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2704824120275040907, guid: 19941e46572630640bcad89012bec10d, + type: 3} + propertyPath: m_LocalEulerAnglesHint.y + value: 0 + objectReference: {fileID: 0} + - target: {fileID: 2704824120275040907, guid: 19941e46572630640bcad89012bec10d, + type: 3} + propertyPath: m_LocalEulerAnglesHint.z + value: 0 + objectReference: {fileID: 0} + m_RemovedComponents: [] + m_SourcePrefab: {fileID: 100100000, guid: 19941e46572630640bcad89012bec10d, type: 3} diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Rope.unity.meta b/Unity_VR_Aorta_Guidewires/Assets/Rope/Rope.unity.meta new file mode 100644 index 000000000..dd40f8012 --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Rope.unity.meta @@ -0,0 +1,4 @@ +fileFormatVersion: 2 +guid: 130c6b1552f0cd743afc43f069b0c21a +DefaultImporter: + userData: diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts.meta b/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts.meta new file mode 100644 index 000000000..6da55cf2c --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts.meta @@ -0,0 +1,5 @@ +fileFormatVersion: 2 +guid: 7e19b921cd5364b4fb6a6c667d72fc7c +folderAsset: yes +DefaultImporter: + userData: diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts/CatmullRomSpline.cs b/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts/CatmullRomSpline.cs new file mode 100644 index 000000000..71cbfebd8 --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts/CatmullRomSpline.cs @@ -0,0 +1,55 @@ +using UnityEngine; + +namespace Rope +{ + public class CatmullRomSpline + { + readonly float[] values; + + public CatmullRomSpline(float[] values) + { + this.values = values; + } + + public float GetValue(float position) + { + position = Mathf.Clamp(position, 0, values.Length - 1); + + var i = (int) Mathf.Floor(position); + + if (i == 0) + { + return Interpolate(values[0], values[0], values[1], values[2], position - i); + } + + if (i >= values.Length - 2) + { + i = values.Length - 2; + return Interpolate(values[i - 1], values[i], values[i + 1], values[i + 1], position - i); + } + + return Interpolate(values[i - 1], values[i], values[i + 1], values[i + 2], position - i); + } + + static float Interpolate(float p0, float p1, float p2, float p3, float t) + { + var v0 = (p2 - p0) / 2f; + var v1 = (p3 - p1) / 2f; + var t2 = t * t; + var t3 = t2 * t; + + return (2 * p1 - 2 * p2 + v0 + v1) * t3 + (-3 * p1 + 3 * p2 - 2 * v0 - v1) * t2 + v0 * t + p1; + } + + public static void Test() + { + float[] values = {0f, 1f, 2f, 3f, 4f}; + + var interpolation = new CatmullRomSpline(values); + Debug.Log(interpolation.GetValue(-1f)); + Debug.Log(interpolation.GetValue(3.5f)); + Debug.Log(interpolation.GetValue(4f)); + Debug.Log(interpolation.GetValue(5f)); + } + } +} diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts/CatmullRomSpline.cs.meta b/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts/CatmullRomSpline.cs.meta new file mode 100644 index 000000000..8cc841a9d --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts/CatmullRomSpline.cs.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 13989b753f2503f4bbc97e78b51c0a0c +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts/MouseDraggable.cs b/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts/MouseDraggable.cs new file mode 100644 index 000000000..337f32cff --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts/MouseDraggable.cs @@ -0,0 +1,46 @@ +using UnityEngine; + +namespace Rope +{ + [RequireComponent(typeof(Rigidbody))] + public class MouseDraggable : MonoBehaviour + { + Vector3 screenPoint; + Vector3 offset; + + bool dragging; + + Rigidbody rigid; + + void Awake() + { + rigid = GetComponent(); + } + + void OnMouseDown() + { + screenPoint = Camera.main.WorldToScreenPoint(transform.position); + offset = transform.position - Camera.main.ScreenToWorldPoint( + new Vector3(Input.mousePosition.x, Input.mousePosition.y, screenPoint.z)); + + dragging = true; + } + + void OnMouseUp() + { + dragging = false; + } + + void FixedUpdate() + { + if (dragging) + { + var point = new Vector3(Input.mousePosition.x, Input.mousePosition.y, screenPoint.z); + var dest = Camera.main.ScreenToWorldPoint(point) + offset; + + rigid.AddForce((dest - rigid.position) * 50f); + rigid.velocity *= 0.8f; + } + } + } +} diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts/MouseDraggable.cs.meta b/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts/MouseDraggable.cs.meta new file mode 100644 index 000000000..26f62df74 --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts/MouseDraggable.cs.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 01c1886b5608d7e4798a840a2baff05a +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts/RopeController.cs b/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts/RopeController.cs new file mode 100644 index 000000000..64adacd2a --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts/RopeController.cs @@ -0,0 +1,111 @@ +using UnityEngine; + +namespace Rope +{ + public class RopeController : MonoBehaviour + { + [SerializeField] + GameObject fragmentPrefab; + + [SerializeField] + int fragmentCount = 80; + + [SerializeField] + Vector3 interval = new Vector3(0f, 0f, 0.25f); + + GameObject[] fragments; + + float activeFragmentCount; + + float[] xPositions; + float[] yPositions; + float[] zPositions; + + CatmullRomSpline splineX; + CatmullRomSpline splineY; + CatmullRomSpline splineZ; + + int splineFactor = 4; + + void Start() + { + activeFragmentCount = fragmentCount; + + fragments = new GameObject[fragmentCount]; + + var position = Vector3.zero; + + for (var i = 0; i < fragmentCount; i++) + { + fragments[i] = Instantiate(fragmentPrefab, position, Quaternion.identity); + fragments[i].transform.SetParent(transform); + + var joint = fragments[i].GetComponent(); + if (i > 0) + { + joint.connectedBody = fragments[i - 1].GetComponent(); + } + + position += interval; + } + + var lineRenderer = GetComponent(); + lineRenderer.positionCount = (fragmentCount - 1) * splineFactor + 1; + + xPositions = new float[fragmentCount]; + yPositions = new float[fragmentCount]; + zPositions = new float[fragmentCount]; + + splineX = new CatmullRomSpline(xPositions); + splineY = new CatmullRomSpline(yPositions); + splineZ = new CatmullRomSpline(zPositions); + } + + void Update() + { + var vy = Input.GetAxisRaw("Vertical") * 20f * Time.deltaTime; + activeFragmentCount = Mathf.Clamp(activeFragmentCount + vy, 0, fragmentCount); + + for (var i = 0; i < fragmentCount; i++) + { + if (i <= fragmentCount - activeFragmentCount) + { + fragments[i].GetComponent().position = Vector3.zero; + fragments[i].GetComponent().isKinematic = true; + } + else + { + fragments[i].GetComponent().isKinematic = false; + } + } + } + + void LateUpdate() + { + // Copy rigidbody positions to the line renderer + var lineRenderer = GetComponent(); + + // No interpolation + //for (var i = 0; i < fragmentNum; i++) + //{ + // renderer.SetPosition(i, fragments[i].transform.position); + //} + + for (var i = 0; i < fragmentCount; i++) + { + var position = fragments[i].transform.position; + xPositions[i] = position.x; + yPositions[i] = position.y; + zPositions[i] = position.z; + } + + for (var i = 0; i < (fragmentCount - 1) * splineFactor + 1; i++) + { + lineRenderer.SetPosition(i, new Vector3( + splineX.GetValue(i / (float) splineFactor), + splineY.GetValue(i / (float) splineFactor), + splineZ.GetValue(i / (float) splineFactor))); + } + } + } +} diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts/RopeController.cs.meta b/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts/RopeController.cs.meta new file mode 100644 index 000000000..61bbc65c5 --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Scripts/RopeController.cs.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 10d5073a0c3633c42a910836fe57061c +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools.meta b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools.meta new file mode 100644 index 000000000..f4966a643 --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: d82f6ab0cfd77423292b77296a15ce67 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras.meta b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras.meta new file mode 100644 index 000000000..220c7d85d --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: c67f2ea415bc34349800d8c6f9d08f87 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras/mjplugin.h b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras/mjplugin.h new file mode 100755 index 000000000..9cbee3a79 --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras/mjplugin.h @@ -0,0 +1,334 @@ +//---------------------------------// +// This file is part of MuJoCo // +// Written by Emo Todorov // +// Copyright (C) 2018 Roboti LLC // +//---------------------------------// + +#pragma once + + +// cross-platform export +#if defined(MJP_BUILD) + #ifdef _WIN32 + #define MJPAPI __declspec(dllexport) + #else + #define MJPAPI __attribute__ ((visibility("default"))) + #endif + +// cross-platform import +#else + #ifdef _WIN32 + #define MJPAPI __declspec(dllimport) + #else + #define MJPAPI + #endif + +#endif + + +// this is a C API +#ifdef __cplusplus +extern "C" +{ +#endif + + +//------------------------------ Type definitions --------------------------------------- + +typedef enum // code returned by API functions +{ + RES_OK = 0, // success + RES_MUJOCOERROR, // MuJoCo error (see mjp_getErrorText) + RES_EXCEPTION, // unknown exception + RES_NOINIT, // plugin not initialized + RES_NOMODEL, // model not present + RES_BADMODEL, // failed to load model + RES_BADINDEX, // index out of range + RES_NULLPOINTER, // null pointer + RES_SMALLBUFFER, // buffer size too small + RES_NOFILENAME, // file