectory(), "Assets/AssetBundles/" + platform.ToString());
|
||||
|
||||
if (System.IO.Directory.Exists(path) == false)
|
||||
{
|
||||
System.IO.Directory.CreateDirectory(path);
|
||||
Debug.LogFormat("creating directory {0}", path);
|
||||
}
|
||||
|
||||
BuildPipeline.BuildAssetBundles(path, BuildAssetBundleOptions.ChunkBasedCompression, platform);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 7ce8d5283b7d033478808c087bb7704d
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
using UnityEngine;
|
||||
using UnityEditor;
|
||||
using System;
|
||||
|
||||
[CustomEditor(typeof(ConeChallenge))]
|
||||
public class ConeChallengeEditor : Editor
|
||||
{
|
||||
public override void OnInspectorGUI()
|
||||
{
|
||||
DrawDefaultInspector();
|
||||
|
||||
ConeChallenge challenge = (ConeChallenge)target;
|
||||
|
||||
if (GUILayout.Button("Reset Challenge"))
|
||||
{
|
||||
challenge.ResetChallenge();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 6d921735578446241a54a0dd088e0a5a
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,18 @@
|
|||
using UnityEngine;
|
||||
using UnityEditor;
|
||||
using System;
|
||||
|
||||
[CustomEditor(typeof(LightChallenge))]
|
||||
public class LightChallengeEditor : Editor
|
||||
{
|
||||
public override void OnInspectorGUI()
|
||||
{
|
||||
DrawDefaultInspector();
|
||||
LightChallenge challenge = (LightChallenge)target;
|
||||
|
||||
if (GUILayout.Button("Reset Challenge"))
|
||||
{
|
||||
challenge.ResetChallenge();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: fd73e76678e66e446ae14987ca82acc7
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,121 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using UnityEditor;
|
||||
using UnityEditor.Build.Reporting;
|
||||
|
||||
public class PlayerBuilder : Editor
|
||||
{
|
||||
|
||||
[MenuItem("Build/ Build Every Player")]
|
||||
static void Build()
|
||||
{
|
||||
WinBuild();
|
||||
MacBuild();
|
||||
LinuxBuild();
|
||||
}
|
||||
|
||||
[MenuItem("Build/ Build Windows Player")]
|
||||
static void WinBuild()
|
||||
{
|
||||
EditorBuildSettingsScene[] scenes = EditorBuildSettings.scenes;
|
||||
|
||||
BuildReport report = BuildPipeline.BuildPlayer(scenes, "Builds/DonkeySimWin/donkey_sim.exe", BuildTarget.StandaloneWindows64, BuildOptions.None);
|
||||
BuildSummary summary = report.summary;
|
||||
|
||||
|
||||
if (summary.result == BuildResult.Succeeded)
|
||||
{
|
||||
Debug.Log("Build succeeded: " + summary.totalSize + " bytes");
|
||||
|
||||
string assetBundlePath = "Assets/AssetBundles/" + BuildTarget.StandaloneWindows64.ToString();
|
||||
string destPath = "Builds/DonkeySimWin/donkey_sim_Data/StreamingAssets/";
|
||||
if (System.IO.Directory.Exists(assetBundlePath))
|
||||
{
|
||||
CopyDirectory(assetBundlePath, destPath);
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogWarning("Asset bundle directory missing, skipping copy: " + assetBundlePath);
|
||||
}
|
||||
}
|
||||
|
||||
if (summary.result == BuildResult.Failed)
|
||||
{
|
||||
Debug.Log("Build failed");
|
||||
}
|
||||
}
|
||||
[MenuItem("Build/ Build MacOS Player")]
|
||||
static void MacBuild()
|
||||
{
|
||||
EditorBuildSettingsScene[] scenes = EditorBuildSettings.scenes;
|
||||
|
||||
BuildReport report = BuildPipeline.BuildPlayer(scenes, "Builds/DonkeySimMac/donkey_sim.app", BuildTarget.StandaloneOSX, BuildOptions.None);
|
||||
BuildSummary summary = report.summary;
|
||||
|
||||
if (summary.result == BuildResult.Succeeded)
|
||||
{
|
||||
Debug.Log("Build succeeded: " + summary.totalSize + " bytes");
|
||||
|
||||
string assetBundlePath = "Assets/AssetBundles/" + BuildTarget.StandaloneOSX.ToString();
|
||||
string destPath = "Builds/DonkeySimMac/donkey_sim.app/Contents/Resources/Data/StreamingAssets";
|
||||
if (System.IO.Directory.Exists(assetBundlePath))
|
||||
{
|
||||
CopyDirectory(assetBundlePath, destPath);
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogWarning("Asset bundle directory missing, skipping copy: " + assetBundlePath);
|
||||
}
|
||||
}
|
||||
|
||||
if (summary.result == BuildResult.Failed)
|
||||
{
|
||||
Debug.Log("Build failed");
|
||||
}
|
||||
}
|
||||
[MenuItem("Build/ Build Linux Player")]
|
||||
static void LinuxBuild()
|
||||
{
|
||||
EditorBuildSettingsScene[] scenes = EditorBuildSettings.scenes;
|
||||
|
||||
BuildReport report = BuildPipeline.BuildPlayer(scenes, "Builds/DonkeySimLinux/donkey_sim.x86_64", BuildTarget.StandaloneLinux64, BuildOptions.None);
|
||||
BuildSummary summary = report.summary;
|
||||
|
||||
if (summary.result == BuildResult.Succeeded)
|
||||
{
|
||||
Debug.Log("Build succeeded: " + summary.totalSize + " bytes");
|
||||
|
||||
string assetBundlePath = "Assets/AssetBundles/" + BuildTarget.StandaloneLinux64.ToString();
|
||||
string destPath = "Builds/DonkeySimLinux/donkey_sim_Data/StreamingAssets";
|
||||
if (System.IO.Directory.Exists(assetBundlePath))
|
||||
{
|
||||
CopyDirectory(assetBundlePath, destPath);
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogWarning("Asset bundle directory missing, skipping copy: " + assetBundlePath);
|
||||
}
|
||||
}
|
||||
|
||||
if (summary.result == BuildResult.Failed)
|
||||
{
|
||||
Debug.Log("Build failed");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
static void CopyDirectory(string SourcePath, string DestinationPath)
|
||||
{
|
||||
|
||||
if (!System.IO.Directory.Exists(DestinationPath)) { System.IO.Directory.CreateDirectory(DestinationPath); }
|
||||
|
||||
foreach (string dirPath in System.IO.Directory.GetDirectories(SourcePath, "*",
|
||||
System.IO.SearchOption.AllDirectories))
|
||||
System.IO.Directory.CreateDirectory(dirPath.Replace(SourcePath, DestinationPath));
|
||||
|
||||
foreach (string newPath in System.IO.Directory.GetFiles(SourcePath, "*.*",
|
||||
System.IO.SearchOption.AllDirectories))
|
||||
System.IO.File.Copy(newPath, newPath.Replace(SourcePath, DestinationPath), true);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 0d217cd5ee5171749afe98509b2e1498
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
using UnityEngine;
|
||||
using UnityEditor;
|
||||
using System;
|
||||
|
||||
[CustomEditor(typeof(RandAssetsChallenge))]
|
||||
public class RandAssetsChallengeEditor : Editor
|
||||
{
|
||||
public override void OnInspectorGUI()
|
||||
{
|
||||
DrawDefaultInspector();
|
||||
|
||||
RandAssetsChallenge challenge = (RandAssetsChallenge)target;
|
||||
|
||||
if (GUILayout.Button("Reset Challenge"))
|
||||
{
|
||||
challenge.ResetChallenge();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: f4ecfc59e1e41924a9e9d0ca85bb2cea
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
using UnityEngine;
|
||||
using UnityEditor;
|
||||
using System;
|
||||
|
||||
[CustomEditor(typeof(RepeatObjectAlong))]
|
||||
public class RepeatObjectAlongEditor : Editor
|
||||
{
|
||||
public override void OnInspectorGUI()
|
||||
{
|
||||
DrawDefaultInspector();
|
||||
|
||||
RepeatObjectAlong repeatObjectAlong = (RepeatObjectAlong)target;
|
||||
|
||||
if (GUILayout.Button("Generate Mesh (only at runtime)"))
|
||||
{
|
||||
repeatObjectAlong.Generate();
|
||||
}
|
||||
|
||||
if (GUILayout.Button("Save Mesh"))
|
||||
{
|
||||
MeshFilter mf = repeatObjectAlong.GetComponent<MeshFilter>();
|
||||
Mesh mesh = mf.sharedMesh;
|
||||
if (mesh == null)
|
||||
{
|
||||
Debug.LogWarning("Mesh is null, creating a new one");
|
||||
mesh = new Mesh();
|
||||
}
|
||||
AssetDatabase.CreateAsset(mesh, repeatObjectAlong.savePath);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: ac720408aac926645a88c7df0f96e232
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
using UnityEngine;
|
||||
using UnityEditor;
|
||||
using System;
|
||||
|
||||
[CustomEditor(typeof(RoadBuilder))]
|
||||
public class RoadBuilderEditor : Editor
|
||||
{
|
||||
public override void OnInspectorGUI()
|
||||
{
|
||||
DrawDefaultInspector();
|
||||
|
||||
RoadBuilder roadBuilder = (RoadBuilder)target;
|
||||
|
||||
if (GUILayout.Button("Save Mesh") && roadBuilder.createdRoad != null)
|
||||
{
|
||||
MeshFilter mf = roadBuilder.createdRoad.GetComponent<MeshFilter>();
|
||||
AssetDatabase.CreateAsset(mf.mesh, roadBuilder.savePath);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 87400f6f678666347be1cbc8553f01c5
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
using UnityEngine;
|
||||
using System.Collections;
|
||||
using UnityEditor;
|
||||
|
||||
public class UiTools : MonoBehaviour {
|
||||
|
||||
[MenuItem("UiHelpers/Anchors to Corners %[")]
|
||||
static void AnchorsToCorners(){
|
||||
RectTransform t = Selection.activeTransform as RectTransform;
|
||||
RectTransform pt = Selection.activeTransform.parent as RectTransform;
|
||||
|
||||
if(t == null || pt == null) return;
|
||||
|
||||
Vector2 newAnchorsMin = new Vector2(t.anchorMin.x + t.offsetMin.x / pt.rect.width,
|
||||
t.anchorMin.y + t.offsetMin.y / pt.rect.height);
|
||||
Vector2 newAnchorsMax = new Vector2(t.anchorMax.x + t.offsetMax.x / pt.rect.width,
|
||||
t.anchorMax.y + t.offsetMax.y / pt.rect.height);
|
||||
|
||||
t.anchorMin = newAnchorsMin;
|
||||
t.anchorMax = newAnchorsMax;
|
||||
t.offsetMin = t.offsetMax = new Vector2(0, 0);
|
||||
}
|
||||
|
||||
[MenuItem("UiHelpers/Corners to Anchors %]")]
|
||||
static void CornersToAnchors(){
|
||||
RectTransform t = Selection.activeTransform as RectTransform;
|
||||
|
||||
if(t == null) return;
|
||||
|
||||
t.offsetMin = t.offsetMax = new Vector2(0, 0);
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
fileFormatVersion: 2
|
||||
guid: e7917617b75a2884d91c365a562495e0
|
||||
timeCreated: 1498592895
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,59 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using System.IO;
|
||||
|
||||
public class GenPathFromDriving : MonoBehaviour {
|
||||
|
||||
public GameObject carObj;
|
||||
public ICar car;
|
||||
private StreamWriter writer;
|
||||
public string outputFilename;
|
||||
public float sampleDist = 2.0f;
|
||||
Vector3 lastSample = Vector3.zero;
|
||||
|
||||
void Awake()
|
||||
{
|
||||
car = carObj.GetComponent<ICar>();
|
||||
|
||||
if(car != null)
|
||||
{
|
||||
string filename = Application.dataPath + "/Resources/" + outputFilename;
|
||||
|
||||
writer = new StreamWriter(filename);
|
||||
|
||||
Debug.Log("Opening file for path at: " + filename);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// Update is called once per frame
|
||||
void Update ()
|
||||
{
|
||||
if(writer != null)
|
||||
{
|
||||
Vector3 p = carObj.transform.position;
|
||||
|
||||
if((p - lastSample).magnitude > sampleDist)
|
||||
{
|
||||
lastSample = p;
|
||||
writer.WriteLine(string.Format("{0},{1},{2}", p.x, p.y, p.z));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void Shutdown()
|
||||
{
|
||||
if(writer != null)
|
||||
{
|
||||
writer.Close();
|
||||
writer = null;
|
||||
}
|
||||
}
|
||||
|
||||
void OnDestroy()
|
||||
{
|
||||
Shutdown();
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 803f435a5637a4143b85fa3e1ad3f5cf
|
||||
timeCreated: 1486432165
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,38 @@
|
|||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
|
||||
public static class GlobalState
|
||||
{
|
||||
public static string version = "v25.06.10";
|
||||
public static string host = "0.0.0.0";
|
||||
public static int port = 9091;
|
||||
public static int portPrivateAPI = 9092;
|
||||
public static int fps = 60;
|
||||
public static float timeScale = 1.0f;
|
||||
public static int maxSplitScreen = 4;
|
||||
public static bool bAutoHideSceneMenu = false;
|
||||
|
||||
// should we create a car even though we don't have a network client?