name null or empty + RES_REPEATNAME // repeated object name +} mjpResult; + + +typedef enum // model element type (subset of mjtObj) +{ + ELEM_CAMERA = 7, // camera + ELEM_LIGHT, // light + ELEM_MESH, // mesh + ELEM_HFIELD, // height field + ELEM_TEXTURE, // texture + ELEM_MATERIAL // material +} mjpElement; + + +typedef enum // renderable object category +{ + CAT_PERTBAND = 0, // perturbation band + CAT_PERTCUBE, // perturbation cube + CAT_GEOM, // geom + CAT_SITE, // site + CAT_TENDON // tendon +} mjpCategory; + + +struct _mjpOption // subset of physics options +{ + int gravity; // enable gravity + int equality; // enable equality constraints + int limit; // enable joint and tendon limits +}; +typedef struct _mjpOption mjpOption; + + +struct _mjpSize // number of model elements by type +{ + // copied from mjModel + int nbody; // number of bodies + int nqpos; // number of position coordinates + int nmocap; // number of mocap bodies + int nmaterial; // number of materials + int ntexture; // number of textures + int nlight; // number of lights (in addition to headlight) + int ncamera; // number of cameras (in addition to main camera) + int nkeyframe; // number of keyframes + + // computed by plugin + int nobject; // number of renderable objects +}; +typedef struct _mjpSize mjpSize; + + +struct _mjpObject // renderable object descriptor +{ + // common + int category; // object caregory (mjpCategory) + int geomtype; // geom type (mjtGeom) + int material; // material id; -1: none + int dataid; // mesh or hfield id; -1: none + float color[4]; // local color; override material if different from (.5 .5 .5 1) + + // mesh specific + int mesh_shared; // index of object containing shared mesh; -1: none + int mesh_nvertex; // number of mesh vertices + int mesh_nface; // number of mesh triangles + float* mesh_position; // vertex position data (nvertex x 3) + float* mesh_normal; // vertex normal data (nvertex x 3) + float* mesh_texcoord; // vertex texture coordinate data (nvertex x 2) + int* mesh_face; // face index data (nface x 3) + + // height field specific + int hfield_nrow; // number of rows (corresponding to x-axis) + int hfield_ncol; // number of columns (corresponding to y-axis) + float* hfield_data; // elevation data (ncol x nrow) +}; +typedef struct _mjpObject mjpObject; + + +struct _mjpMaterial // material descriptor +{ + int texture; // texture id; -1: none + int texuniform; // uniform texture cube mapping + float texrepeat[2]; // repetition number of 2d textures (x,y) + float color[4]; // main color + float emission; // emission coefficient + float specular; // specular coefficient + float shininess; // shininess coefficient + float reflectance; // reflectance coefficient +}; +typedef struct _mjpMaterial mjpMaterial; + + +struct _mjpTexture // texture descriptor +{ + int cube; // is cube texture (as opposed to 2d) + int skybox; // is cube texture used as skybox + int width; // width in pixels + int height; // height in pixels + unsigned char* rgb; // RGB24 texture data +}; +typedef struct _mjpTexture mjpTexture; + + +struct _mjpLight // light descriptor +{ + int directional; // is light directional + int castshadow; // does ligth cast shadows + float ambient[3]; // ambient rgb color + float diffuse[3]; // diffuse rgb color + float specular[3]; // specular rgb color + float attenuation[3]; // OpenGL quadratic attenuation model + float cutoff; // OpenGL cutoff angle for spot lights + float exponent; // OpenGL exponent +}; +typedef struct _mjpLight mjpLight; + + +struct _mjpCamera // camera descriptor +{ + float fov; // field of view + float znear; // near depth plane + float zfar; // far depth plane + int width; // offscreen width + int height; // offscreen height +}; +typedef struct _mjpCamera mjpCamera; + + +struct _mjpPerturb // perturbation state (subset of mjvPerturb) +{ + int select; // selected body id; non-positive: none + int active; // bitmask: 1: translation, 2- rotation + float refpos[3]; // desired position for selected object + float refquat[4]; // desired orientation for selected object +}; +typedef struct _mjpPerturb mjpPerturb; + + +struct _mjpTransform // spatial transform +{ + float position[3]; // position + float xaxis[3]; // x-axis (right in MuJoCo) + float yaxis[3]; // y-axis (forward in MuJoCo) + float zaxis[3]; // z-axis (up in MuJoCo) + float scale[3]; // scaling +}; +typedef struct _mjpTransform mjpTransform; + + +//------------------------------ Initializaion and Simulation --------------------------- + +// initialize plugin +MJPAPI int mjp_initialize(void); + +// close plugin +MJPAPI int mjp_close(void); + +// load model from file in XML (MJCF or URDF) or MJB format +MJPAPI int mjp_loadModel(const char* modelfile); + +// save compiled model as MJB file +MJPAPI int mjp_saveMJB(const char* modelfile); + +// reset simulation +MJPAPI int mjp_reset(void); + +// reset simulation to specified keyframe +MJPAPI int mjp_resetKeyframe(int index); + +// compute forward kinematics (sufficient for rendering) +MJPAPI int mjp_kinematics(void); + +// advance simulation until time marker is reached or internal reset +MJPAPI int mjp_simulate(float marker, int paused, int* reset); + + +//------------------------------ Get and Set -------------------------------------------- + +// (const) get model sizes +MJPAPI int mjp_getSize(mjpSize* size); + +// (const) get name of specified renderable object +MJPAPI int mjp_getObjectName(int index, char* buffer, int buffersize); + +// (const) get name of specified model element; type is mjpElement +MJPAPI int mjp_getElementName(int type, int index, char* buffer, int buffersize); + +// (const) get index of body with specified name; -1: not found +MJPAPI int mjp_getBodyIndex(const char* name, int* index); + +// (const) get descriptor of specified renderable object +MJPAPI int mjp_getObject(int index, mjpObject* object); + +// (const) get descriptor of specified material +MJPAPI int mjp_getMaterial(int index, mjpMaterial* material); + +// (const) get descriptor of specified texture +MJPAPI int mjp_getTexture(int index, mjpTexture* texture); + +// (const) get descriptor of specified light; -1: head light +MJPAPI int mjp_getLight(int index, mjpLight* light); + +// (const) get descriptor of specified camera; -1: main camera +MJPAPI int mjp_getCamera(int index, mjpCamera* camera); + +// get state of specified renderable object +MJPAPI int mjp_getObjectState(int index, mjpTransform* transform, int* visible, int* highlight); + +// get state of specified light; -1: head light (use camera index) +MJPAPI int mjp_getLightState(int index, int cameraindex, float* position, float* direction); + +// get state of specified camera; -1: main camera +MJPAPI int mjp_getCameraState(int index, mjpTransform* transform); + +// get state of specified body relative to parent body +MJPAPI int mjp_getBodyRelativeState(int index, mjpTransform* transform); + +// get text description of last error +MJPAPI int mjp_getErrorText(char* buffer, int buffersize); + +// get text description of last warning +MJPAPI int mjp_getWarningText(char* buffer, int buffersize); + +// get number of warnings since last load or reset +MJPAPI int mjp_getWarningNumber(int* number); + +// set system position vector; size(qpos) = nqpos +MJPAPI int mjp_setQpos(const float* qpos); + +// set all mocap body poses; size(pos) = 3*nmocap, size(quat) = 4*nmocap +MJPAPI int mjp_setMocap(const float* pos, const float* quat); + +// get simulation time +MJPAPI int mjp_getTime(float* time); + +// set simulation time +MJPAPI int mjp_setTime(float time); + +// get options +MJPAPI int mjp_getOption(mjpOption* option); + +// set options +MJPAPI int mjp_setOption(const mjpOption* option); + +// get perturbation state +MJPAPI int mjp_getPerturb(mjpPerturb* perturb); + +// set perturbation state +MJPAPI int mjp_setPerturb(const mjpPerturb* perturb); + + +//------------------------------ Camera and Perturbation -------------------------------- +// 2D data in relative screen coordinates between 0 and 1 + +// set main camera lookat point; aspect = width/height +MJPAPI int mjp_cameraLookAt(float x, float y, float aspect); + +// zoom main camera +MJPAPI int mjp_cameraZoom(float zoom); + +// move main camera lookat point +MJPAPI int mjp_cameraMove(float dx, float dy, int modified); + +// rotate main camera around lookat point +MJPAPI int mjp_cameraRotate(float dx, float dy); + +// set active bitmask only (use setPerturb for full access) +MJPAPI int mjp_perturbActive(int state); + +// set perturb object pose equal to selected body pose +MJPAPI int mjp_perturbSynchronize(void); + +// select body for perturbation +MJPAPI int mjp_perturbSelect(float x, float y, float aspect); + +// move perturbation object +MJPAPI int mjp_perturbMove(float dx, float dy, int modified); + +// rotate perturbation object +MJPAPI int mjp_perturbRotate(float dx, float dy, int modified); + + +#ifdef __cplusplus +} +#endif diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras/mjplugin.h.meta b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras/mjplugin.h.meta new file mode 100644 index 000000000..08ece54ad --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras/mjplugin.h.meta @@ -0,0 +1,27 @@ +fileFormatVersion: 2 +guid: b7cccf526d298b8708e573c7ca03b14c +PluginImporter: + externalObjects: {} + serializedVersion: 2 + iconMap: {} + executionOrder: {} + defineConstraints: [] + isPreloaded: 0 + isOverridable: 0 + isExplicitlyReferenced: 0 + validateReferences: 1 + platformData: + - first: + Any: + second: + enabled: 1 + settings: {} + - first: + Editor: Editor + second: + enabled: 0 + settings: + DefaultValueInitialized: true + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras/mjremote.py b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras/mjremote.py new file mode 100755 index 000000000..44b223bf0 --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras/mjremote.py @@ -0,0 +1,100 @@ +import socket +import struct + + +class mjremote: + + nqpos = 0 + nmocap = 0 + ncamera = 0 + width = 0 + height = 0 + _s = None + + + def _recvall(self, buffer): + view = memoryview(buffer) + while len(view): + nrecv = self._s.recv_into(view) + view = view[nrecv:] + + + # result = (nqpos, nmocap, ncamra, width, height) + def connect(self, address = '127.0.0.1', port = 1050): + self._s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + self._s.connect((address, port)) + data = bytearray(20) + self._recvall(data) + result = struct.unpack('iiiii', data) + self.nqpos, self.nmocap, self.ncamera, self.width, self.height = result + return result + + + def close(self): + if self._s: + self._s.close() + self._s = None + + + # result = (key, active, select, refpos[3], refquat[4]) + def getinput(self): + if not self._s: + return 'Not connected' + self._s.sendall(struct.pack("i", 1)) + data = bytearray(40) + self._recvall(data) + result = struct.unpack('iiifffffff', data) + return result + + + # buffer = bytearray(3*width*height) + def getimage(self, buffer): + if not self._s: + return 'Not connected' + self._s.sendall(struct.pack("i", 2)) + self._recvall(buffer) + + + def savesnapshot(self): + if not self._s: + return 'Not connected' + self._s.send(struct.pack("i", 3)) + + + def savevideoframe(self): + if not self._s: + return 'Not connected' + self._s.send(struct.pack("i", 4)) + + + def setcamera(self, index): + if not self._s: + return 'Not connected' + self._s.sendall(struct.pack("i", 5)) + self._s.sendall(struct.pack("i", index)) + + + # qpos = numpy.ndarray(nqpos) + def setqpos(self, qpos): + if not self._s: + return 'Not connected' + if len(qpos)!=self.nqpos: + return 'qpos has wrong size' + fqpos = qpos.astype('float32') + self._s.sendall(struct.pack("i", 6)) + self._s.sendall(fqpos.tobytes()) + + + # pos = numpy.ndarray(3*nmocap), quat = numpy.ndarray(4*nmocap) + def setmocap(self, pos, quat): + if not self._s: + return 'Not connected' + if len(pos)!=3*self.nmocap: + return 'pos has wrong size' + if len(quat)!=4*self.nmocap: + return 'quat has wrong size' + fpos = pos.astype('float32') + fquat = quat.astype('float32') + self._s.sendall(struct.pack("i", 7)) + self._s.sendall(fpos.tobytes()) + self._s.sendall(fquat.tobytes()) diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras/mjremote.py.meta b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras/mjremote.py.meta new file mode 100644 index 000000000..a6ada593b --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras/mjremote.py.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 043a7470c5fa5dbb8b326dd7e72e5506 +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras/testremote.py b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras/testremote.py new file mode 100755 index 000000000..bfbeb855c --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras/testremote.py @@ -0,0 +1,12 @@ +from mjremote import mjremote +import time + +m = mjremote() +print('Connect: ', m.connect()) +b = bytearray(3*m.width*m.height) +t0 = time.time() +for i in range(0,100): + m.getimage(b) +t1 = time.time() +print('FPS: ', 100/(t1-t0)) +m.close() diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras/testremote.py.meta b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras/testremote.py.meta new file mode 100644 index 000000000..e1eab8805 --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Extras/testremote.py.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 790123a52cbfb8c488ed88085fa910f4 +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Models.meta b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Models.meta new file mode 100644 index 000000000..3016cd530 --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Models.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: a2d8d758ca32b369db3d1805aad34131 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Models/mesh.meta b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Models/mesh.meta new file mode 100644 index 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textureCompression: 1 + compressionQuality: 50 + crunchedCompression: 0 + allowsAlphaSplitting: 0 + overridden: 0 + androidETC2FallbackOverride: 0 + forceMaximumCompressionQuality_BC6H_BC7: 0 + spriteSheet: + serializedVersion: 2 + sprites: [] + outline: [] + physicsShape: [] + bones: [] + spriteID: + internalID: 0 + vertices: [] + indices: + edges: [] + weights: [] + secondaryTextures: [] + spritePackingTag: + pSDRemoveMatte: 0 + pSDShowRemoveMatteOption: 0 + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Plugins.meta b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Plugins.meta new file mode 100644 index 000000000..0b5d6408e --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Plugins.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: b6d35621d49519500888fda8c9eab1bd +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Plugins/libmjplugin155.so.meta b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Plugins/libmjplugin155.so.meta new file mode 100644 index 000000000..f447e2dc3 --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Plugins/libmjplugin155.so.meta @@ -0,0 +1,27 @@ +fileFormatVersion: 2 +guid: 1fe5ea0e8982a7f6fb637991f941eff1 +PluginImporter: + externalObjects: {} + serializedVersion: 2 + iconMap: {} + executionOrder: {} + defineConstraints: [] + isPreloaded: 0 + isOverridable: 0 + isExplicitlyReferenced: 0 + validateReferences: 1 + platformData: + - first: + Any: + second: + enabled: 1 + settings: {} + - first: + Editor: Editor + second: + enabled: 0 + settings: + DefaultValueInitialized: true + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Plugins/mjplugin155.bundle b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Plugins/mjplugin155.bundle new file mode 100755 index 000000000..cfe9cd9ec Binary files /dev/null and b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Plugins/mjplugin155.bundle differ diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Plugins/mjplugin155.bundle.meta b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Plugins/mjplugin155.bundle.meta new file mode 100644 index 000000000..ef97f6381 --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Plugins/mjplugin155.bundle.meta @@ -0,0 +1,32 @@ +fileFormatVersion: 2 +guid: 748953d819f55b33693b1339347148c7 +PluginImporter: + externalObjects: {} + serializedVersion: 2 + iconMap: {} + executionOrder: {} + defineConstraints: [] + isPreloaded: 0 + isOverridable: 0 + isExplicitlyReferenced: 0 + validateReferences: 1 + platformData: + - first: + Any: + second: + enabled: 0 + settings: {} + - first: + Editor: Editor + second: + enabled: 1 + settings: + DefaultValueInitialized: true + - first: + Standalone: OSXUniversal + second: + enabled: 1 + settings: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Plugins/mjplugin155.dll b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Plugins/mjplugin155.dll new file mode 100755 index 000000000..78652aa7e Binary files /dev/null and b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Plugins/mjplugin155.dll differ diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Plugins/mjplugin155.dll.meta b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Plugins/mjplugin155.dll.meta new file mode 100644 index 000000000..2f8b3a7dd --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Plugins/mjplugin155.dll.meta @@ -0,0 +1,27 @@ +fileFormatVersion: 2 +guid: 43f425d58dad284cd9a673ad71045568 +PluginImporter: + externalObjects: {} + serializedVersion: 2 + iconMap: {} + executionOrder: {} + defineConstraints: [] + isPreloaded: 0 + isOverridable: 0 + isExplicitlyReferenced: 0 + validateReferences: 1 + platformData: + - first: + Any: + second: + enabled: 1 + settings: {} + - first: + Editor: Editor + second: + enabled: 0 + settings: + DefaultValueInitialized: true + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts.meta b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts.meta new file mode 100644 index 000000000..b6e8404d5 --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 60491b942f3d73b9b85213af2a79846d +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJImport.cs b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJImport.cs new file mode 100755 index 000000000..ebf9ace55 --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJImport.cs @@ -0,0 +1,755 @@ +//---------------------------------// +// This file is part of MuJoCo // +// Written by Emo Todorov // +// Copyright (C) 2018 Roboti LLC // +//---------------------------------// + +#if UNITY_EDITOR + +using System.Collections; +using System.Collections.Generic; +using System.Runtime.InteropServices; +using System.Text; +using UnityEngine; +using UnityEditor; + + +public class MJImport : EditorWindow +{ + + // script options + public string modelFile = ""; + public string fileName = ""; + public bool recomputeUV = false; + public bool recomputeNormal = false; + public bool importTexture = true; + public bool enableRemote = false; + public string tcpAddress = "127.0.0.1"; + public int tcpPort = 1050; + public bool noVSync = false; + + // Unity element arrays + Texture2D[] textures; + Material[] materials; + GameObject[] objects; + GameObject root = null; + + + // create menu item + [MenuItem("Window/MuJoCo Import")] + public static void ShowWindow() + { + // show existing window instance, or make one + EditorWindow.GetWindow(typeof(MJImport), false, "MuJoCo Import"); + } + + + // present GUI, get options, run importer + void OnGUI() + { + // get file name + EditorGUILayout.Space(); + GUILayout.BeginHorizontal(); + if( GUILayout.Button("Browse ...") ) + { + // get directory of current model, otherwise use Assets + string dir = "Assets"; + int lastsep = modelFile.LastIndexOf('/'); + if( lastsep>=0 ) + dir = modelFile.Substring(0, lastsep); + + // file open dialog + string temp = EditorUtility.OpenFilePanel("Select file", dir, "xml,urdf,mjb"); + if( temp.Length!