|
||||
public static bool bCreateCarWithoutNetworkClient = false;
|
||||
public static string log_path = "default";
|
||||
public static bool extendedTelemetry = true;
|
||||
public static bool generateTrees = true;
|
||||
public static bool generateRandomCones = true;
|
||||
public static bool randomLight = true;
|
||||
public static bool overheadCamera = false;
|
||||
public static bool raceCameras = false;
|
||||
public static bool paceCar = false;
|
||||
public static bool manualDriving = false;
|
||||
public static float kp = 5.0f;
|
||||
public static float kd = 5.0f;
|
||||
public static float ki = 0.0f;
|
||||
public static string privateKey = "";
|
||||
public static bool useSeed = false;
|
||||
public static int seed = 20432814;
|
||||
public static string additionnalContentPath = "";
|
||||
public static string[] sceneNames;
|
||||
public static List<AssetBundle> bundleScenes = new List<AssetBundle>();
|
||||
public static bool drawLidar = true;
|
||||
public static float timeOut = 300f;
|
||||
}
|
||||
|
|
@ -0,0 +1,13 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 91e0f36bb9310904886d185248b951c3
|
||||
timeCreated: 1516308787
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,355 @@
|
|||
using UnityEngine;
|
||||
|
||||
public class GlobalStateEditor : MonoBehaviour
|
||||
{
|
||||
|
||||
public Rect rect;
|
||||
private Vector2 scrollPosition = Vector2.zero;
|
||||
|
||||
public int port
|
||||
{
|
||||
get { return GlobalState.port; }
|
||||
set { GlobalState.port = value; }
|
||||
}
|
||||
public int portPrivateAPI
|
||||
{
|
||||
get { return GlobalState.portPrivateAPI; }
|
||||
set { GlobalState.portPrivateAPI = value; }
|
||||
}
|
||||
public int fps
|
||||
{
|
||||
get { return GlobalState.fps; }
|
||||
set { GlobalState.fps = value; }
|
||||
}
|
||||
public int maxSplitScreen
|
||||
{
|
||||
get { return GlobalState.maxSplitScreen; }
|
||||
set { GlobalState.maxSplitScreen = value; }
|
||||
}
|
||||
public bool generateTrees
|
||||
{
|
||||
get { return GlobalState.generateTrees; }
|
||||
set { GlobalState.generateTrees = value; }
|
||||
}
|
||||
public bool extendedTelemetry
|
||||
{
|
||||
get { return GlobalState.extendedTelemetry; }
|
||||
set { GlobalState.extendedTelemetry = value; }
|
||||
}
|
||||
public bool generateRandomCones
|
||||
{
|
||||
get { return GlobalState.generateRandomCones; }
|
||||
set { GlobalState.generateRandomCones = value; }
|
||||
}
|
||||
public bool randomLight
|
||||
{
|
||||
get { return GlobalState.randomLight; }
|
||||
set { GlobalState.randomLight = value; }
|
||||
}
|
||||
public bool raceCameras
|
||||
{
|
||||
get { return GlobalState.raceCameras; }
|
||||
set { GlobalState.raceCameras = value; }
|
||||
}
|
||||
public bool overheadCamera
|
||||
{
|
||||
get { return GlobalState.overheadCamera; }
|
||||
set { GlobalState.overheadCamera = value; }
|
||||
}
|
||||
public bool drawLidar
|
||||
{
|
||||
get { return GlobalState.drawLidar; }
|
||||
set { GlobalState.drawLidar = value; }
|
||||
}
|
||||
public bool paceCar
|
||||
{
|
||||
get { return GlobalState.paceCar; }
|
||||
set { GlobalState.paceCar = value; }
|
||||
}
|
||||
public bool manualDriving
|
||||
{
|
||||
get { return GlobalState.manualDriving; }
|
||||
set { GlobalState.manualDriving = value; }
|
||||
}
|
||||
public float kp
|
||||
{
|
||||
get { return GlobalState.kp; }
|
||||
set { GlobalState.kp = value; }
|
||||
}
|
||||
public float kd
|
||||
{
|
||||
get { return GlobalState.kd; }
|
||||
set { GlobalState.kd = value; }
|
||||
}
|
||||
public float ki
|
||||
{
|
||||
get { return GlobalState.ki; }
|
||||
set { GlobalState.ki = value; }
|
||||
}
|
||||
public bool useSeed
|
||||
{
|
||||
get { return GlobalState.useSeed; }
|
||||
set { GlobalState.useSeed = value; }
|
||||
}
|
||||
public int seed
|
||||
{
|
||||
get { return GlobalState.seed; }
|
||||
set { GlobalState.seed = value; }
|
||||
}
|
||||
public string privateKey
|
||||
{
|
||||
get { return GlobalState.privateKey; }
|
||||
set { GlobalState.privateKey = value; }
|
||||
}
|
||||
public string additionnalContentPath
|
||||
{
|
||||
get { return GlobalState.additionnalContentPath; }
|
||||
set { GlobalState.additionnalContentPath = value; }
|
||||
}
|
||||
public float timeScale
|
||||
{
|
||||
get { return GlobalState.timeScale; }
|
||||
set { GlobalState.timeScale = value; Time.timeScale = value; }
|
||||
}
|
||||
public float timeOut
|
||||
{
|
||||
get { return GlobalState.timeOut; }
|
||||
set { GlobalState.timeOut = value; }
|
||||
}
|
||||
|
||||
private bool showPrivateKey = false;
|
||||
private VersionCheck versionCheck;
|
||||
void Awake()
|
||||
{
|
||||
LoadPlayerPrefs();
|
||||
SaveToPlayerPrefs();
|
||||
|
||||
versionCheck = gameObject.GetComponent<VersionCheck>();
|
||||
|
||||
//keep it processing even when not in focus.
|
||||
Application.runInBackground = true;
|
||||
|
||||
//Set desired frame rate as high as possible.
|
||||
Application.targetFrameRate = GlobalState.fps;
|
||||
}
|
||||
|
||||
void OnGUI()
|
||||
{
|
||||
int pixXOffset = (int)(rect.x * Screen.width);
|
||||
int pixYOffset = (int)(rect.y * Screen.height);
|
||||
int width = (int)(rect.width * Screen.width);
|
||||
int height = (int)(rect.height * Screen.height);
|
||||
|
||||
int LabelXOffset = 100;
|
||||
|
||||
int scrollHeight = 220;
|
||||
int scrollWidth = 200;
|
||||
|
||||
int YOffset = 0;
|
||||
int Ysteps = 20;
|
||||
|
||||
|
||||
GUI.BeginGroup(new Rect(pixXOffset, pixYOffset, width, height));
|
||||
scrollPosition = GUI.BeginScrollView(new Rect(0, 0, width, height), scrollPosition, new Rect(0, 0, scrollWidth, scrollHeight), false, false);
|
||||
|
||||
GUI.Label(new Rect(0, YOffset, LabelXOffset, 20), "port");
|
||||
string portString = GUI.TextField(new Rect(LabelXOffset, YOffset, width-LabelXOffset, 20), port.ToString());
|
||||
int tmp_port = port;
|
||||
int.TryParse(portString, out tmp_port);
|
||||
if (tmp_port != port)
|
||||
port = tmp_port;
|
||||
YOffset += Ysteps;
|
||||
|
||||
GUI.Label(new Rect(0, YOffset, LabelXOffset, 20), "portPrivateAPI");
|
||||
string portPrivateAPIString = GUI.TextField(new Rect(LabelXOffset, YOffset, width-LabelXOffset, 20), portPrivateAPI.ToString());
|
||||
int tmp_portPrivateAPI = portPrivateAPI;
|
||||
int.TryParse(portPrivateAPIString, out tmp_portPrivateAPI);
|
||||
if (tmp_portPrivateAPI != portPrivateAPI)
|
||||
portPrivateAPI = tmp_portPrivateAPI;
|
||||
YOffset += Ysteps;
|
||||
|
||||
GUI.Label(new Rect(0, YOffset, LabelXOffset, 20), "FPS limit");
|
||||
string fpsString = GUI.TextField(new Rect(LabelXOffset, YOffset, width-LabelXOffset, 20), fps.ToString());
|
||||
int tmp_fps = fps;
|
||||
int.TryParse(fpsString, out tmp_fps);
|
||||
if (tmp_fps != fps)
|
||||
fps = tmp_fps;
|
||||
YOffset += Ysteps;
|
||||
|
||||
GUI.Label(new Rect(0, YOffset, LabelXOffset, 20), "Time scale");
|
||||
string timeScaleString = GUI.TextField(new Rect(LabelXOffset, YOffset, width-LabelXOffset, 20), timeScale.ToString());
|
||||
float tmp_timeScale = timeScale;
|
||||
float.TryParse(timeScaleString, out tmp_timeScale);
|
||||
if (tmp_timeScale != timeScale)
|
||||
timeScale = tmp_timeScale;
|
||||
YOffset += Ysteps;
|
||||
|
||||
GUI.Label(new Rect(0, YOffset, LabelXOffset, 20), "Time out");
|
||||
string timeOutString = GUI.TextField(new Rect(LabelXOffset, YOffset, width-LabelXOffset, 20), timeOut.ToString());
|
||||
float tmp_timeOut = timeOut;
|
||||
float.TryParse(timeOutString, out tmp_timeOut);
|
||||
if (tmp_timeOut != timeOut)
|
||||
timeOut = tmp_timeOut;
|
||||
YOffset += Ysteps;
|
||||
|
||||
GUI.Label(new Rect(0, YOffset, LabelXOffset, 20), "Max SplitScreen");
|
||||
string maxspString = GUI.TextField(new Rect(LabelXOffset, YOffset, width-LabelXOffset, 20), maxSplitScreen.ToString());
|
||||
int tmp_maxsp = maxSplitScreen;
|
||||
int.TryParse(maxspString, out tmp_maxsp);
|
||||
if (tmp_maxsp != maxSplitScreen)
|
||||
maxSplitScreen = tmp_maxsp;
|
||||
YOffset += Ysteps;
|
||||
|
||||
extendedTelemetry = GUI.Toggle(new Rect(0, YOffset, width, 20), extendedTelemetry, "extendedTelemetry");
|
||||
YOffset += Ysteps;
|
||||
generateTrees = GUI.Toggle(new Rect(0, YOffset, width, 20), generateTrees, "generateTrees");
|
||||
YOffset += Ysteps;
|
||||
generateRandomCones = GUI.Toggle(new Rect(0, YOffset, width, 20), generateRandomCones, "generateRandomCones");
|
||||
YOffset += Ysteps;
|
||||
randomLight = GUI.Toggle(new Rect(0, YOffset, width, 20), randomLight, "randomLight");
|
||||
YOffset += Ysteps;
|
||||
raceCameras = GUI.Toggle(new Rect(0, YOffset, width, 20), raceCameras, "raceCameras");
|
||||
YOffset += Ysteps;
|
||||
overheadCamera = GUI.Toggle(new Rect(0, YOffset, width, 20), overheadCamera, "overheadCamera");
|
||||
YOffset += Ysteps;
|
||||
drawLidar = GUI.Toggle(new Rect(0, YOffset, width, 20), drawLidar, "drawLidar");
|
||||
YOffset += Ysteps;
|
||||
paceCar = GUI.Toggle(new Rect(0, YOffset, width, 20), paceCar, "paceCar");
|
||||
YOffset += Ysteps;
|
||||
if (paceCar)
|
||||
{
|
||||
manualDriving = GUI.Toggle(new Rect(Ysteps, YOffset, width, 20), manualDriving, "manualDriving");
|
||||
YOffset += Ysteps;
|
||||
|
||||
if (!manualDriving)
|
||||
{
|
||||
GUI.Label(new Rect(Ysteps, YOffset, LabelXOffset, 20), "kp");
|
||||
string kpString = GUI.TextField(new Rect(LabelXOffset+Ysteps, YOffset, width-LabelXOffset-Ysteps, 20), kp.ToString());
|
||||
float tmp_kp = kp;
|
||||
float.TryParse(kpString, out tmp_kp);
|
||||
if (tmp_kp != kp)
|
||||
kp = tmp_kp;
|
||||
YOffset += Ysteps;
|
||||
|
||||
GUI.Label(new Rect(Ysteps, YOffset, LabelXOffset, 20), "kd");
|
||||
string kdString = GUI.TextField(new Rect(LabelXOffset+Ysteps, YOffset, width-LabelXOffset-Ysteps, 20), kd.ToString());
|
||||
float tmp_kd = kd;
|
||||
float.TryParse(kdString, out tmp_kd);
|
||||
if (tmp_kd != kd)
|
||||
kd = tmp_kd;
|
||||
YOffset += Ysteps;
|
||||
|
||||
GUI.Label(new Rect(Ysteps, YOffset, LabelXOffset, 20), "ki");
|
||||
string kiString = GUI.TextField(new Rect(LabelXOffset+Ysteps, YOffset, width-LabelXOffset-Ysteps, 20), ki.ToString());
|
||||
float tmp_ki = ki;
|
||||
float.TryParse(kiString, out tmp_ki);
|
||||
if (tmp_ki != ki)
|
||||
ki = tmp_ki;
|
||||
YOffset += Ysteps;
|
||||
}
|
||||
}
|
||||
|
||||
useSeed = GUI.Toggle(new Rect(0, YOffset, width, 20), useSeed, "useSeed");
|
||||
YOffset += Ysteps;
|
||||
if (useSeed)
|
||||
{
|
||||
GUI.Label(new Rect(0, YOffset, LabelXOffset, 20), "Seed");
|
||||
string seedString = GUI.TextField(new Rect(LabelXOffset, YOffset, width, 20), seed.ToString());
|
||||
YOffset += Ysteps;
|
||||
int tmp_seed = seed;
|
||||
int.TryParse(seedString, out tmp_seed);
|
||||
if (tmp_seed != seed)
|
||||
seed = tmp_seed;
|
||||
}
|
||||
|
||||
YOffset += Ysteps;
|
||||
bool doSave = GUI.Button(new Rect(0, YOffset, width, 20), "Save");
|
||||
YOffset += Ysteps;
|
||||
|
||||
// Check if the version used is the latest version if not, notify the user !
|
||||
if (versionCheck.latest != GlobalState.version)
|
||||
{
|
||||
YOffset += Ysteps;
|
||||
bool getLatest = GUI.Button(new Rect(0, YOffset, width, Ysteps * 2), "A new version is available, \n click here to get latest version !");
|
||||
YOffset += Ysteps * 2;
|
||||
if (getLatest) { versionCheck.GetLatestVersion(); }
|
||||
}
|
||||
|
||||
YOffset += Ysteps;
|
||||
showPrivateKey = GUI.Toggle(new Rect(0, YOffset, width, 20), showPrivateKey, "showPrivateKey");
|
||||
YOffset += Ysteps;
|
||||
if (showPrivateKey)
|
||||
{
|
||||
GUI.Label(new Rect(0, YOffset, LabelXOffset, 20), "Private API Key");
|
||||
privateKey = GUI.TextField(new Rect(LabelXOffset, YOffset, width, 20), privateKey);
|
||||
YOffset += Ysteps;
|
||||
|
||||
bool doRandomize = GUI.Button(new Rect(0, YOffset, width, 20), "Randomize private key");
|
||||
YOffset += Ysteps;
|
||||
if (doRandomize) { RandomizePrivateKey(); }
|
||||
}
|
||||
|
||||
if (doSave) { SaveToPlayerPrefs(); }
|
||||
|
||||
GUI.EndScrollView();
|
||||
GUI.EndGroup();
|
||||
}
|
||||
|
||||
void SaveToPlayerPrefs()
|
||||
{
|
||||
PlayerPrefs.SetInt("port", port);
|
||||
PlayerPrefs.SetInt("portPrivateAPI", portPrivateAPI);
|
||||
PlayerPrefs.SetInt("fps", fps);
|
||||
PlayerPrefs.SetFloat("timeScale", timeScale);
|
||||
PlayerPrefs.SetFloat("timeOut", timeOut);
|
||||
PlayerPrefs.SetInt("maxSplitScreen", maxSplitScreen);
|
||||
PlayerPrefs.SetInt("generateTrees", generateTrees ? 1 : 0);
|
||||
PlayerPrefs.SetInt("extendedTelemetry", extendedTelemetry ? 1 : 0);
|
||||
PlayerPrefs.SetInt("generateRandomCones", generateRandomCones ? 1 : 0);
|
||||
PlayerPrefs.SetInt("randomLight", randomLight ? 1 : 0);
|
||||
PlayerPrefs.SetInt("raceCameras", raceCameras ? 1 : 0);
|
||||
PlayerPrefs.SetInt("overheadCamera", overheadCamera ? 1 : 0);
|
||||
PlayerPrefs.SetInt("drawLidar", drawLidar ? 1 : 0);
|
||||
PlayerPrefs.SetInt("paceCar", paceCar ? 1 : 0);
|
||||
PlayerPrefs.SetInt("manualDriving", manualDriving ? 1 : 0);
|
||||
PlayerPrefs.SetFloat("kp", kp);
|
||||
PlayerPrefs.SetFloat("kd", kd);
|
||||
PlayerPrefs.SetFloat("ki", ki);
|
||||
PlayerPrefs.SetInt("useSeed", useSeed ? 1 : 0);
|
||||
PlayerPrefs.SetString("privateKey", privateKey);
|
||||
|
||||
PlayerPrefs.Save();
|
||||
}
|
||||
|
||||
void LoadPlayerPrefs()
|
||||
{
|
||||
port = PlayerPrefs.GetInt("port", port);
|
||||
portPrivateAPI = PlayerPrefs.GetInt("portPrivateAPI", portPrivateAPI);
|
||||
fps = PlayerPrefs.GetInt("fps", fps);
|
||||
timeScale = PlayerPrefs.GetFloat("timeScale", timeScale);
|
||||
timeOut = PlayerPrefs.GetFloat("timeOut", timeOut);
|
||||
maxSplitScreen = PlayerPrefs.GetInt("maxSplitScreen", maxSplitScreen);
|
||||
generateTrees = PlayerPrefs.GetInt("generateTrees", generateTrees ? 1 : 0) == 1 ? true : false;
|
||||
extendedTelemetry = PlayerPrefs.GetInt("extendedTelemetry", extendedTelemetry ? 1 : 0) == 1 ? true : false;
|
||||
generateRandomCones = PlayerPrefs.GetInt("generateRandomCones", generateRandomCones ? 1 : 0) == 1 ? true : false;
|
||||
randomLight = PlayerPrefs.GetInt("randomLight", randomLight ? 1 : 0) == 1 ? true : false;
|
||||
raceCameras = PlayerPrefs.GetInt("raceCameras", raceCameras ? 1 : 0) == 1 ? true : false;
|
||||
overheadCamera = PlayerPrefs.GetInt("overheadCamera", overheadCamera ? 1 : 0) == 1 ? true : false;
|
||||
drawLidar = PlayerPrefs.GetInt("drawLidar", drawLidar ? 1 : 0) == 1 ? true : false;
|
||||
paceCar = PlayerPrefs.GetInt("paceCar", paceCar ? 1 : 0) == 1 ? true : false;
|
||||
manualDriving = PlayerPrefs.GetInt("manualDriving", manualDriving ? 1 : 0) == 1 ? true : false;
|
||||
kp = PlayerPrefs.GetFloat("kp", kp);
|
||||
kd = PlayerPrefs.GetFloat("kd", kd);
|
||||
ki = PlayerPrefs.GetFloat("ki", ki);
|
||||
useSeed = PlayerPrefs.GetInt("useSeed", useSeed ? 1 : 0) == 1 ? true : false;
|
||||
privateKey = PlayerPrefs.GetString("privateKey", Random.Range(10000000, 99999999).ToString());
|
||||
additionnalContentPath = Application.streamingAssetsPath;
|
||||
}
|
||||
|
||||
void RandomizePrivateKey()
|
||||
{
|
||||
privateKey = Random.Range(10000000, 99999999).ToString();
|
||||
PlayerPrefs.SetString("privateKey", privateKey);
|
||||
PlayerPrefs.Save();
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 1b637f9c31c45c549817af28ffef012a
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: -1100
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
public class GlobalStateWatcher : MonoBehaviour {
|
||||
|
||||
public GameObject menuObj;
|
||||
public GameObject networkObj;
|
||||
|
||||
// Use this for initialization
|
||||
void Start () {
|
||||
|
||||
/*
|
||||
if (GlobalState.bAutoHideSceneMenu && menuObj != null)
|
||||
menuObj.SetActive(false);
|
||||
|
||||
if (GlobalState.bAutoConnectToWebSocket && networkObj != null)
|
||||
networkObj.SetActive(true);
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,13 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 4efaaf7922b6daa4e9eafc08b1a175ba
|
||||
timeCreated: 1516309168
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,55 @@
|
|||
using UnityEngine;
|
||||
using UnityEngine.UI;
|
||||
|
||||
//Credit Poless on http://wiki.unity3d.com/index.php?title=FramesPerSecond
|
||||
|
||||
public class HUDFPS : MonoBehaviour
|
||||
{
|
||||
|
||||
// Attach this to a GUIText to make a frames/second indicator.
|
||||
//
|
||||
// It calculates frames/second over each updateInterval,
|
||||
// so the display does not keep changing wildly.
|
||||
//
|
||||
// It is also fairly accurate at very low FPS counts (<10).
|
||||
// We do this not by simply counting frames per interval, but
|
||||
// by accumulating FPS for each frame. This way we end up with
|
||||
// correct overall FPS even if the interval renders something like
|
||||
// 5.5 frames.
|
||||
|
||||
public float updateInterval = 3.0F;
|
||||
|
||||
private float accum = 0; // time accumulated over the interval
|
||||
private int frames = 0; // frames drawn over the interval
|
||||
|
||||
public Text status;
|
||||
|
||||
void Start()
|
||||
{
|
||||
if( !status)
|
||||
{
|
||||
Debug.Log("HUDFPS needs a Text component!");
|
||||
enabled = false;
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
void Update()
|
||||
{
|
||||
accum += Time.unscaledDeltaTime;
|
||||
++frames;
|
||||
|
||||
// Interval ended - update GUI text and start new interval
|
||||
if( accum > updateInterval && status != null)
|
||||
{
|
||||
// display two fractional digits (f2 format)
|
||||
float fps = frames / accum;
|
||||
string format = System.String.Format("FPS: {0:F1}",fps);
|
||||
|
||||
status.text = format;
|
||||
|
||||
accum = 0.0F;
|
||||
frames = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 2f5d34ac169a493488e5978a3359d2ef
|
||||
timeCreated: 1504629867
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,61 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
//view scripts at Aug 17
|
||||
//https://github.com/tawnkramer/sdsandbox/tree/7c88596a3fd8ffe32d11074ab1ff661d24602152/sdsim/Assets/Scripts
|
||||
|
||||
//https://github.com/tawnkramer/sdsandbox/commit/7c88596a3fd8ffe32d11074ab1ff661d24602152
|
||||
|
||||
//Create an interface class that the sdsim will expect. We can use this to wrap other car implementations
|
||||
//like the Unity standard asset car.