=0 ) + { + modelFile = temp; + this.Repaint(); + } + } + + modelFile = EditorGUILayout.TextField(modelFile); + GUILayout.EndHorizontal(); + + // options + EditorGUILayout.Space(); + recomputeNormal = EditorGUILayout.Toggle("Recompute Normals", recomputeNormal); + recomputeUV = EditorGUILayout.Toggle("Recompute UVs", recomputeUV); + importTexture = EditorGUILayout.Toggle("Import Textures", importTexture); + enableRemote = EditorGUILayout.Toggle("Enable Remote", enableRemote); + using( new EditorGUI.DisabledScope(enableRemote==false) ) + { + tcpAddress = EditorGUILayout.TextField("TCP Address", tcpAddress); + tcpPort = EditorGUILayout.IntField("TCP Port", tcpPort); + noVSync = EditorGUILayout.Toggle("Disable V-Sync", noVSync); + } + + // run importer or clear + EditorGUILayout.Space(); + GUILayout.BeginHorizontal(); + if( GUILayout.Button("Import Model", GUILayout.Height(25)) ) + RunImport(); + + if( GUILayout.Button("Clear Model", GUILayout.Height(25)) ) + { + // delete MuJoCo hierarchy + GameObject top = GameObject.Find("MuJoCo"); + if( top ) + DestroyImmediate(top); + } + + GUILayout.EndHorizontal(); + } + + + // convert transform from plugin to GameObject + static unsafe void SetTransform(GameObject obj, MJP.TTransform transform) + { + Quaternion q = new Quaternion(0, 0, 0, 1); + q.SetLookRotation( + new Vector3(transform.yaxis[0], -transform.yaxis[2], transform.yaxis[1]), + new Vector3(-transform.zaxis[0], transform.zaxis[2], -transform.zaxis[1]) + ); + + obj.transform.localPosition = new Vector3(-transform.position[0], transform.position[2], -transform.position[1]); + obj.transform.localRotation = q; + obj.transform.localScale = new Vector3(transform.scale[0], transform.scale[2], transform.scale[1]); + } + + + // convert transform from plugin to Camera + static unsafe void SetCamera(Camera cam, MJP.TTransform transform) + { + Quaternion q = new Quaternion(0, 0, 0, 1); + q.SetLookRotation( + new Vector3(transform.zaxis[0], -transform.zaxis[2], transform.zaxis[1]), + new Vector3(-transform.yaxis[0], transform.yaxis[2], -transform.yaxis[1]) + ); + + cam.transform.localPosition = new Vector3(-transform.position[0], transform.position[2], -transform.position[1]); + cam.transform.localRotation = q; + } + + + // make scene-speficic directories for materials and textures + private void MakeDirectory(string parent, string directory) + { + // check subdirectories of parent + string[] subdir = AssetDatabase.GetSubFolders(parent); + bool found = false; + string fullpath = parent + "/" + directory; + foreach( string str in subdir ) + if( str==fullpath ) + { + found = true; + break; + } + + // create if not found + if( !found ) + AssetDatabase.CreateFolder(parent, directory); + } + + + // adjust material given object color + private void AdjustMaterial(Material m, float r, float g, float b, float a) + { + // set main color, + m.SetColor("_Color", new Color(r, g, b, a)); + + // prepare for emission (used for highlights at runtime) + m.EnableKeyword("_EMISSION"); + m.SetColor("_EmissionColor", new Color(0, 0, 0, 1)); + + // set transparent mode (magic needed to convince Unity to do it) + if( a<1 ) + { + m.SetFloat("_Mode", 2); + m.SetInt("_SrcBlend", (int)UnityEngine.Rendering.BlendMode.SrcAlpha); + m.SetInt("_DstBlend", (int)UnityEngine.Rendering.BlendMode.OneMinusSrcAlpha); + m.SetInt("_ZWrite", 0); + m.DisableKeyword("_ALPHATEST_ON"); + m.EnableKeyword("_ALPHABLEND_ON"); + m.DisableKeyword("_ALPHAPREMULTIPLY_ON"); + m.renderQueue = 3000; + } + } + + + // add camera + private unsafe void AddCamera() + { + // add camera under root + GameObject camobj = new GameObject("camera"); + camobj.transform.parent = root.transform; + Camera thecamera = camobj.AddComponent(); + + // set field of view, near, far + MJP.TCamera cam; + MJP.GetCamera(-1, &cam); + thecamera.fieldOfView = cam.fov; + thecamera.nearClipPlane = cam.znear; + thecamera.farClipPlane = cam.zfar; + + // set transform + MJP.TTransform transform; + MJP.GetCameraState(-1, &transform); + SetCamera(thecamera, transform); + } + + + // import textures + private unsafe void ImportTextures(int ntexture) + { + // allocate array, find existing + textures = new Texture2D[ntexture]; + Object[] alltextures = Resources.FindObjectsOfTypeAll(typeof(Texture2D)); + + // process textures + for( int i=0; i0 ) + tex.height = tex.width; + + // find existing texture + foreach( Object texx in alltextures ) + if( texx.name==texname ) + { + textures[i] = (Texture2D)texx; + + // resize if different + if( textures[i].width!=tex.width || textures[i].height!=tex.height ) + textures[i].Resize(tex.width, tex.height); + + break; + } + + // not found: create new texture + if( textures[i]==null ) + textures[i] = new Texture2D(tex.width, tex.height); + + // copy array + Color32[] color = new Color32[tex.width*tex.height]; + for( int k=0; k=0 && importTexture ) + { + materials[i].mainTexture = textures[mat.texture]; + materials[i].mainTextureScale = new Vector2(mat.texrepeat[0], mat.texrepeat[1]); + } + + // create asset in database if not aleady there + if( !AssetDatabase.Contains(materials[i]) ) + AssetDatabase.CreateAsset(materials[i], "Assets/Materials/" + matname + ".mat"); + } + + AssetDatabase.Refresh(); + } + + + // import renderable objects + private unsafe void ImportObjects(int nobject) + { + // make primitives + PrimitiveType[] ptypes = { + PrimitiveType.Plane, + PrimitiveType.Sphere, + PrimitiveType.Cylinder, + PrimitiveType.Cube + }; + GameObject[] primitives = new GameObject[4]; + for( int i=0; i<4; i++) + primitives[i] = GameObject.CreatePrimitive(ptypes[i]); + + // allocate array + objects = new GameObject[nobject]; + + // process objects + for( int i=0; i(); + objects[i].AddComponent(); + objects[i].transform.parent = root.transform; + + // get components + MeshFilter filt = objects[i].GetComponent(); + MeshRenderer rend = objects[i].GetComponent(); + + // get MuJoCo object descriptor + MJP.TObject obj; + MJP.GetObject(i, &obj); + + // set mesh + switch( (MJP.TGeom)obj.geomtype ) + { + case MJP.TGeom.PLANE: + filt.sharedMesh = primitives[0].GetComponent().sharedMesh; + break; + + case MJP.TGeom.SPHERE: + filt.sharedMesh = primitives[1].GetComponent().sharedMesh; + break; + + case MJP.TGeom.CYLINDER: + filt.sharedMesh = primitives[2].GetComponent().sharedMesh; + break; + + case MJP.TGeom.BOX: + filt.sharedMesh = primitives[3].GetComponent().sharedMesh; + break; + + case MJP.TGeom.HFIELD: + int nrow = obj.hfield_nrow; + int ncol = obj.hfield_ncol; + int r, c; + + // allocate + Vector3[] hfvertices = new Vector3[nrow*ncol + 4*nrow+4*ncol]; + Vector2[] hfuv = new Vector2[nrow*ncol + 4*nrow+4*ncol]; + int[] hffaces0 = new int[3*2*(nrow-1)*(ncol-1)]; + int[] hffaces1 = new int[3*(4*(nrow-1)+4*(ncol-1))]; + + // vertices and uv: surface + for( r=0; r0?ncol:0)+c); + float wc = c / (float)(ncol-1); + float wr = r / (float)(nrow-1); + + hfvertices[k].Set(-(wc-0.5f), -0.5f, -(wr-0.5f)); + hfuv[k].Set(wc, 0); + hfvertices[k+1].Set(-(wc-0.5f), obj.hfield_data[r*ncol+c], -(wr-0.5f)); + hfuv[k+1].Set(wc, 1); + } + + // vertices and uv: left and right + for( c=0; c0?nrow:0)+r); + float wc = c / (float)(ncol-1); + float wr = r / (float)(nrow-1); + + hfvertices[k].Set(-(wc-0.5f), -0.5f, -(wr-0.5f)); + hfuv[k].Set(wr, 0); + hfvertices[k+1].Set(-(wc-0.5f), obj.hfield_data[r*ncol+c], -(wr-0.5f)); + hfuv[k+1].Set(wr, 1); + } + + + // faces: surface + for( r=0; r0?(ncol-1):0)+c); + int k = nrow*ncol + 2*((r>0?ncol:0)+c); + + // first face in rectangle + hffaces1[3*2*f] = k; + hffaces1[3*2*f+2] = k + (r>0 ? 1 : 3); + hffaces1[3*2*f+1] = k + (r>0 ? 3 : 1); + + // second face in rectangle + hffaces1[3*2*f+3] = k; + hffaces1[3*2*f+5] = k + (r>0 ? 3 : 2); + hffaces1[3*2*f+4] = k + (r>0 ? 2 : 3); + } + + // faces: left and right + for( c=0; c<2; c++ ) + for( r=0; r0?(nrow-1):0)+r); + int k = nrow*ncol + 4*ncol + 2*((c>0?nrow:0)+r); + + // first face in rectangle + hffaces1[3*2*f] = k; + hffaces1[3*2*f+2] = k + (c>0 ? 3 : 1); + hffaces1[3*2*f+1] = k + (c>0 ? 1 : 3); + + // second face in rectangle + hffaces1[3*2*f+3] = k; + hffaces1[3*2*f+5] = k + (c>0 ? 2 : 3); + hffaces1[3*2*f+4] = k + (c>0 ? 3 : 2); + } + + Debug.Log(ncol); + Debug.Log(nrow); + Debug.Log(Mathf.Min(hffaces1)); + Debug.Log(Mathf.Max(hffaces1)); + + // create mesh with automatic normals and tangents + filt.sharedMesh = new Mesh(); + filt.sharedMesh.vertices = hfvertices; + filt.sharedMesh.uv = hfuv; + filt.sharedMesh.subMeshCount = 2; + filt.sharedMesh.SetTriangles(hffaces0, 0); + filt.sharedMesh.SetTriangles(hffaces1, 1); + filt.sharedMesh.RecalculateNormals(); + filt.sharedMesh.RecalculateTangents(); + + // set name + StringBuilder hname = new StringBuilder(100); + MJP.GetElementName(MJP.TElement.HFIELD, obj.dataid, hname, 100); + filt.sharedMesh.name = hname.ToString(); + break; + + case MJP.TGeom.CAPSULE: + case MJP.TGeom.MESH: + // reuse shared mesh from earlier object + if( obj.mesh_shared>=0 ) + filt.sharedMesh = objects[obj.mesh_shared].GetComponent().sharedMesh; + + // create new mesh + else + { + // copy vertices, normals, uv + Vector3[] vertices = new Vector3[obj.mesh_nvertex]; + Vector3[] normals = new Vector3[obj.mesh_nvertex]; + Vector2[] uv = new Vector2[obj.mesh_nvertex]; + for( int k=0; k65535 || nvert>65535 ) + Debug.LogError("MESH TOO BIG: " + filt.sharedMesh.name + + ", vertices " + nvert + ", faces " + obj.mesh_nface); + } + break; + } + + // existing material + if( obj.material>=0 ) + { + // not modified + if( obj.color[0]==0.5f && obj.color[1]==0.5f && obj.color[2]==0.5f && obj.color[3]==1 ) + rend.sharedMaterial = materials[obj.material]; + + // color override + else + { + rend.sharedMaterial = new Material(materials[obj.material]); + AdjustMaterial(rend.sharedMaterial, obj.color[0], obj.color[1], obj.color[2], obj.color[3]); + } + } + + // new material + else + { + rend.sharedMaterial = new Material(Shader.Find("Standard")); + AdjustMaterial(rend.sharedMaterial, obj.color[0], obj.color[1], obj.color[2], obj.color[3]); + } + + // get MuJoCo object transform and set in Unity + MJP.TTransform transform; + int visible; + int selected; + MJP.GetObjectState(i, &transform, &visible, &selected); + SetTransform(objects[i], transform); + } + + // delete primitives + for( int i=0; i<4; i++ ) + DestroyImmediate(primitives[i]); + + AssetDatabase.Refresh(); + } + + + // run importer + private unsafe void RunImport() + { + // adjust global settings + Time.fixedDeltaTime = 0.005f; + PlayerSettings.runInBackground = true; + if( enableRemote ) + { + QualitySettings.vSyncCount = (noVSync ? 