|
||||
public interface ICar
|
||||
{
|
||||
//all inputs require 0-1 input except steering which is in degrees, where 0 is center.
|
||||
void RequestThrottle(float val);
|
||||
|
||||
void RequestSteering(float val);
|
||||
|
||||
void RequestFootBrake(float val);
|
||||
|
||||
void RequestHandBrake(float val);
|
||||
|
||||
|
||||
//query last input given.
|
||||
float GetSteering();
|
||||
|
||||
float GetThrottle();
|
||||
|
||||
float GetFootBrake();
|
||||
|
||||
float GetHandBrake();
|
||||
|
||||
|
||||
//query state.
|
||||
Transform GetTransform();
|
||||
|
||||
Vector3 GetVelocity();
|
||||
|
||||
Vector3 GetAccel();
|
||||
|
||||
Vector3 GetGyro();
|
||||
|
||||
//mark the current activity for partial selections when creating training sets later.
|
||||
string GetActivity();
|
||||
|
||||
void SetActivity(string act);
|
||||
|
||||
|
||||
//Save and restore State
|
||||
void SavePosRot();
|
||||
|
||||
void RestorePosRot();
|
||||
|
||||
void SetMaxSteering(float val);
|
||||
|
||||
float GetMaxSteering();
|
||||
|
||||
//get the name of the last object we collided with
|
||||
string GetLastCollision();
|
||||
void ClearLastCollision();
|
||||
}
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
fileFormatVersion: 2
|
||||
guid: a6e9cc1b4fe7846dcbda44e6943a5132
|
||||
timeCreated: 1484592740
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,36 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using UnityStandardAssets.CrossPlatformInput;
|
||||
|
||||
public class JoystickCarControl : MonoBehaviour
|
||||
{
|
||||
public GameObject carObj;
|
||||
private ICar car;
|
||||
|
||||
public float MaximumSteerAngle = 25.0f; //has to be kept in sync with the car, as that's a private var.
|
||||
|
||||
void Awake()
|
||||
{
|
||||
if(carObj != null)
|
||||
car = carObj.GetComponent<ICar>();
|
||||
}
|
||||
|
||||
private void OnDisable()
|
||||
{
|
||||
car.RequestThrottle(0.0f);
|
||||
car.RequestHandBrake(1.0f);
|
||||
car.RequestFootBrake(1.0f);
|
||||
}
|
||||
private void FixedUpdate()
|
||||
{
|
||||
// pass the input to the car!
|
||||
float h = CrossPlatformInputManager.GetAxis("Horizontal");
|
||||
float v = CrossPlatformInputManager.GetAxis("Vertical");
|
||||
float handbrake = CrossPlatformInputManager.GetAxis("Jump");
|
||||
car.RequestSteering(h * MaximumSteerAngle);
|
||||
car.RequestThrottle(v);
|
||||
//car.RequestFootBrake(v);
|
||||
car.RequestHandBrake(handbrake);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 23bb2fa9b8a0421478eb697c3a63f7f0
|
||||
timeCreated: 1498591643
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,172 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
public class LaneChangeTrainer : MonoBehaviour {
|
||||
|
||||
//how many lanes in total to change to/from
|
||||
public int numLanes = 5;
|
||||
|
||||
//how far side ways to the next lane
|
||||
public float laneDist = 4.0f;
|
||||
|
||||
//which lane do we begin? Far right is zero.
|
||||
public int currentLane = 0;
|
||||
|
||||
//over how long should we take to move to the next lane
|
||||
public float transitionDist = 20.0f;
|
||||
|
||||
//How long to stay in this lane before changing
|
||||
public float laneKeepDist = 20.0f;
|
||||
|
||||
//How much to smooth path. 0.0 - 1.0f
|
||||
public float pathSmoothFactor = 0.5f;
|
||||
|
||||
public void ModifyPath(ref CarPath path)
|
||||
{
|
||||
float curLaneDist = 0.0f;
|
||||
Vector3 start = path.nodes[0].pos;
|
||||
int changeLaneDir = 1;
|
||||
float curTransDist = 0.0f;
|
||||
bool initLaneChange = false;
|
||||
|
||||
Vector3 offset = Vector3.zero;
|
||||
Vector3 laneChangeDp = Vector3.zero;
|
||||
|
||||
string activity = "keep_lane";
|
||||
|
||||
for(int iN = 1; iN < path.nodes.Count; iN++)
|
||||
{
|
||||
PathNode n = path.nodes[iN];
|
||||
Vector3 dp = n.pos - path.nodes[iN - 1].pos;
|
||||
|
||||
if(curLaneDist < laneKeepDist)
|
||||
{
|
||||
n.activity = activity;
|
||||
|
||||
activity = "keep_lane";
|
||||
|
||||
//stay in current lane.
|
||||
curLaneDist += dp.magnitude;
|
||||
initLaneChange = false;
|
||||
}
|
||||
else if(!initLaneChange)
|
||||
{
|
||||
initLaneChange = true;
|
||||
laneChangeDp = new Vector3(-1 * NewLaneDir(changeLaneDir) * laneDist, 0.0f, laneKeepDist);
|
||||
|
||||
GetActivity(ref changeLaneDir, ref activity);
|
||||
|
||||
offset = laneChangeDp.normalized * dp.magnitude;
|
||||
offset.z = 0.0f;
|
||||
OffsetRemainingPath(ref path, iN, offset);
|
||||
curTransDist += dp.magnitude;
|
||||
|
||||
n.activity = activity;
|
||||
}
|
||||
else
|
||||
{
|
||||
offset = laneChangeDp.normalized * dp.magnitude;
|
||||
offset.z = 0.0f;
|
||||
OffsetRemainingPath(ref path, iN, offset);
|
||||
curTransDist += dp.magnitude;
|
||||
|
||||
n.activity = activity;
|
||||
|
||||
if(curTransDist > transitionDist)
|
||||
{
|
||||
OnEnterNewLane(ref changeLaneDir);
|
||||
|
||||
n = path.nodes[iN];
|
||||
|
||||
//do a small correction to make sure we are in the absolute center of the lane.
|
||||
float lanePosAbsoluteX = (-1 * currentLane * laneDist) + start.x;
|
||||
float errorX = lanePosAbsoluteX - n.pos.x;
|
||||
Vector3 error = new Vector3(errorX, 0.0f, 0.0f);
|
||||
OffsetRemainingPath(ref path, iN, error);
|
||||
|
||||
//switch back to driving in the lane.
|
||||
curLaneDist = 0.0f;
|
||||
curTransDist = 0.0f;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
OffsetLabelsBack(ref path);
|
||||
OffsetLabelsBack(ref path);
|
||||
|
||||
path.SmoothPath(pathSmoothFactor);
|
||||
}
|
||||
|
||||
void OffsetLabelsBack(ref CarPath path)
|
||||
{
|
||||
//we are setting our activity labels one node too late. Try setting them a bit early. And removing them one early too.
|
||||
for(int iN = 1; iN < path.nodes.Count; iN++)
|
||||
{
|
||||
PathNode p = path.nodes[iN - 1];
|
||||
PathNode c = path.nodes[iN];
|
||||
|
||||
if(p.activity == null || c.activity == null)
|
||||
continue;
|
||||
|
||||
if(c.activity != p.activity)
|
||||
{
|
||||
if(c.activity.StartsWith("cl_"))
|
||||
{
|
||||
p.activity = c.activity;
|
||||
}
|
||||
else if(p.activity.StartsWith("cl_"))
|
||||
{
|
||||
p.activity = c.activity;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void OffsetRemainingPath(ref CarPath path, int iStart, Vector3 offset)
|
||||
{
|
||||
for(int iN = iStart; iN < path.nodes.Count; iN++)
|
||||
{
|
||||
PathNode n = path.nodes[iN];
|
||||
n.pos += offset;
|
||||
}
|
||||
}
|
||||
|
||||
int NewLaneDir(int changeLaneDir)
|
||||
{
|
||||
if(currentLane == numLanes - 1)
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
else if(currentLane == 0)
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
|
||||
return changeLaneDir;
|
||||
}
|
||||
|
||||
void GetActivity(ref int changeLaneDir, ref string activity)
|
||||
{
|
||||
if(changeLaneDir > 0)
|
||||
activity = "cl_left";
|
||||
else
|
||||
activity = "cl_right";
|
||||
}
|
||||
|
||||
void OnEnterNewLane(ref int changeLaneDir)
|
||||
{
|
||||
//choose a dir, left or right.
|
||||
currentLane += changeLaneDir;
|
||||
|
||||
if(currentLane == numLanes - 1)
|
||||
{
|
||||
changeLaneDir = -1;
|
||||
|
||||
}
|
||||
else if(currentLane == 0)
|
||||
{
|
||||
changeLaneDir = 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 489eab0f2e6a3422f9b8ff53d6251c46
|
||||
timeCreated: 1484765183
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,232 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using System;
|
||||
|
||||
[Serializable]
|
||||
public class LidarPoint
|
||||
{
|
||||
public float x;
|
||||
public float y;
|
||||
public float z;
|
||||
public float d;
|
||||
public float rx;
|
||||
public float ry;
|
||||
|
||||
public LidarPoint(Vector3 p, float distance, float _rx, float _ry)
|
||||
{
|
||||
x = p.x;
|
||||
y = p.y;
|
||||
z = p.z;
|
||||
d = distance;
|
||||
rx = _rx;
|
||||
ry = _ry;
|
||||
}
|
||||
}
|
||||
|
||||
[Serializable]
|
||||
public class V3
|
||||
{
|
||||
public float x;
|
||||
public float y;
|
||||
public float z;
|
||||
|
||||
public V3(Vector3 p)
|
||||
{
|
||||
x = p.x;
|
||||
y = p.y;
|
||||
z = p.z;
|
||||
}
|
||||
}
|
||||
|
||||
[Serializable]
|
||||
public class LidarPointArray
|
||||
{
|
||||
//All coordinates in World coordinate system
|
||||
|
||||
public LidarPoint[] points;
|
||||
|
||||
public void Init(int numPoints)
|
||||
{
|
||||
points = new LidarPoint[numPoints];
|
||||
}
|
||||
}
|
||||
|
||||
public class Lidar : MonoBehaviour
|
||||
{
|
||||
|
||||
|
||||
public LidarPointArray pointArr;
|
||||
|
||||
//as the ray sweeps around, how many degrees does it advance per sample
|
||||
public float degPerSweepInc = 2f;
|
||||
|
||||
//what is the starting angle for the initial sweep compared to the forward vector
|
||||
public float degAngDown = 25f;
|
||||
|
||||
//what angle change between sweeps
|
||||
public float degAngDelta = -1f;
|
||||
|
||||
//how many complete 360 sweeps
|
||||
public int numSweepsLevels = 25;
|
||||
|
||||
//what it max distance we will register a hit
|
||||
public float maxRange = 50f;
|
||||
|
||||
//how large radius to use when rendering debug display
|
||||
public float gizmoSize = 0.1f;
|
||||
|
||||
//what is the scalar on the perlin noise applied to point position
|
||||
public float noise = 0.2f;
|
||||
|
||||
public bool DisplayDebugInScene = false;
|
||||
|
||||
// are there layers we don't want to collide with?
|
||||
public string[] layerMaskNames;
|
||||
|
||||
int collMask = 0;
|
||||
|
||||
void Awake()
|
||||
{
|
||||
pointArr = new LidarPointArray();
|
||||
pointArr.Init((int)(360 / degPerSweepInc * numSweepsLevels));
|
||||
|
||||
int v = 0;
|
||||
|
||||
foreach (string layerName in layerMaskNames)
|
||||
{
|
||||
int layer = LayerMask.NameToLayer(layerName);
|
||||
v |= 1 << layer;
|
||||
}
|
||||
|
||||
collMask |= ~v;
|
||||
|
||||
}
|
||||
|
||||
public void SetConfig(float offset_x, float offset_y, float offset_z, float rot_x,
|
||||
float _degPerSweepInc, float _degAngDown, float _degAngDelta, float _maxRange, float _noise, int _numSweepsLevels)
|
||||
{
|
||||
degPerSweepInc = _degPerSweepInc;
|
||||
degAngDown = _degAngDown;
|
||||
degAngDelta = _degAngDelta;
|
||||
maxRange = _maxRange;
|
||||
noise = _noise;
|
||||
numSweepsLevels = _numSweepsLevels;
|
||||
|
||||
if (offset_x != 0.0f || offset_y != 0.0f || offset_z != 0.0f)
|
||||
transform.localPosition = new Vector3(offset_x, offset_y, offset_z);
|
||||
|
||||
if (rot_x != 0.0f)
|
||||
transform.localEulerAngles = new Vector3(rot_x, 0.0f, 0.0f);
|
||||
|
||||
pointArr = new LidarPointArray();
|
||||
pointArr.Init((int)(360 / degPerSweepInc * numSweepsLevels));
|
||||
}
|
||||
|
||||
public JSONObject GetOutputAsJson()
|
||||
{
|
||||
LidarPointArray points = GetOutput();
|
||||
JSONObject json = JSONObject.Create();
|
||||
foreach (LidarPoint p in points.points)
|
||||
{
|
||||
JSONObject vec = JSONObject.Create();
|
||||
try
|
||||
{
|
||||
vec.AddField("d", (float)Math.Round(p.d, 2));
|
||||
vec.AddField("rx", p.rx);
|
||||
vec.AddField("ry", p.ry);
|
||||
json.Add(vec);
|
||||
}
|
||||
catch
|
||||
{
|
||||
// just ignore points that don't resolve.
|
||||
}
|
||||
}
|
||||
|
||||
return json;
|
||||
}
|
||||
|
||||
public LidarPointArray GetOutput()
|
||||
{
|
||||
int numSweep = (int)(360 / degPerSweepInc);
|
||||
pointArr = new LidarPointArray();
|
||||
pointArr.Init(numSweep * numSweepsLevels);
|
||||
|
||||
Ray ray = new Ray(transform.position, transform.forward);
|
||||
RaycastHit hit;
|
||||
|
||||
// Vertical rotation
|
||||
Quaternion rotUp = Quaternion.AngleAxis(degAngDelta, transform.right);
|
||||
|
||||
// Horizontal rotation
|
||||
Quaternion rotSide = Quaternion.AngleAxis(degPerSweepInc, transform.up);
|
||||
|
||||
//Sample the output texture to create rays.
|
||||
int iP = 0;
|
||||
float rx = 0.0f;
|
||||
float ry = 0.0f;
|
||||
|
||||
for (int iS = 0; iS < numSweepsLevels; iS++)
|
||||
{
|
||||
// reset the orientation of the ray
|
||||
Quaternion rotDown = Quaternion.AngleAxis(degAngDown + iS * degAngDelta, transform.right);
|
||||
ray.direction = rotDown * transform.forward;
|
||||
rx = 0.0f;
|
||||
|
||||
for (int iA = 0; iA < numSweep; iA++)
|
||||
{
|
||||
if (Physics.Raycast(ray, out hit, maxRange, collMask))
|
||||
{
|
||||
//sample that ray at the depth given by the pixel.
|
||||
Vector3 pos = hit.point - transform.position;
|
||||
float distance = hit.distance;
|
||||
|
||||
//shouldn't hit this unless user is messing around in the interface with things running.
|
||||
if (iP >= pointArr.points.Length)
|
||||
break;
|
||||
|
||||
// add some noise to the point position
|
||||
float noiseX = Mathf.PerlinNoise(UnityEngine.Random.Range(-1f, 1f), UnityEngine.Random.Range(-1f, 1f));
|
||||
float noiseY = Mathf.PerlinNoise(UnityEngine.Random.Range(-1f, 1f), UnityEngine.Random.Range(-1f, 1f));
|
||||
float noiseZ = Mathf.PerlinNoise(UnityEngine.Random.Range(-1f, 1f), UnityEngine.Random.Range(-1f, 1f));
|
||||
pos.x += noise * noiseX;
|
||||
pos.y += noise * noiseY;
|
||||
pos.z += noise * noiseZ;
|
||||
|
||||
//set iPoint
|
||||
pointArr.points[iP] = new LidarPoint(pos, distance, rx, ry);
|
||||
iP++;
|
||||
}
|
||||
|
||||
ray.direction = rotSide * ray.direction;
|
||||
rx += degPerSweepInc;
|
||||
}
|
||||
|
||||
ray.direction = rotUp * ray.direction;
|
||||
ry += degAngDelta;
|
||||
}
|
||||
|
||||
return pointArr;
|
||||
}
|
||||
|
||||
void OnDrawGizmosSelected()
|
||||
{
|
||||
Gizmos.color = Color.red;
|
||||
pointArr = GetOutput(); // not really efficient but won't be called in the app, just for visualization purpose
|
||||
|
||||
Vector3 pos = Vector3.zero;
|
||||
foreach (LidarPoint p in pointArr.points)
|
||||
{
|
||||
if (p == null)
|
||||
continue;
|
||||
|
||||
pos.x = p.x;
|
||||
pos.y = p.y;
|
||||
pos.z = p.z;
|
||||
|
||||
//make points global space for drawing
|
||||
pos += transform.position;
|
||||
Gizmos.DrawSphere(pos, gizmoSize);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 271bfe211179846878a1f16e517b854d
|
||||
timeCreated: 1489425632
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,101 @@
|
|||
using UnityEngine;
|
||||
using System.Collections;
|
||||
|
||||
//3d line
|
||||
public class Line3d
|
||||
{
|
||||
|
||||
public Line3d() {}
|
||||
|
||||
public Line3d(ref Vector3 a, ref Vector3 b)
|
||||
{
|
||||
ConstructLine(ref a, ref b);
|
||||
}
|
||||
|
||||
//allow a line to be recomputed
|
||||
public void ConstructLine(ref Vector3 a, ref Vector3 b)
|
||||
{
|
||||
m_origin = a;
|
||||
m_dir = a - b;
|
||||
m_dir.Normalize();
|
||||
}
|
||||
|
||||
//produce a vector normal to this line passing through this point.
|
||||
public Vector3 ClosestVectorTo(ref Vector3 point)
|
||||
{
|
||||
Vector3 deltaPoint = m_origin - point;
|
||||
float dot = Vector3.Dot(deltaPoint, m_dir);
|
||||
return (m_dir * dot) - deltaPoint;
|
||||
}
|
||||
|
||||
//transform the point by the normal vector that places it on the line
|
||||
public Vector3 ClosestPointOnLineTo(ref Vector3 point)
|
||||
{
|
||||
Vector3 vectorTo = ClosestVectorTo(ref point);
|
||||
return point - vectorTo;
|
||||
}
|
||||
|
||||
public float AbsAngleBetween(ref Line3d l)
|
||||
{
|
||||
return Mathf.Abs(Vector3.Angle( m_dir, l.m_dir));
|
||||
}
|
||||
|
||||
public Vector3 m_origin, m_dir;
|
||||
};
|
||||
|
||||
public class LineSeg3d : Line3d
|
||||
{
|
||||
|
||||
public LineSeg3d(){}
|
||||
|
||||
public LineSeg3d(ref Vector3 a, ref Vector3 b)
|
||||
{
|
||||
ConstructLineSeg(ref a, ref b);
|
||||
}
|
||||
|
||||
public void ConstructLineSeg(ref Vector3 a, ref Vector3 b)
|
||||
{
|
||||
ConstructLine(ref a, ref b);
|
||||
m_end = b;
|
||||
m_length = (a - b).magnitude;
|
||||
}
|
||||
|
||||
public enum SegResult
|
||||
{
|
||||
OnSpan,
|
||||
LessThanOrigin,
|
||||
GreaterThanEnd,
|
||||
}
|
||||
|
||||
//find the closest point, clamping it to the ends
|
||||
public Vector3 ClosestPointOnSegmentTo(ref Vector3 point, ref SegResult res)
|
||||
{
|
||||
Vector3 deltaPoint = m_origin - point;
|
||||
float dot = Vector3.Dot(deltaPoint, m_dir);
|
||||
|
||||
//clamp to the ends of the line segment
|
||||
if(dot <= 0.0f)
|
||||
{
|
||||
res = SegResult.LessThanOrigin;
|
||||
return m_origin;
|
||||
}
|
||||
|
||||
if(dot >= m_length)
|
||||
{
|
||||
res = SegResult.GreaterThanEnd;
|
||||
return m_end;
|
||||
}
|
||||
|
||||
res = SegResult.OnSpan;
|
||||
Vector3 vectorTo = (m_dir * dot) - deltaPoint;
|
||||
return point - vectorTo;
|
||||
}
|
||||
|
||||
public void Draw(Color c)
|
||||
{
|
||||
Debug.DrawLine(m_origin, m_end, c);
|
||||
}
|
||||
|
||||
public float m_length;
|
||||
public Vector3 m_end;
|
||||
};
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 9f193da27afc443cab7d171c78f63a1b
|
||||
timeCreated: 1449593992
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,439 @@
|
|||
using UnityEngine;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
|
||||
[System.Serializable]
|
||||
public class Measurement
|
||||
{
|
||||
public int id;
|
||||
public int offsetX;
|
||||
public int offsetZ;
|
||||
|
||||
public Measurement(int _id, int offX, int offZ)
|
||||
{
|
||||
id = _id;
|
||||
offsetX = offX;
|
||||
offsetZ = offZ;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
[System.Serializable]
|
||||
public class Measurements
|
||||
{
|
||||
public List<Measurement> m;
|
||||
|
||||
public void Init(int count)
|
||||
{
|
||||
m = new List<Measurement>(count);
|
||||
}
|
||||
}
|
||||
|
||||
[System.Serializable]
|
||||
public class ProbMap
|
||||
{
|
||||
public float[,] cells;
|
||||
public int numX;
|
||||
public int numZ;
|
||||
|
||||
public void Init(int numXCells, int numZCells)
|
||||
{
|
||||
numX = numXCells;
|
||||
numZ = numZCells;
|
||||
cells = new float[numXCells, numZCells];
|
||||
}
|
||||
|
||||
public void AllEqualProb()
|
||||
{
|
||||
int totalCells = numX * numZ;
|
||||
|
||||
//At first we are equally likely to be in any cell.
|
||||
//And since we like the probability to add to 1, we
|
||||
///divide by total cells.
|
||||
float iniProb = 1.0f / totalCells;
|
||||
|
||||
for(int iX = 0; iX < numX; iX++)
|
||||
{
|
||||
for(int iZ = 0; iZ < numZ; iZ++)
|
||||
{
|
||||
cells[iX, iZ] = iniProb;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void Zero()
|
||||
{
|
||||
for(int iX = 0; iX < numX; iX++)
|
||||
{
|
||||
for(int iZ = 0; iZ < numZ; iZ++)
|
||||
{
|
||||
cells[iX, iZ] = 0.0f;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public class ProbMapVisualizer
|
||||
{
|
||||
public List<GameObject> cellMarkers;
|
||||
public List<Vector2> topCells;
|
||||
|
||||
public void Init(int numToVisualize, GameObject prefab)
|
||||
{
|
||||
cellMarkers = new List<GameObject>(numToVisualize);
|
||||
topCells = new List<Vector2>(numToVisualize);
|
||||
|
||||
for(int i = 0; i < numToVisualize; i++)
|
||||
{
|
||||
GameObject go = GameObject.Instantiate(prefab) as GameObject;
|
||||
cellMarkers.Add(go);
|
||||
}
|
||||
}
|
||||
|
||||
public void Visualize(ProbMap pm, Map world)
|
||||
{
|
||||
topCells.Clear();
|
||||
int numX = pm.numX;
|
||||
int numZ = pm.numZ;
|
||||
|
||||
float thresh = 0.05f;
|
||||
int iCM = 0;
|
||||
|
||||
for(int iX = 0; iX < numX; iX++)
|
||||
{
|
||||
for(int iZ = 0; iZ < numZ; iZ++)
|
||||
{
|
||||
float p = pm.cells[iX, iZ];
|
||||
|
||||
if(p > thresh)
|
||||
{
|
||||
Vector3 pos = Vector3.zero;
|
||||
pos = world.startPos;
|
||||
pos.x += world.dX * iX;
|
||||
pos.z += world.dZ * iZ;
|
||||
|
||||
cellMarkers[iCM].transform.position = pos;
|
||||
|
||||
Vector3 s = Vector3.one;
|
||||
s.y = p * 100f;
|
||||
s.x = world.dX;
|
||||
s.z = world.dZ;
|
||||
cellMarkers[iCM].transform.localScale = s;
|
||||
|
||||
iCM++;
|
||||
|
||||
if(iCM == cellMarkers.Count)
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
for(int iM = iCM; iM < cellMarkers.Count; iM++)
|
||||
{
|
||||
cellMarkers[iM].transform.position = Vector3.zero;
|
||||
cellMarkers[iM].transform.localScale = Vector3.zero;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public class MonteCarloLocalizer
|
||||
{
|
||||
public Map world;
|
||||
public ProbMap probMap;
|
||||
|
||||
//for memory efficiency, we will allocate
|
||||
//two maps and swap between them.