0 : 1); + } + else + QualitySettings.vSyncCount = 1; + + // disable active cameras + Camera[] activecam = FindObjectsOfType(); + foreach( Camera ac in activecam ) + ac.gameObject.SetActive(false); + + // get filename only (not path or extension) + int i1 = modelFile.LastIndexOf('/'); + int i2 = modelFile.LastIndexOf('.'); + if( i1>=0 && i2>i1 ) + fileName = modelFile.Substring(i1+1, i2-i1-1); + else + throw new System.Exception("Unexpected model file format"); + + // initialize plugin and load model + MJP.Initialize(); + MJP.LoadModel(modelFile); + + // get model sizes + MJP.TSize size; + MJP.GetSize(&size); + + // save binary model + MakeDirectory("Assets", "StreamingAssets"); + MJP.SaveMJB("Assets/StreamingAssets/" + fileName + ".mjb"); + + // import textures + if( size.ntexture>0 && importTexture ) + { + MakeDirectory("Assets", "Textures"); + ImportTextures(size.ntexture); + } + + // import materials + if( size.nmaterial>0 ) + { + MakeDirectory("Assets", "Materials"); + ImportMaterials(size.nmaterial); + } + + // create root, destroy old if present + root = GameObject.Find("MuJoCo"); + if( root!=null ) + DestroyImmediate(root); + root = new GameObject("MuJoCo"); + if( root==null ) + throw new System.Exception("Could not create root MuJoCo object"); + + // add camera to root + AddCamera(); + + // import renderable objects under root + ImportObjects(size.nobject); + + // attach script to root + if( enableRemote ) + { + // add remote + MJRemote rem = root.GetComponent(); + if( rem==null ) + rem = root.AddComponent(); + rem.modelFile = fileName + ".mjb"; + rem.tcpAddress = tcpAddress; + rem.tcpPort = tcpPort; + + // destroy simulate if present + if( root.GetComponent() ) + DestroyImmediate(root.GetComponent()); + } + else + { + // add simulate + MJSimulate sim = root.GetComponent(); + if( sim==null ) + sim = root.AddComponent(); + sim.modelFile = fileName + ".mjb"; + + // destroy remote if present + if( root.GetComponent() ) + DestroyImmediate(root.GetComponent()); + } + + // close plugin + MJP.Close(); + } +} + +#endif \ No newline at end of file diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJImport.cs.meta b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJImport.cs.meta new file mode 100644 index 000000000..c35b9cdb7 --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJImport.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 9c83c931b01d1163fb3bb754539cc17d +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJP.cs b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJP.cs new file mode 100755 index 000000000..ab9c79fd3 --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJP.cs @@ -0,0 +1,374 @@ +//---------------------------------// +// This file is part of MuJoCo // +// Written by Emo Todorov // +// Copyright (C) 2018 Roboti LLC // +//---------------------------------// + +using System.Runtime.InteropServices; +using System.Text; + + +public static class MJP +{ + + // check for plugin error + static void check(int code) + { + if( code!=0 ) + { + // get error description from plugin + StringBuilder err = new StringBuilder(1000); + mjp_getErrorText(err, 1000); + + // throw exception with error message + throw new System.Exception("MuJoCo Plugin Error " + code + " : " + err.ToString()); + } + } + + + //------------------------------ Plugin type definitions --------------------------------------- + + enum TResult : int // code returned by API functions + { + OK = 0, // success + MUJOCOERROR, // MuJoCo error (see mjp_getErrorText) + EXCEPTION, // unknown exception + NOINIT, // plugin not initialized + NOMODEL, // model not present + BADMODEL, // failed to load model + BADINDEX, // index out of range + NULLPOINTER, // null pointer + SMALLBUFFER, // buffer size too small + NOFILENAME // file name null or empty + }; + + + public enum TElement : int // element type (subset of mjtObj) + { + CAMERA = 7, // camera + LIGHT, // light + MESH, // mesh + HFIELD, // height field + TEXTURE, // texture + MATERIAL // material + }; + + + public enum TCategory // renderable object category + { + PERTBAND = 0, // perturbation band + PERTCUBE, // perturbation cube + GEOM, // geom + SITE, // site + TENDON // tendon + }; + + + public enum TGeom : int // type of geometric shape (same as mjtGeom) + { + PLANE = 0, // plane + HFIELD, // height field + SPHERE, // sphere + CAPSULE, // capsule + ELLIPSOID, // ellipsoid + CYLINDER, // cylinder + BOX, // box + MESH // mesh + }; + + + public struct TOption // subset of physics options + { + public int gravity; // enable gravity + public int equality; // enable equality constraints + public int limit; // enable joint and tendon limits + }; + + + public struct TSize // number of model elements by type + { + // copied from mjModel + public int nbody; // number of bodies + public int nqpos; // number of position coordinates + public int nmocap; // number of mocap bodies + public int nmaterial; // number of materials + public int ntexture; // number of textures + public int nlight; // number of lights (in addition to headlight) + public int ncamera; // number of cameras (in addition to main camera) + public int nkeyframe; // number of keyframes + + // computed by plugin + public int nobject; // number of renderable objects + }; + + + public unsafe struct TObject // renderable object descriptor + { + // common + public int category; // geom type (TCategory) + public int geomtype; // geom type (TGeom) + public int material; // material id; -1: none + public int dataid; // mesh or hfield id; -1: none + public fixed float color[4]; // override material color if different from (.5 .5 .5 1) + + // mesh specific + public int mesh_shared; // index of object containing shared mesh; -1: none + public int mesh_nvertex; // number of mesh vertices + public int mesh_nface; // number of mesh triangles + public float* mesh_position; // vertex position data (nvertex x 3) + public float* mesh_normal; // vertex normal data (nvertex x 3) + public float* mesh_texcoord; // vertex texture coordinate data (nvertex x 2) + public int* mesh_face; // face index data (nface x 3) + + // height field specific + public int hfield_nrow; // number of rows (corresponding to x-axis) + public int hfield_ncol; // number of columns (corresponding to y-axis) + public float* hfield_data; // elevation data (ncol x nrow) + }; + + + public unsafe struct TMaterial // material descriptor + { + public int texture; // texture id; -1: none + public int texuniform; // uniform texture cube mapping + public fixed float texrepeat[2]; // repetition number of 2d textures (x,y) + public fixed float color[4]; // main color + public float emission; // emission coefficient + public float specular; // specular coefficient + public float shininess; // shininess coefficient + public float reflectance; // reflectance coefficient + + }; + + + public unsafe struct TTexture // texture descriptor + { + public int cube; // is cube texture (as opposed to 2d) + public int skybox; // is cube texture used as skybox + public int width; // width in pixels + public int height; // height in pixels + public byte* rgb; // RGB24 texture data + }; + + + public unsafe struct TLight // light descriptor + { + public int directional; // is light directional + public int castshadow; // does ligth cast shadows + public fixed float ambient[3]; // ambient rgb color + public fixed float diffuse[3]; // diffuse rgb color + public fixed float specular[3]; // specular rgb color + public fixed float attenuation[3]; // OpenGL quadratic attenuation model + public float cutoff; // OpenGL cutoff angle for spot lights + public float exponent; // OpenGL exponent + }; + + + public struct TCamera // camera descriptor + { + public float fov; // field of view + public float znear; // near depth plane + public float zfar; // far depth plane + public int width; // offscreen width + public int height; // offscreen height + }; + + + public unsafe struct TPerturb // perturbation state + { + public int select; // selected body id; non-positive: none + public int active; // bitmask: 1: translation, 2: rotation + public fixed float refpos[3]; // desired position for selected object + public fixed float refquat[4]; // desired orientation for selected object + }; + + + public unsafe struct TTransform // spatial transform + { + public fixed float position[3]; // position + public fixed float xaxis[3]; // x-axis (right in MuJoCo) + public fixed float yaxis[3]; // y-axis (forward in MuJoCo) + public fixed float zaxis[3]; // z-axis (up in MuJoCo) + public fixed float scale[3]; // scaling + }; + + + //------------------------------ Initializaion and Simulation --------------------------- + + const string plugin = "mjplugin155"; + + // initialize plugin + [DllImport(plugin)] static extern int mjp_initialize(); + public static void Initialize() {check(mjp_initialize());} + + // close plugin + [DllImport(plugin)] static extern int mjp_close(); + public static void Close() {check(mjp_close());} + + // load model from file in XML (MJCF or URDF) or MJB format + [DllImport(plugin)] static extern int mjp_loadModel(string modelfile); + public static void LoadModel(string modelfile) {check(mjp_loadModel(modelfile));} + + // save model as MJB file + [DllImport(plugin)] static extern int mjp_saveMJB(string modelfile); + public static void SaveMJB(string modelfile) {check(mjp_saveMJB(modelfile));} + + // reset simulation + [DllImport(plugin)] static extern int mjp_reset(); + public static void Reset() {check(mjp_reset());} + + // reset simulation to specified keyframe + [DllImport(plugin)] static extern int mjp_resetKeyframe(int index); + public static void ResetKeyframe(int index) {check(mjp_resetKeyframe(index));} + + // compute forward kinematics (sufficient for rendering) + [DllImport(plugin)] static extern int mjp_kinematics(); + public static void Kinematics() {check(mjp_kinematics());} + + // advance simulation until time marker is reached or internal reset + [DllImport(plugin)] static extern unsafe int mjp_simulate(float marker, int paused, int* reset); + public static unsafe void Simulate(float marker, int paused, int* reset) + {check(mjp_simulate(marker, paused, reset));} + + + //------------------------------ Get and Set -------------------------------------------- + + // (const) get model sizes + [DllImport(plugin)] static extern unsafe int mjp_getSize(TSize* size); + public static unsafe void GetSize(TSize* size) {check(mjp_getSize(size));} + + // (const) get name of renderable object + [DllImport(plugin)] static extern int mjp_getObjectName(int index, StringBuilder buffer, int buffersize); + public static void GetObjectName(int index, StringBuilder buffer, int buffersize) + {check(mjp_getObjectName(index, buffer, buffersize));} + + // (const) get name of mode element with specified type and index + [DllImport(plugin)] static extern int mjp_getElementName(TElement type, int index, StringBuilder buffer, int buffersize); + public static void GetElementName(TElement type, int index, StringBuilder buffer, int buffersize) + {check(mjp_getElementName(type, index, buffer, buffersize));} + + // (const) get index of body with specified name; -1: not found + [DllImport(plugin)] static extern unsafe int mjp_getBodyIndex(string name, int* index); + public static unsafe void GetBodyIndex(string name, int* index) {check(mjp_getBodyIndex(name, index));} + + // (const) get descriptor of specified renderable object + [DllImport(plugin)] static extern unsafe int mjp_getObject(int index, TObject* obj); + public static unsafe void GetObject(int index, TObject* obj) {check(mjp_getObject(index, obj));} + + // (const) get descriptor of specified material + [DllImport(plugin)] static extern unsafe int mjp_getMaterial(int index, TMaterial* material); + public static unsafe void GetMaterial(int index, TMaterial* material) {check(mjp_getMaterial(index, material));} + + // (const) get descriptor of specified texture + [DllImport(plugin)] static extern unsafe int mjp_getTexture(int index, TTexture* texture); + public static unsafe void GetTexture(int index, TTexture* texture) {check(mjp_getTexture(index, texture));} + + // (const) get descriptor of specified material + [DllImport(plugin)] static extern unsafe int mjp_getLight(int index, TLight* light); + public static unsafe void GetLight(int index, TLight* light) {check(mjp_getLight(index, light));} + + // (const) get descriptor of specified camera; -1: main camera + [DllImport(plugin)] static extern unsafe int mjp_getCamera(int index, TCamera* camera); + public static unsafe void GetCamera(int index, TCamera* camera) {check(mjp_getCamera(index, camera));} + + // get state of specified renderable object + [DllImport(plugin)] static extern unsafe int mjp_getObjectState(int index, TTransform* transform, int* visible, int* selected); + public static unsafe void GetObjectState(int index, TTransform* transform, int* visible, int* selected) + {check(mjp_getObjectState(index, transform, visible, selected));} + + // get state of specified light; -1: head light (use camera index) + [DllImport(plugin)] static extern unsafe int mjp_getLightState(int index, int cameraindex, float* position, float* direction); + public static unsafe void GetLightState(int index, int cameraindex, float* position, float* direction) + {check(mjp_getLightState(index, cameraindex, position, direction));} + + // get state of specified camera; -1: main camera + [DllImport(plugin)] static extern unsafe int mjp_getCameraState(int index, TTransform* transform); + public static unsafe void GetCameraState(int index, TTransform* transform) {check(mjp_getCameraState(index, transform));} + + // get state of specified body relative to parent body + [DllImport(plugin)] static extern unsafe int mjp_getBodyRelativeState(int index, TTransform* transform); + public static unsafe void GetBodyRelativeState(int index, TTransform* transform) {check(mjp_getBodyRelativeState(index, transform));} + + // get text description of last error + [DllImport(plugin)] static extern int mjp_getErrorText(StringBuilder buffer, int buffersize); + public static void GetErrorText(StringBuilder buffer, int buffersize) {check(mjp_getErrorText(buffer, buffersize));} + + // get text description of last warning + [DllImport(plugin)] static extern int mjp_getWarningText(StringBuilder buffer, int buffersize); + public static void GetWarningText(StringBuilder buffer, int buffersize) {check(mjp_getWarningText(buffer, buffersize));} + + // get number of warnings since last load or reset + [DllImport(plugin)] static extern unsafe int mjp_getWarningNumber(int* number); + public static unsafe void GetWarningNumber(int* number) {check(mjp_getWarningNumber(number));} + + // set system position vector; size(qpos) = nqpos + [DllImport(plugin)] static extern unsafe int mjp_setQpos(float* qpos); + public static unsafe void SetQpos(float* qpos) {check(mjp_setQpos(qpos));} + + // set all mocap body poses; size(pos) = 3*nmocap, size(quat) = 4*nmocap + [DllImport(plugin)] static extern unsafe int mjp_setMocap(float* pos, float* quat); + public static unsafe void SetMocap(float* pos, float* quat) {check(mjp_setMocap(pos, quat));} + + // get simulation time + [DllImport(plugin)] static extern unsafe int mjp_getTime(float* time); + public static unsafe void GetTime(float* time) {check(mjp_getTime(time));} + + // set simulation time + [DllImport(plugin)] static extern int mjp_setTime(float time); + public static void SetTime(float time) {check(mjp_setTime(time));} + + // get options + [DllImport(plugin)] static extern unsafe int mjp_getOption(TOption* option); + public static unsafe void GetOption(TOption* option) {check(mjp_getOption(option));} + + // set options + [DllImport(plugin)] static extern unsafe int mjp_setOption(TOption* option); + public static unsafe void SetOption(TOption* option) {check(mjp_setOption(option));} + + // get perturbation state + [DllImport(plugin)] static extern unsafe int mjp_getPerturb(TPerturb* perturb); + public static unsafe void GetPerturb(TPerturb* perturb) {check(mjp_getPerturb(perturb));} + + // set perturbation state + [DllImport(plugin)] static extern unsafe int mjp_setPerturb(TPerturb* perturb); + public static unsafe void SetPerturb(TPerturb* perturb) {check(mjp_setPerturb(perturb));} + + + //------------------------------ Camera and Perturbation -------------------------------- + + // set main camera lookat point; aspect = width/height + [DllImport(plugin)] static extern int mjp_cameraLookAt(float x, float y, float aspect); + public static void CameraLookAt(float x, float y, float aspect) {check(mjp_cameraLookAt(x, y, aspect));} + + // zoom main camera + [DllImport(plugin)] static extern int mjp_cameraZoom(float zoom); + public static void CameraZoom(float zoom) {check(mjp_cameraZoom(zoom));} + + // move main camera (i.e. lookat point) + [DllImport(plugin)] static extern int mjp_cameraMove(float dx, float dy, int modified); + public static void CameraMove(float dx, float dy, int modified) {check(mjp_cameraMove(dx, dy, modified));} + + // rotate main camera around lookat point + [DllImport(plugin)] static extern int mjp_cameraRotate(float dx, float dy); + public static void CameraRotate(float dx, float dy) {check(mjp_cameraRotate(dx, dy));} + + // set active bitmask only (use setPerturb for full access) + [DllImport(plugin)] static extern int mjp_perturbActive(int state); + public static void PerturbActive(int state) {check(mjp_perturbActive(state));} + + // set perturb object pose equal to selected body pose + [DllImport(plugin)] static extern int mjp_perturbSynchronize(); + public static void PerturbSynchronize() {check(mjp_perturbSynchronize());} + + // select body for perturbation + [DllImport(plugin)] static extern int mjp_perturbSelect(float x, float y, float aspect); + public static void PerturbSelect(float x, float y, float aspect) {check(mjp_perturbSelect(x, y, aspect));} + + // move perturbation object + [DllImport(plugin)] static extern int mjp_perturbMove(float dx, float dy, int modified); + public static void PerturbMove(float dx, float dy, int modified) {check(mjp_perturbMove(dx, dy, modified));} + + // rotate perturbation object + [DllImport(plugin)] static extern int mjp_perturbRotate(float dx, float dy, int modified); + public static void PerturbRotate(float dx, float dy, int modified) {check(mjp_perturbRotate(dx, dy, modified));} +} diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJP.cs.meta b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJP.cs.meta new file mode 100644 index 000000000..f70b4a408 --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJP.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: f69f4b52b5de59d9d935be504f76f843 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJRemote.cs b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJRemote.cs new file mode 100755 index 000000000..74821ac69 --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJRemote.cs @@ -0,0 +1,600 @@ +//---------------------------------// +// This file is part of MuJoCo // +// Written by Emo Todorov // +// Copyright (C) 2018 Roboti LLC // +//---------------------------------// + +using System; +using System.IO; +using System.Net.Sockets; +using System.Collections; +using System.Collections.Generic; +using System.Runtime.InteropServices; +using System.Text; +using UnityEngine; +using UnityEngine.SceneManagement; + + +public class MJRemote : MonoBehaviour +{ + + // socket commands from client + enum Command : int + { + None = 0, // null command + GetInput = 1, // send: key, select, active, refpos[3], refquat[4] (40 bytes) + GetImage = 2, // send: rgb image (3*width*height bytes) + SaveSnapshot = 3, // (no data exchange) + SaveVideoframe = 4, // (no data exchange) + SetCamera = 5, // receive: camera index (4 bytes) + SetQpos = 6, // receive: qpos (4*nqpos bytes) + SetMocap = 7 // receive: mocap_pos, mocap_quat (28*nmocap bytes) + } + + + // prevent repeated instances + private static MJRemote instance; + private MJRemote() {} + public static MJRemote Instance + { + get + { + if( instance==null ) + { + instance = new MJRemote(); + return instance; + } + else + throw new System.Exception("MJRemote can only be instantiated once"); + } + } + + + // script options + public string modelFile = ""; + public string tcpAddress = "127.0.0.1"; + public int tcpPort = 1050; + + // GUI + static GUIStyle style = null; + + // offscreen rendering + RenderTexture offrt; + Texture2D offtex; + int offwidth = 1280; + int offheight = 720; + static int snapshots = 0; + FileStream videofile = null; + + // data from plugin + int nqpos = 0; + int nmocap = 0; + int ncamera = 0; + int nobject = 0; + GameObject[] objects; + Color selcolor; + GameObject root = null; + Camera thecamera = null; + float[] camfov; + + // remote data + TcpListener listener = null; + TcpClient client = null; + NetworkStream stream = null; + byte[] buffer; + int buffersize = 0; + int camindex = -1; + float lastcheck = 0; + + // input state + float lastx = 0; // updated each frame + float lasty = 0; // updated each frame + float lasttime = 0; // updated on click + int lastbutton = 0; // updated on click + int lastkey = 0; // cleared on send + + + // convert transform from plugin to GameObject + static unsafe void SetTransform(GameObject obj, MJP.TTransform transform) + { + Quaternion q = new Quaternion(0, 0, 0, 1); + q.SetLookRotation( + new Vector3(transform.yaxis[0], -transform.yaxis[2], transform.yaxis[1]), + new Vector3(-transform.zaxis[0], transform.zaxis[2], -transform.zaxis[1]) + ); + + obj.transform.localPosition = new Vector3(-transform.position[0], transform.position[2], -transform.position[1]); + obj.transform.localRotation = q; + obj.transform.localScale = new Vector3(transform.scale[0], transform.scale[2], transform.scale[1]); + } + + + // convert transform from plugin to Camera + static unsafe void SetCamera(Camera cam, MJP.TTransform transform) + { + Quaternion q = new Quaternion(0, 0, 0, 1); + q.SetLookRotation( + new Vector3(transform.zaxis[0], -transform.zaxis[2], transform.zaxis[1]), + new Vector3(-transform.yaxis[0], transform.yaxis[2], -transform.yaxis[1]) + ); + + cam.transform.localPosition = new Vector3(-transform.position[0], transform.position[2], -transform.position[1]); + cam.transform.localRotation = q; + } + + + // GUI + private void OnGUI() + { + // set style once + if( style==null ) + { + style = GUI.skin.textField; + style.normal.textColor = Color.white; + + // scale font size with DPI + if( Screen.dpi<100 ) + style.fontSize = 14; + else if( Screen.dpi>300 ) + style.fontSize = 34; + else + style.fontSize = Mathf.RoundToInt(14 + (Screen.dpi-100.0f)*0.1f); + } + + // show connected status + if( client!=null && client.Connected ) + GUILayout.Label("Connected", style); + else + GUILayout.Label("Waiting", style); + + // save lastkey + if( Event.current.isKey ) + lastkey = (int)Event.current.keyCode; + } + + + // initialize + unsafe void Start() + { + // set selection color + selcolor = new Color(0.5f, 0.5f, 0.5f, 1); + + // initialize plugin + MJP.Initialize(); + MJP.LoadModel(Application.streamingAssetsPath + "/" + modelFile); + + // get number of renderable objects, allocate map + MJP.TSize size; + MJP.GetSize(&size); + nqpos = size.nqpos; + nmocap = size.nmocap; + ncamera = size.ncamera; + nobject = size.nobject; + objects = new GameObject[nobject]; + + // get root + root = GameObject.Find("MuJoCo"); + if( root==null ) + throw new System.Exception("MuJoCo root object not found"); + + // get camera under root + int nchild = root.transform.childCount; + for( int i=0; i(); + if( thecamera!=null ) + break; + } + if( thecamera==null ) + throw new System.Exception("No camera found under MuJoCo root object"); + + // make map of renderable objects + for( int i=0; i 0 ); + } + } + + // get camera fov and offscreen resolution + camfov = new float[ncamera+1]; + for( int i=-1; i0 ) + { + // set perturbation state + int newstate = 0; + if( control ) + { + // determine new perturbation state + if( buttonclick==1 ) + newstate = 2; // rotate + else if( buttonclick==2 ) + newstate = 1; // move + + // get old perturbation state + MJP.TPerturb current; + MJP.GetPerturb(¤t); + + // syncronize if starting perturbation now + if( newstate>0 && current.active==0 ) + MJP.PerturbSynchronize(); + } + MJP.PerturbActive(newstate); + + // process double-click + if( buttonclick==lastbutton && Time.fixedUnscaledTime-lasttime<0.25 ) + { + // relative screen position and aspect ratio + float relx = Input.mousePosition.x / Screen.width; + float rely = Input.mousePosition.y / Screen.height; + float aspect = (float)Screen.width / (float)Screen.height; + + // left: select body + if( buttonclick==1 ) + MJP.PerturbSelect(relx, rely, aspect); + + // right: set lookat + else if( buttonclick==2 ) + MJP.CameraLookAt(relx, rely, aspect); + } + + // save mouse state + lastx = Input.mousePosition.x; + lasty = Input.mousePosition.y; + lasttime = Time.fixedUnscaledTime; + lastbutton = buttonclick; + } + + // left or right drag: manipulate camera or perturb + if( buttonpressed==1 || buttonpressed==2 ) + { + // compute relative displacement and modifier + float reldx = (Input.mousePosition.x - lastx) / Screen.height; + float reldy = (Input.mousePosition.y - lasty) / Screen.height; + int modifier = (shift ? 1 : 0); + + // perturb + if( control ) + { + if (buttonpressed == 1) + MJP.PerturbRotate(reldx, -reldy, modifier); + else + MJP.PerturbMove(reldx, -reldy, modifier); + } + + // camera + else + { + if( buttonpressed==1 ) + MJP.CameraRotate(reldx, -reldy); + else + MJP.CameraMove(reldx, -reldy, modifier); + } + } + + // middle drag: zoom camera + if( buttonpressed==3 ) + { + float reldy = (Input.mousePosition.y - lasty) / Screen.height; + MJP.CameraZoom(-reldy); + } + + // scroll: zoom camera + if( Input.mouseScrollDelta.y!=0 ) + MJP.CameraZoom(-0.05f * Input.mouseScrollDelta.y); + + // save position + lastx = Input.mousePosition.x; + lasty = Input.mousePosition.y; + + // release left or right: stop perturb + if( Input.GetMouseButtonUp(0) || Input.GetMouseButtonUp(1) ) + MJP.PerturbActive(0); + } + + + // update Unity representation of MuJoCo model + unsafe private void UpdateModel() + { + MJP.TTransform transform; + + // update object states + for( int i=0; i0); + + // set emission color + if( selected>0 ) + objects[i].GetComponent().material.SetColor("_EmissionColor", selcolor); + else + objects[i].GetComponent().material.SetColor("_EmissionColor", Color.black); + } + + // update camera + MJP.GetCameraState(camindex, &transform); + SetCamera(thecamera, transform); + thecamera.fieldOfView = camfov[camindex+1]; + } + + + // check if connection is still alive + private bool CheckConnection() + { + try + { + if( client!=null && client.Client!=null && client.Client.Connected ) + { + if( client.Client.Poll(0, SelectMode.SelectRead) ) + { + if( client.Client.Receive(buffer, SocketFlags.Peek)==0 ) + return false; + else + return true; + } + else + return true; + } + else + return false; + } + catch + { + return false; + } + } + + + // read requested number of bytes from socket + void ReadAll(int n) + { + int i = 0; + while( i0 ) + { + ReadAll(4*nqpos); + fixed( byte* qpos=buffer ) + { + MJP.SetQpos((float*)qpos); + } + MJP.Kinematics(); + UpdateModel(); + } + break; + + // SetMocap: receive mocap_pos and mocap_quat vectors + case Command.SetMocap: + if( nmocap>0 ) + { + ReadAll(28*nmocap); + fixed( byte* pos=buffer, quat=&buffer[12*nmocap] ) + { + MJP.SetMocap((float*)pos, (float*)quat); + } + MJP.Kinematics(); + UpdateModel(); + } + break; + } + } + } + + + // cleanup + void OnApplicationQuit() + { + // free plugin + MJP.Close(); + + // close tcp listener + listener.Stop(); + + // close file + if( videofile!=null ) + videofile.Close(); + + // free render texture + offrt.Release(); + } +} diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJRemote.cs.meta b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJRemote.cs.meta new file mode 100644 index 000000000..138bb39ee --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJRemote.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: b8f9276bb234fb48a9b939bdb57fc649 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJSimulate.cs b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJSimulate.cs new file mode 100755 index 000000000..3d6273def --- /dev/null +++ b/Unity_VR_Aorta_Guidewires/Assets/Rope/Tools/Scripts/MJSimulate.cs @@ -0,0 +1,611 @@ +//---------------------------------// +// This file is part of MuJoCo // +// Written by Emo Todorov // +// Copyright (C) 2018 Roboti LLC // +//---------------------------------// + +using System.IO; +using System.Collections; +using System.Collections.Generic; +using System.Runtime.InteropServices; +using System.Text; +using UnityEngine; +using UnityEngine.SceneManagement; + + +public class MJSimulate : MonoBehaviour +{ + + // prevent repeated instances + private static MJSimulate instance; + private MJSimulate() {} + public static MJSimulate Instance + { + get + { + if( instance==null ) + { + instance = new MJSimulate(); + return instance; + } + else + throw new System.Exception("MJSimulate can only be instantiated once"); + } + } + + + // script options + public string modelFile = ""; + + // GUI settings + static GUIStyle style = null; + bool pause = false; + bool record = false; + int showhelp = 1; + int camindex = -1; + + // offscreen rendering + RenderTexture offrt; + Texture2D offtex; + int offwidth = 1280; + int offheight = 720; + static int snapshots = 0; + static int videos = 0; + FileStream videofile = null; + float videotime = 0; + + // data from plugin + int ncamera = 0; + int nobject = 0; + GameObject[] objects; + float[] camfov; + Color selcolor; + GameObject root = null; + Camera thecamera = null; + + // previous mouse state + float lastx = 0; // updated each frame + float lasty = 0; // updated each frame + float lasttime = 0; // updated on click + int lastbutton = 0; // updated on click + + + // convert transform from plugin to GameObject + static unsafe void SetTransform(GameObject obj, MJP.TTransform transform) + { + Quaternion q = new Quaternion(0, 0, 0, 1); + q.SetLookRotation( + new Vector3(transform.yaxis[0], -transform.yaxis[2], transform.yaxis[1]), + new Vector3(-transform.zaxis[0], transform.zaxis[2], -transform.zaxis[1]) + ); + + obj.transform.localPosition = new Vector3(-transform.position[0], transform.position[2], -transform.position[1]); + obj.transform.localRotation = q; + obj.transform.localScale = new Vector3(transform.scale[0], transform.scale[2], transform.scale[1]); + } + + + // convert transform from plugin to Camera + static unsafe void SetCamera(Camera cam, MJP.TTransform transform) + { + Quaternion q = new Quaternion(0, 0, 0, 1); + q.SetLookRotation( + new Vector3(transform.zaxis[0], -transform.zaxis[2], transform.zaxis[1]), + new Vector3(-transform.yaxis[0], transform.yaxis[2], -transform.yaxis[1]) + ); + + cam.transform.localPosition = new Vector3(-transform.position[0], transform.position[2], -transform.position[1]); + cam.transform.localRotation = q; + } + + + // GUI: help + private void OnGUI() + { + // set style once + if( style==null ) + { + style = GUI.skin.textField; + style.normal.textColor = Color.white; + + // scale font size with DPI + if( Screen.dpi<100 ) + style.fontSize = 14; + else if( Screen.dpi>300 ) + style.fontSize = 34; + else + style.fontSize = Mathf.RoundToInt(14 + (Screen.dpi-100.0f)*0.1f); + } + + // long help + const string helpLeft = + "F1\n\n" + + "Space\n" + + "Back Space\n" + + "G\n" + + "E\n" + + "L\n\n" + + "Shift 0-9\n" + + "0-9\n" + + "Esc\n" + + "S\n" + + "R\n\n" + + "Mouse\n" + + "Ctrl Mouse\n" + + "Shift Mouse\n" + + "Left Drag\n" + + "Right Drag\n" + + "Middle Drag/Scroll \n" + + "Left Double Click \n" + + "Right Double Click "; + + const string helpRight = + "Help\n\n" + + "Pause\n" + + "Reset\n" + + "Gravity\n" + + "Equality\n" + + "Limits\n\n" + + "Load Scene\n" + + "Model Camera\n" + + "Free Camera\n" + + "Snapshot\n" + + "Record Video\n\n" + + "Adjust Camera\n" + + "Pertrub\n" + + "Other Plane\n" + + "Rotate\n" + + "Translate\n" + + "Zoom\n" + + "Select\n" + + "Look At"; + + // brief help + if( showhelp==1 ) + GUILayout.Label("F1: Help", style); + + // full help + else if( showhelp==2 ) + { + GUILayout.BeginHorizontal(); + GUILayout.BeginVertical(); + GUILayout.Label(helpLeft, style); + GUILayout.EndVertical(); + GUILayout.BeginVertical(); + GUILayout.Label(helpRight, style); + GUILayout.EndVertical(); + GUILayout.EndHorizontal(); + } + + // recording + if( record ) + { + int oldsize = style.fontSize; + style.fontSize = Mathf.RoundToInt(1.3f*oldsize); + style.normal.textColor = Color.red; + GUILayout.Label("RECORD", style); + style.fontSize = oldsize; + style.normal.textColor = Color.white; + } + } + + + // initialize + unsafe void Start () + { + // set selection color + selcolor = new Color(0.5f, 0.5f, 0.5f, 1); + + // initialize plugin + MJP.Initialize(); + MJP.LoadModel(Application.streamingAssetsPath + "/" + modelFile); + + // get number of renderable objects, allocate map + MJP.TSize size; + MJP.GetSize(&size); + ncamera = size.ncamera; + nobject = size.nobject; + objects = new GameObject[nobject]; + + // get root + root = GameObject.Find("MuJoCo"); + if( root==null ) + throw new System.Exception("MuJoCo root object not found"); + + // get camera under root + int nchild = root.transform.childCount; + for( int i=0; i(); + if( thecamera!=null ) + break; + } + if( thecamera==null ) + throw new System.Exception("No camera found under MuJoCo root object"); + + // make map of renderable objects + for( int i=0; i 0 ); + } + } + + // get camera fov and offscreen resolution + camfov = new float[ncamera+1]; + for( int i=-1; i0 ) + { + MJP.SetTime(Time.time); + videotime = Time.time; + } + + // save video frames at 60Hz + if( record && Time.time-videotime>1.0f/60.0f ) + { + RenderToTexture(); + videofile.Write(offtex.GetRawTextureData(), 0, 3*offwidth*offheight); + videotime = Time.time; + } + } + + + // render to texture + private void RenderToTexture() + { + // set to offscreen and render + thecamera.targetTexture = offrt; + thecamera.Render(); + + // read pixels in regular texure and save + RenderTexture.active = offrt; + offtex.ReadPixels(new Rect(0, 0, offwidth, offheight), 0, 0); + offtex.Apply(); + + // restore state + RenderTexture.active = null; + thecamera.targetTexture = null; + } + + + // per-frame keyboard input; called from Update + unsafe void ProcessKeyboard () + { + // F1: toggle help + if( Input.GetKeyDown(KeyCode.F1) ) + { + showhelp++; + if( showhelp>2 ) + showhelp = 0; + } + + // G: toggle gravity + else if( Input.GetKeyDown("g") ) + { + MJP.TOption opt; + MJP.GetOption(&opt); + opt.gravity = 1-opt.gravity; + MJP.SetOption(&opt); + } + + // E: toggle equality + else if( Input.GetKeyDown("e") ) + { + MJP.TOption opt; + MJP.GetOption(&opt); + opt.equality = 1-opt.equality; + MJP.SetOption(&opt); + } + + // L: toggle limit + else if( Input.GetKeyDown("l") ) + { + MJP.TOption opt; + MJP.GetOption(&opt); + opt.limit = 1-opt.limit; + MJP.SetOption(&opt); + } + + // R: toggle video recording + else if( Input.GetKeyDown("r") ) + { + // recording: close + if( record ) + { + record = false; + videofile.Close(); + videofile = null; + } + + // not recording: open + else + { + record = true; + videofile = new FileStream(Application.streamingAssetsPath + "/../../" + "video_" + videos + ".raw", + FileMode.Create, FileAccess.Write); + videos++; + } + } + + // S: save snapshot + else if( Input.GetKeyDown("s") ) + { + RenderToTexture(); + byte[] bytes = offtex.EncodeToPNG(); + File.WriteAllBytes(Application.streamingAssetsPath + "/../../" + "img_" + snapshots + ".png", bytes); + snapshots++; + } + + // backspace: reset and sync + else if( Input.GetKeyDown(KeyCode.Backspace) ) + { + MJP.Reset(); + MJP.SetTime(Time.time); + videotime = Time.time; + } + + // space: toggle pause and sync + else if( Input.GetKeyDown(KeyCode.Space) ) + { + pause = !pause; + MJP.SetTime(Time.time); + videotime = Time.time; + } + + // Esc: main camera + else if( Input.GetKeyDown(KeyCode.Escape) ) + { + camindex = -1; + } + + // load scene or set model camera + else for( int i=0; i<=9; i++ ) + if( Input.GetKeyDown(i.ToString()) ) + { + // load scene: runtime only + if( Input.GetKey(KeyCode.LeftShift) || + Input.GetKey(KeyCode.RightShift) ) + { + #if !UNITY_EDITOR + if( i0 ) + { + // set perturbation state + int newstate = 0; + if( control ) + { + // determine new perturbation state + if( buttonclick==1 ) + newstate = 2; // rotate + else if( buttonclick==2 ) + newstate = 1; // move + + // get old perturbation state + MJP.TPerturb current; + MJP.GetPerturb(¤t); + + // syncronize if starting perturbation now + if( newstate>0 && current.active==0 ) + MJP.PerturbSynchronize(); + } + MJP.PerturbActive(newstate); + + // process double-click + if( buttonclick==lastbutton && Time.fixedUnscaledTime-lasttime<0.25 ) + { + // relative screen position and aspect ratio + float relx = Input.mousePosition.x / Screen.width; + float rely = Input.mousePosition.y / Screen.height; + float aspect = (float)Screen.width / (float)Screen.height; + + // left: select body + if( buttonclick==1 ) + MJP.PerturbSelect(relx, rely, aspect); + + // right: set lookat + else if( buttonclick==2 ) + MJP.CameraLookAt(relx, rely, aspect); + } + + // save mouse state + lastx = Input.mousePosition.x; + lasty = Input.mousePosition.y; + lasttime = Time.fixedUnscaledTime; + lastbutton = buttonclick; + } + + // left or right drag: manipulate camera or perturb + if( buttonpressed==1 || buttonpressed==2 ) + { + // compute relative displacement and modifier + float reldx = (Input.mousePosition.x - lastx) / Screen.height; + float reldy = (Input.mousePosition.y - lasty) / Screen.height; + int modifier = (shift ? 1 : 0); + + // perturb + if( control ) + { + if 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