|
||||
bool useMapA;
|
||||
ProbMap mapA;
|
||||
ProbMap mapB;
|
||||
|
||||
public void Init(Map worldMap)
|
||||
{
|
||||
world = worldMap;
|
||||
mapA = new ProbMap();
|
||||
mapA.Init(world.numX, world.numZ);
|
||||
mapA.AllEqualProb();
|
||||
useMapA = true;
|
||||
probMap = mapA;
|
||||
|
||||
mapB = new ProbMap();
|
||||
mapB.Init(world.numX, world.numZ);
|
||||
}
|
||||
|
||||
public void Move(int iMoveX, int iMoveZ, float probExact)
|
||||
{
|
||||
if(iMoveX == 0 && iMoveZ == 0)
|
||||
return;
|
||||
|
||||
ProbMap newMap = useMapA ? mapB : mapA;
|
||||
newMap.Zero();
|
||||
|
||||
int numX = probMap.numX;
|
||||
int numZ = probMap.numZ;
|
||||
|
||||
for(int iX = 0; iX < numX; iX++)
|
||||
{
|
||||
for(int iZ = 0; iZ < numZ; iZ++)
|
||||
{
|
||||
int iTargetX = iX + iMoveX;
|
||||
int iTargetZ = iZ + iMoveZ;
|
||||
|
||||
if(iTargetX < 0 || iTargetX >= numX)
|
||||
continue;
|
||||
|
||||
if(iTargetZ < 0 || iTargetZ >= numZ)
|
||||
continue;
|
||||
|
||||
//int trailX = iMoveX > 0 ? - 1 : (iMoveX == 0 ? 0 : 1);
|
||||
//int trailZ = iMoveZ > 0 ? - 1 : (iMoveZ == 0 ? 0 : 1);
|
||||
|
||||
//most of old value moves to new
|
||||
float probTarget = probMap.cells[iX, iZ] * probExact;
|
||||
|
||||
//some probablity that we are still in old cell.
|
||||
//float probTrail = probMap.cells[iX, iZ] * (1.0f - probExact);
|
||||
|
||||
newMap.cells[iTargetX, iTargetZ] += probTarget;
|
||||
//newMap.cells[iTargetX + trailX, iTargetZ + trailZ] += probTrail;
|
||||
}
|
||||
}
|
||||
|
||||
probMap = newMap;
|
||||
useMapA = !useMapA;
|
||||
}
|
||||
|
||||
public void Sense(Measurements m, float probExact)
|
||||
{
|
||||
for(int iM = 0; iM < m.m.Count; iM++)
|
||||
{
|
||||
Measurement _m = m.m[iM];
|
||||
|
||||
Sense(_m, probExact);
|
||||
}
|
||||
}
|
||||
|
||||
public void Sense(Measurement m, float probHit)
|
||||
{
|
||||
int numX = probMap.numX;
|
||||
int numZ = probMap.numZ;
|
||||
float probMiss = 1.0f - probHit;
|
||||
float t = 0f;
|
||||
|
||||
for(int iX = 0; iX < numX; iX++)
|
||||
{
|
||||
for(int iZ = 0; iZ < numZ; iZ++)
|
||||
{
|
||||
float hit = 0f;
|
||||
int iSenseX = iX + m.offsetX;
|
||||
int iSenseZ = iZ + m.offsetZ;
|
||||
|
||||
if(iSenseZ >= 0 && iSenseZ < numZ &&
|
||||
iSenseX >= 0 && iSenseX < numX)
|
||||
{
|
||||
hit = (m.id == world.cells[iSenseX, iSenseZ]) ? 1.0f : 0.0f;
|
||||
}
|
||||
|
||||
float p = probMap.cells[iX, iZ];
|
||||
|
||||
float np = p * (hit * probHit + (1.0f - hit) * probMiss);
|
||||
|
||||
probMap.cells[iX, iZ] = np;
|
||||
|
||||
t += np;
|
||||
}
|
||||
}
|
||||
|
||||
//Normalize.
|
||||
for(int iX = 0; iX < numX; iX++)
|
||||
{
|
||||
for(int iZ = 0; iZ < numZ; iZ++)
|
||||
{
|
||||
probMap.cells[iX, iZ] = probMap.cells[iX, iZ] / t;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void MostLikelyCell(out int cellX, out int cellZ)
|
||||
{
|
||||
float p = 0f;
|
||||
int numX = probMap.numX;
|
||||
int numZ = probMap.numZ;
|
||||
cellX = 0;
|
||||
cellZ = 0;
|
||||
|
||||
for(int iX = 0; iX < numX; iX++)
|
||||
{
|
||||
for(int iZ = 0; iZ < numZ; iZ++)
|
||||
{
|
||||
float pc = probMap.cells[iX, iZ];
|
||||
|
||||
if(pc > p)
|
||||
{
|
||||
p = pc;
|
||||
cellX = iX;
|
||||
cellZ = iZ;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void MostLikelyPos(out Vector3 pos)
|
||||
{
|
||||
int iX = 0;
|
||||
int iZ = 0;
|
||||
MostLikelyCell(out iX, out iZ);
|
||||
|
||||
pos = world.startPos;
|
||||
pos.x += world.dX * iX;
|
||||
pos.z += world.dZ * iZ;
|
||||
}
|
||||
}
|
||||
|
||||
public class LocUnitTester
|
||||
{
|
||||
public void Test(Map map, Measurements measurements, List<Vector2> moves,
|
||||
int iExpectedX, int iExpectedZ)
|
||||
{
|
||||
MonteCarloLocalizer loc = new MonteCarloLocalizer();
|
||||
|
||||
loc.Init(map);
|
||||
int iX = (int)moves[0].x;
|
||||
int iY = (int)moves[0].y;
|
||||
loc.Move(iX, iY, 1f);
|
||||
|
||||
loc.Sense(measurements, 1f);
|
||||
|
||||
int mlX, mlZ;
|
||||
|
||||
loc.MostLikelyCell(out mlX, out mlZ);
|
||||
|
||||
if(iExpectedX == mlX && iExpectedZ == mlZ)
|
||||
{
|
||||
Debug.Log("Correct!");
|
||||
}
|
||||
else
|
||||
{
|
||||
Debug.LogError("Oops");
|
||||
}
|
||||
}
|
||||
|
||||
public void TestA()
|
||||
{
|
||||
Map map = new Map();
|
||||
map.Init(3, 3);
|
||||
map.cells [1,1] = 1; //all the rest are zero.
|
||||
Measurement m = new Measurement(1, 0, 0);
|
||||
Measurements ma = new Measurements();
|
||||
ma.Init(1);
|
||||
ma.m.Add(m);
|
||||
List<Vector2> moves = new List<Vector2>();
|
||||
moves.Add(Vector2.zero);
|
||||
|
||||
Test (map, ma, moves, 1, 1);
|
||||
}
|
||||
|
||||
public void TestB()
|
||||
{
|
||||
Map map = new Map();
|
||||
map.Init(3, 3);
|
||||
map.cells [1,1] = 1; //all the rest are zero.
|
||||
Measurement m = new Measurement(1, 0, -1);
|
||||
Measurements ma = new Measurements();
|
||||
ma.Init(1);
|
||||
ma.m.Add(m);
|
||||
List<Vector2> moves = new List<Vector2>();
|
||||
moves.Add(Vector2.zero);
|
||||
|
||||
Test (map, ma, moves, 1, 2);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public class Localizer : MonoBehaviour
|
||||
{
|
||||
MonteCarloLocalizer loc;
|
||||
ProbMapVisualizer vis;
|
||||
|
||||
public MapManager mm;
|
||||
int iPrevX = 0;
|
||||
int iPrevZ = 0;
|
||||
Vector3 prevPos;
|
||||
|
||||
public float radiusSense = 100f;
|
||||
public float threshMove = 0.1f;
|
||||
public float probMoveExact = 0.8f;
|
||||
public float probSenseExact = 0.8f;
|
||||
|
||||
public Transform likelyTM;
|
||||
|
||||
// Use this for initialization
|
||||
void Start ()
|
||||
{
|
||||
LocUnitTester tester = new LocUnitTester();
|
||||
tester.TestB();
|
||||
|
||||
loc = new MonteCarloLocalizer();
|
||||
loc.Init(mm.map);
|
||||
|
||||
vis = new ProbMapVisualizer();
|
||||
vis.Init(25, likelyTM.gameObject );
|
||||
|
||||
//when we move at least full a cell dist, then sense again.
|
||||
threshMove = mm.map.dX;
|
||||
prevPos = Vector3.zero;
|
||||
}
|
||||
|
||||
// Update is called once per frame
|
||||
void Update ()
|
||||
{
|
||||
Vector3 newPos = transform.position;
|
||||
int inewX = Mathf.RoundToInt(newPos.x / mm.map.dX);
|
||||
int inewZ = Mathf.RoundToInt(newPos.z / mm.map.dZ);
|
||||
if(inewX != iPrevX || inewZ != iPrevZ)
|
||||
{
|
||||
int iMoveX = inewX - iPrevX;
|
||||
int iMoveZ = inewZ - iPrevZ;
|
||||
SenseEnv(iMoveX, iMoveZ);
|
||||
|
||||
iPrevX = inewX;
|
||||
iPrevZ = inewZ;
|
||||
prevPos = newPos;
|
||||
}
|
||||
|
||||
vis.Visualize(loc.probMap, loc.world);
|
||||
}
|
||||
|
||||
void SenseEnv(int iMoveX, int iMoveZ)
|
||||
{
|
||||
Marker[] allMarkers = GameObject.FindObjectsOfType<Marker>();
|
||||
Vector3 pos = transform.position;
|
||||
Measurements ma = new Measurements();
|
||||
ma.Init(100);
|
||||
|
||||
foreach(Marker marker in allMarkers)
|
||||
{
|
||||
Vector3 delta = (marker.transform.position - pos);
|
||||
|
||||
if(delta.magnitude < radiusSense)
|
||||
{
|
||||
int offX = Mathf.RoundToInt(delta.x / mm.map.dX);
|
||||
int offZ = Mathf.RoundToInt(delta.z / mm.map.dZ);
|
||||
|
||||
Measurement m = new Measurement(marker.id, offX, offZ);
|
||||
|
||||
ma.m.Add(m);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//first move is huge and not needed.
|
||||
if(prevPos != Vector3.zero)
|
||||
loc.Move(iMoveX, iMoveZ, probMoveExact);
|
||||
|
||||
loc.Sense(ma, probSenseExact);
|
||||
|
||||
Vector3 likelyPos = Vector3.zero;
|
||||
likelyTM.position = likelyPos;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 019bba83519c94d9e80c79b1b54e2b59
|
||||
timeCreated: 1449074642
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,29 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
public class LocationMarker : MonoBehaviour {
|
||||
|
||||
public int id;
|
||||
|
||||
public static int GetNearestLocMarker(Vector3 pos)
|
||||
{
|
||||
int closest = -1;
|
||||
float dist = float.PositiveInfinity;
|
||||
|
||||
var markers = GameObject.FindObjectsOfType<LocationMarker>();
|
||||
|
||||
foreach(var marker in markers)
|
||||
{
|
||||
float d = (marker.transform.position - pos).magnitude;
|
||||
if(d < dist)
|
||||
{
|
||||
closest = marker.id;
|
||||
dist = d;
|
||||
}
|
||||
}
|
||||
|
||||
return closest;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 362da7465d0da47f7981adc02f1fcc80
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,373 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using System.IO;
|
||||
using System.Threading;
|
||||
using System;
|
||||
using UnityEngine.UI;
|
||||
|
||||
[Serializable]
|
||||
public class MetaJson
|
||||
{
|
||||
public string[] inputs;
|
||||
public string[] types;
|
||||
|
||||
public void Init(string[] _inputs, string[] _types)
|
||||
{
|
||||
inputs = _inputs;
|
||||
types = _types;
|
||||
}
|
||||
}
|
||||
|
||||
[Serializable]
|
||||
public class DonkeyRecord
|
||||
{
|
||||
public string cam_image_array;
|
||||
public float user_throttle;
|
||||
public float user_angle;
|
||||
public string user_mode;
|
||||
public int track_lap;
|
||||
public int track_loc;
|
||||
|
||||
public void Init(string image_name, float throttle, float angle, string mode, int lap, int loc)
|
||||
{
|
||||
cam_image_array = image_name;
|
||||
user_throttle = throttle;
|
||||
user_angle = angle;
|
||||
user_mode = mode;
|
||||
track_lap = lap;
|
||||
track_loc = loc;
|
||||
}
|
||||
|
||||
public string AsString()
|
||||
{
|
||||
string json = JsonUtility.ToJson(this);
|
||||
|
||||
//Can't name the variable names with a slash, so replace on output
|
||||
json = json.Replace("cam_image", "cam/image");
|
||||
json = json.Replace("user_throttle", "user/throttle");
|
||||
json = json.Replace("user_angle", "user/angle");
|
||||
json = json.Replace("user_mode", "user/mode");
|
||||
json = json.Replace("track_lap", "track/lap");
|
||||
json = json.Replace("track_lap", "track/lap");
|
||||
json = json.Replace("track_loc", "track/loc");
|
||||
|
||||
return json;
|
||||
}
|
||||
}
|
||||
public class Logger : MonoBehaviour {
|
||||
|
||||
public GameObject carObj;
|
||||
public ICar car;
|
||||
public CameraSensor camSensor;
|
||||
public CameraSensor optionlB_CamSensor;
|
||||
public Lidar lidar;
|
||||
|
||||
//what's the current frame index
|
||||
public int frameCounter = 0;
|
||||
|
||||
//which lap
|
||||
public int lapCounter = 0;
|
||||
|
||||
//is there an upper bound on the number of frames to log
|
||||
public int maxFramesToLog = 14000;
|
||||
|
||||
//should we log when we are enabled
|
||||
public bool bDoLog = true;
|
||||
|
||||
public int limitFPS = 30;
|
||||
|
||||
float timeSinceLastCapture = 0.0f;
|
||||
|
||||
//We can output our logs in the style that matched the output from the shark robot car platform - github/tawnkramer/shark
|
||||
public bool SharkStyle = false;
|
||||
|
||||
//We can output our logs in the style that matched the output from the udacity simulator
|
||||
public bool UdacityStyle = false;
|
||||
|
||||
//We can output our logs in the style that matched the output from the donkey robot car platform - donkeycar.com
|
||||
public bool DonkeyStyle = false;
|
||||
|
||||
//Tub style as prefered by Donkey2
|
||||
public bool DonkeyStyle2 = true;
|
||||
|
||||
public Text logDisplay;
|
||||
|
||||
string outputFilename = "log_car_controls.txt";
|
||||
private StreamWriter writer;
|
||||
|
||||
class ImageSaveJob {
|
||||
public string filename;
|
||||
public byte[] bytes;
|
||||
}
|
||||
|
||||
List<ImageSaveJob> imagesToSave;
|
||||
|
||||
Thread thread;
|
||||
|
||||
string GetLogPath()
|
||||
{
|
||||
if(GlobalState.log_path != "default")
|
||||
return GlobalState.log_path + "/";
|
||||
|
||||
return Application.dataPath + "/../log/";
|
||||
}
|
||||
|
||||
void Awake()
|
||||
{
|
||||
car = carObj.GetComponent<ICar>();
|
||||
|
||||
if(bDoLog && car != null)
|
||||
{
|
||||
if(UdacityStyle)
|
||||
{
|
||||
outputFilename = "driving_log.csv";
|
||||
}
|
||||
|
||||
string filename = GetLogPath() + outputFilename;
|
||||
|
||||
writer = new StreamWriter(filename);
|
||||
|
||||
Debug.Log("Opening file for log at: " + filename);
|
||||
|
||||
if(UdacityStyle)
|
||||
{
|
||||
writer.WriteLine("center,left,right,steering,throttle,brake,speed");
|
||||
}
|
||||
|
||||
if(DonkeyStyle2)
|
||||
{
|
||||
MetaJson mjson = new MetaJson();
|
||||
string[] inputs = {"cam/image_array", "user/angle", "user/throttle", "user/mode", "track/lap", "track/loc"};
|
||||
string[] types = {"image_array", "float", "float", "str", "int", "int"};
|
||||
mjson.Init(inputs, types);
|
||||
string json = JsonUtility.ToJson(mjson);
|
||||
var f = File.CreateText(GetLogPath() + "meta.json");
|
||||
f.Write(json);
|
||||
f.Close();
|
||||
}
|
||||
}
|
||||
|
||||
Canvas canvas = GameObject.FindObjectOfType<Canvas>();
|
||||
GameObject go = CarSpawner.getChildGameObject(canvas.gameObject, "LogCount");
|
||||
if (go != null)
|
||||
logDisplay = go.GetComponent<Text>();
|
||||
|
||||
imagesToSave = new List<ImageSaveJob>();
|
||||
|
||||
thread = new Thread(SaverThread);
|
||||
thread.Start();
|
||||
}
|
||||
|
||||
// Update is called once per frame
|
||||
void Update ()
|
||||
{
|
||||
if(!bDoLog)
|
||||
return;
|
||||
|
||||
timeSinceLastCapture += Time.deltaTime;
|
||||
|
||||
if (timeSinceLastCapture < 1.0f / limitFPS)
|
||||
return;
|
||||
|
||||
timeSinceLastCapture -= (1.0f / limitFPS);
|
||||
|
||||
string activity = car.GetActivity();
|
||||
|
||||
if(writer != null)
|
||||
{
|
||||
if(UdacityStyle)
|
||||
{
|
||||
string image_filename = GetUdacityStyleImageFilename();
|
||||
float steering = car.GetSteering() / car.GetMaxSteering();
|
||||
writer.WriteLine(string.Format("{0},{1},{2},{3},{4},{5},{6},{7}", image_filename,
|
||||
"none", "none", steering.ToString(),
|
||||
car.GetThrottle().ToString(), "0", "0", lapCounter));
|
||||
}
|
||||
else if(DonkeyStyle || SharkStyle)
|
||||
{
|
||||
|
||||
}
|
||||
else if(DonkeyStyle2)
|
||||
{
|
||||
DonkeyRecord mjson = new DonkeyRecord();
|
||||
float steering = car.GetSteering() / car.GetMaxSteering();
|
||||
float throttle = car.GetThrottle();
|
||||
int loc = LocationMarker.GetNearestLocMarker(carObj.transform.position);
|
||||
|
||||
//training code like steering clamped between -1, 1
|
||||
steering = Mathf.Clamp(steering, -1.0f, 1.0f);
|
||||
|
||||
mjson.Init(string.Format("{0}_cam-image_array_.jpg", frameCounter),
|
||||
throttle, steering, "user", lapCounter, loc);
|
||||
|
||||
string json = mjson.AsString();
|
||||
string filename = string.Format("record_{0}.json", frameCounter);
|
||||
var f = File.CreateText(GetLogPath() + filename);
|
||||
f.Write(json);
|
||||
f.Close();
|
||||
}
|
||||
else
|
||||
{
|
||||
writer.WriteLine(string.Format("{0},{1},{2},{3}", frameCounter.ToString(), activity, car.GetSteering().ToString(), car.GetThrottle().ToString()));
|
||||
}
|
||||
}
|
||||
|
||||
if(lidar != null && lidar.gameObject.activeInHierarchy)
|
||||
{
|
||||
LidarPointArray pa = lidar.GetOutput();
|
||||
|
||||
if(pa != null)
|
||||
{
|
||||
string json = JsonUtility.ToJson(pa);
|
||||
var filename = string.Format("lidar_{0}_{1}.txt", frameCounter.ToString(), activity);
|
||||
var f = File.CreateText(GetLogPath() + filename);
|
||||
f.Write(json);
|
||||
f.Close();
|
||||
}
|
||||
}
|
||||
|
||||
if (optionlB_CamSensor != null && optionlB_CamSensor.gameObject.activeInHierarchy)
|
||||
{
|
||||
SaveCamSensor(camSensor, activity, "_a");
|
||||
SaveCamSensor(optionlB_CamSensor, activity, "_b");
|
||||
}
|
||||
else
|
||||
{
|
||||
SaveCamSensor(camSensor, activity, "");
|
||||
}
|
||||
|
||||
if (maxFramesToLog != -1 && frameCounter >= maxFramesToLog)
|
||||
{
|
||||
Shutdown();
|
||||
this.gameObject.SetActive(false);
|
||||
}
|
||||
|
||||
frameCounter = frameCounter + 1;
|
||||
|
||||
if (logDisplay != null)
|
||||
logDisplay.text = "Log:" + frameCounter;
|
||||
}
|
||||
|
||||
string GetUdacityStyleImageFilename()
|
||||
{
|
||||
return GetLogPath() + string.Format("IMG/center_{0,8:D8}.jpg", frameCounter);
|
||||
}
|
||||
|
||||
string GetDonkeyStyleImageFilename()
|
||||
{
|
||||
float steering = car.GetSteering() / 25.0f;
|
||||
float throttle = car.GetThrottle();
|
||||
return GetLogPath() + string.Format("frame_{0,6:D6}_ttl_{1}_agl_{2}_mil_0.0.jpg",
|
||||
frameCounter, throttle, steering);
|
||||
}
|
||||
|
||||
string GetSharkStyleImageFilename()
|
||||
{
|
||||
int steering = (int)(car.GetSteering() / 25.0f * 32768.0f);
|
||||
int throttle = (int)(car.GetThrottle() * 32768.0f);
|
||||
return GetLogPath() + string.Format("frame_{0,6:D6}_st_{1}_th_{2}.jpg",
|
||||
frameCounter, steering, throttle);
|
||||
}
|
||||
|
||||
string GetDonkey2StyleImageFilename()
|
||||
{
|
||||
return GetLogPath() + string.Format("{0}_cam-image_array_.jpg", frameCounter);
|
||||
}
|
||||
|
||||
//Save the camera sensor to an image. Use the suffix to distinguish between cameras.
|
||||
void SaveCamSensor(CameraSensor cs, string prefix, string suffix)
|
||||
{
|
||||
if (cs != null)
|
||||
{
|
||||
Texture2D image = cs.GetImage();
|
||||
|
||||
ImageSaveJob ij = new ImageSaveJob();
|
||||
|
||||
if(UdacityStyle)
|
||||
{
|
||||
ij.filename = GetUdacityStyleImageFilename();
|
||||
|
||||
ij.bytes = image.EncodeToJPG();
|
||||
}
|
||||
else if (DonkeyStyle)
|
||||
{
|
||||
ij.filename = GetDonkeyStyleImageFilename();
|
||||
|
||||
ij.bytes = image.EncodeToJPG();
|
||||
}
|
||||
else if (DonkeyStyle2)
|
||||
{
|
||||
ij.filename = GetDonkey2StyleImageFilename();
|
||||
|
||||
ij.bytes = image.EncodeToJPG();
|
||||
}
|
||||
else if(SharkStyle)
|
||||
{
|
||||
ij.filename = GetSharkStyleImageFilename();
|
||||
|
||||
ij.bytes = image.EncodeToJPG();
|
||||
}
|
||||
else
|
||||
{
|
||||
ij.filename = GetLogPath() + string.Format("{0}_{1,8:D8}{2}.png", prefix, frameCounter, suffix);
|
||||
|
||||
ij.bytes = image.EncodeToPNG();
|
||||
}
|
||||
|
||||
lock (this)
|
||||
{
|
||||
imagesToSave.Add(ij);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void SaverThread()
|
||||
{
|
||||
while(true)
|
||||
{
|
||||
int count = 0;
|
||||
|
||||
lock(this)
|
||||
{
|
||||
count = imagesToSave.Count;
|
||||
}
|
||||
|
||||
if(count > 0)
|
||||
{
|
||||
ImageSaveJob ij = imagesToSave[0];
|
||||
|
||||
//Debug.Log("saving: " + ij.filename);
|
||||
|
||||
File.WriteAllBytes(ij.filename, ij.bytes);
|
||||
|
||||
lock(this)
|
||||
{
|
||||
imagesToSave.RemoveAt(0);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void Shutdown()
|
||||
{
|
||||
if(writer != null)
|
||||
{
|
||||
writer.Close();
|
||||
writer = null;
|
||||
}
|
||||
|
||||
if(thread != null)
|
||||
{
|
||||
thread.Abort();
|
||||
thread = null;
|
||||
}
|
||||
|
||||
bDoLog = false;
|
||||
}
|
||||
|
||||
void OnDestroy()
|
||||
{
|
||||
Shutdown();
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
fileFormatVersion: 2
|
||||
guid: d99138db4ad8544028a31fd0a13333ef
|
||||
timeCreated: 1481994783
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,82 @@
|
|||
using UnityEngine;
|
||||
using System.Collections;
|
||||
|
||||
[System.Serializable]
|
||||
public class Map
|
||||
{
|
||||
public int[,] cells;
|
||||
public Vector3 startPos; //of 0,0 cell.
|
||||
public float dX; //the delta X position to the next cell
|
||||
public float dZ; //the delta Z position to the next cell
|
||||
public int numX;
|
||||
public int numZ;
|
||||
|
||||
public void Init(int numXCells, int numZCells)
|
||||
{
|
||||
numX = numXCells;
|
||||
numZ = numZCells;
|
||||
|
||||
cells = new int[numXCells, numZCells];
|
||||
}
|
||||
}
|
||||
|
||||
public class MapManager : MonoBehaviour
|
||||
{
|
||||
|
||||
//two node giving the extent of the map.
|
||||
public Transform minLimit;
|
||||
public Transform maxLimit;
|
||||
public float cellSize = 1f; //how big is the cell in world units
|
||||
public int numXCells = 1;
|
||||
public int numZCells = 1;
|
||||
public GameObject markerPrefab;
|
||||
public int numMarkers = 1;
|
||||
public int numMarkerIds = 10;
|
||||
|
||||
public Map map;
|
||||
|
||||
// Use this for initialization
|
||||
void Awake () {
|
||||
GenerateMap();
|
||||
}
|
||||
|
||||
// Update is called once per frame
|
||||
void GenerateMap ()
|
||||
{
|
||||
Vector3 minPos = minLimit.position;
|
||||
Vector3 maxPos = maxLimit.position;
|
||||
numXCells = (int)((maxPos.x - minPos.x) / cellSize);
|
||||
numZCells = (int)((maxPos.z - minPos.z) / cellSize);
|
||||
float dx = (maxPos.x - minPos.x) / (numXCells);
|
||||
float dz = (maxPos.z - minPos.z) / (numZCells);
|
||||
|
||||
map = new Map();
|
||||
map.Init(numXCells, numZCells);
|
||||
map.startPos = minPos;
|
||||
map.dX = dx;
|
||||
map.dZ = dz;
|
||||
|
||||
for(int iM = 0; iM < numMarkers; iM++)
|
||||
{
|
||||
int iX = Random.Range(0, numXCells);
|
||||
int iZ = Random.Range(0, numZCells);
|
||||
Vector3 pos = Vector3.zero;
|
||||
pos.x = iX * dx + minPos.x;
|
||||
pos.z = iZ * dz + minPos.z;
|
||||
|
||||
GameObject go = Instantiate(markerPrefab, pos, Quaternion.identity) as GameObject;
|
||||
|
||||
Marker m = go.GetComponent<Marker>();
|
||||
|
||||
//go.transform.parent = this.transform;
|
||||
|
||||
if(m)
|
||||
{
|
||||
m.id = Random.Range(1, numMarkerIds);
|
||||
|
||||
//map cell has this id now.
|
||||
map.cells[iX, iZ] = m.id;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
fileFormatVersion: 2
|
||||
guid: f40a26aa70ad4435bb2d66bf90c1e3d6
|
||||
timeCreated: 1484267705
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,156 @@
|
|||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
// Draws a minimap of the generated road as a 2D overlay in the top-left corner,
|
||||
// positioned just below the NN steering/throttle text. Shows white path lines
|
||||
// and a red dot for the current car position. Auto-refreshes when the road changes.
|
||||
public class MapOverlay : MonoBehaviour
|
||||
{
|
||||
public PathManager pathManager;
|
||||
public Transform carTransform;
|
||||
|
||||
const int MAP_X = 5;
|
||||
const int MAP_Y = 42; // below the one-line NN text (~25px tall + padding)
|
||||
const int MAP_SIZE = 160;
|
||||
|
||||
static Texture2D _whiteTex;
|
||||
static Texture2D _bgTex;
|
||||
static Texture2D _dotTex;
|
||||
|
||||
static Texture2D WhiteTex
|
||||
{
|
||||
get
|
||||
{
|
||||
if (_whiteTex == null)
|
||||
{
|
||||
_whiteTex = new Texture2D(1, 1);
|
||||
_whiteTex.SetPixel(0, 0, Color.white);
|
||||
_whiteTex.Apply();
|
||||
}
|
||||
return _whiteTex;
|
||||
}
|
||||
}
|
||||
|
||||
List<Vector3> _nodes = new List<Vector3>();
|
||||
float _minX, _maxX, _minZ, _maxZ;
|
||||
int _lastNodeCount = -1;
|
||||
float _lastFirstNodeX = float.MaxValue; // catches regen with same node count
|
||||
float _lastFirstNodeZ = float.MaxValue;
|
||||
bool _hasPath = false;
|
||||
|
||||
void Awake()
|
||||
{
|
||||
if (pathManager == null)
|
||||
pathManager = FindObjectOfType<PathManager>();
|
||||
|
||||
_bgTex = new Texture2D(1, 1);
|
||||
_bgTex.SetPixel(0, 0, new Color(0f, 0f, 0f, 0.55f));
|
||||
_bgTex.Apply();
|
||||
|
||||
_dotTex = new Texture2D(4, 4);
|
||||
for (int y = 0; y < 4; y++)
|
||||
for (int x = 0; x < 4; x++)
|
||||
_dotTex.SetPixel(x, y, Color.red);
|
||||
_dotTex.Apply();
|
||||
}
|
||||
|
||||
void Update()
|
||||
{
|
||||
// Find car transform once it exists
|
||||
if (carTransform == null)
|
||||
{
|
||||
Car c = FindObjectOfType<Car>();
|
||||
if (c != null) carTransform = c.transform;
|
||||
}
|
||||
|
||||
// Re-cache path whenever it changes (road regen).
|
||||
// Check both count and the 10th node position — regen always produces the same
|
||||
// count (numSpans=100) but different positions for different seeds.
|
||||
if (pathManager != null && pathManager.carPath != null)
|
||||
{
|
||||
var nodes = pathManager.carPath.centerNodes;
|
||||
int n = nodes.Count;
|
||||
float fx = n > 10 ? nodes[10].pos.x : float.MaxValue;
|
||||
float fz = n > 10 ? nodes[10].pos.z : float.MaxValue;
|
||||
if (n != _lastNodeCount || fx != _lastFirstNodeX || fz != _lastFirstNodeZ)
|
||||
{
|
||||
_lastFirstNodeX = fx;
|
||||
_lastFirstNodeZ = fz;
|
||||
RefreshPath();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void RefreshPath()
|
||||
{
|
||||
_nodes.Clear();
|
||||
_minX = float.MaxValue; _maxX = float.MinValue;
|
||||
_minZ = float.MaxValue; _maxZ = float.MinValue;
|
||||
|
||||
foreach (PathNode node in pathManager.carPath.centerNodes)
|
||||
{
|
||||
_nodes.Add(node.pos);
|
||||
if (node.pos.x < _minX) _minX = node.pos.x;
|
||||
if (node.pos.x > _maxX) _maxX = node.pos.x;
|
||||
if (node.pos.z < _minZ) _minZ = node.pos.z;
|
||||
if (node.pos.z > _maxZ) _maxZ = node.pos.z;
|
||||
}
|
||||
|
||||
_lastNodeCount = _nodes.Count;
|
||||
_hasPath = _nodes.Count > 1;
|
||||
}
|
||||
|
||||
Vector2 WorldToMap(Vector3 world)
|
||||
{
|
||||
float rangeX = _maxX - _minX;
|
||||
float rangeZ = _maxZ - _minZ;
|
||||
float range = Mathf.Max(rangeX, rangeZ, 1f);
|
||||
|
||||
float pad = 6f;
|
||||
float inner = MAP_SIZE - pad * 2f;
|
||||
|
||||
float px = MAP_X + pad + (world.x - _minX) / range * inner;
|
||||
float pz = MAP_Y + pad + (1f - (world.z - _minZ) / range) * inner; // flip Z → screen Y
|
||||
return new Vector2(px, pz);
|
||||
}
|
||||
|
||||
static void DrawLine(Vector2 a, Vector2 b, Color color, float thickness = 1.5f)
|
||||
{
|
||||
Vector2 delta = b - a;
|
||||
if (delta.sqrMagnitude < 0.01f) return;
|
||||
|
||||
float angle = Mathf.Atan2(delta.y, delta.x) * Mathf.Rad2Deg;
|
||||
float length = delta.magnitude;
|
||||
|
||||
Color prev = GUI.color;
|
||||
GUI.color = color;
|
||||
Matrix4x4 saved = GUI.matrix;
|
||||
GUIUtility.RotateAroundPivot(angle, a);
|
||||
GUI.DrawTexture(new Rect(a.x, a.y - thickness * 0.5f, length, thickness), WhiteTex);
|
||||
GUI.matrix = saved;
|
||||
GUI.color = prev;
|
||||
}
|
||||
|
||||
void OnGUI()
|
||||
{
|
||||
if (!_hasPath) return;
|
||||
|
||||
// Dark background
|
||||
GUI.DrawTexture(new Rect(MAP_X - 1, MAP_Y - 1, MAP_SIZE + 2, MAP_SIZE + 2), _bgTex);
|
||||
|
||||
// Path lines
|
||||
for (int i = 0; i < _nodes.Count - 1; i++)
|
||||
{
|
||||
Vector2 a = WorldToMap(_nodes[i]);
|
||||
Vector2 b = WorldToMap(_nodes[i + 1]);
|
||||
DrawLine(a, b, Color.white, 1.5f);
|
||||
}
|
||||
|
||||
// Car dot
|
||||
if (carTransform != null)
|
||||
{
|
||||
Vector2 cp = WorldToMap(carTransform.position);
|
||||
GUI.DrawTexture(new Rect(cp.x - 3f, cp.y - 3f, 6f, 6f), _dotTex);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,2 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 20dd129af531d464c9226ba59011e113
|
||||
|
|
@ -0,0 +1,7 @@
|
|||
using UnityEngine;
|
||||
using System.Collections;
|
||||
|
||||
public class Marker : MonoBehaviour
|
||||
{
|
||||
public int id;
|
||||
}
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
fileFormatVersion: 2
|
||||
guid: b0bd2d647423d4a38b51dd85df5e0bbc
|
||||
timeCreated: 1449072422
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue