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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,95 +1,95 @@ | ||
| // Copyright 2024 MAES | ||
| // | ||
| // This file is part of MAES | ||
| // | ||
| // MAES is free software: you can redistribute it and/or modify it under | ||
| // the terms of the GNU General Public License as published by the | ||
| // Free Software Foundation, either version 3 of the License, or (at your option) | ||
| // any later version. | ||
| // | ||
| // MAES is distributed in the hope that it will be useful, but WITHOUT | ||
| // ANY WARRANTY; without even the implied warranty of MERCHANTABILITY | ||
| // or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General | ||
| // Public License for more details. | ||
| // | ||
| // You should have received a copy of the GNU General Public License along | ||
| // with MAES. If not, see http://www.gnu.org/licenses/. | ||
| // | ||
| // Contributors: Rasmus Borrisholt Schmidt, Andreas Sebastian Sørensen, Thor Beregaard | ||
| // | ||
| // Original repository: https://github.com/Molitany/MAES | ||
|
|
||
| using System.Collections; | ||
| using System.Collections.Generic; | ||
| using Maes; | ||
| using MAES.Simulation; | ||
| using UnityEngine; | ||
|
|
||
| public class FogOfWarScript : MonoBehaviour | ||
| { | ||
|
|
||
| public ISimulationManager simulationManager; | ||
| public GameObject _fogOfWarPlane; | ||
| public List<Transform> robots; | ||
| public LayerMask _foglayer; | ||
| private float _revealRadius; | ||
| private float _revealRadiusSqr; | ||
|
|
||
| private Mesh _mesh; | ||
| private Vector3[] _vertices; | ||
| private Color[] _colors; | ||
|
|
||
| // Use this for initialization | ||
| void Start() | ||
| { | ||
| foreach (Maes.Robot.MonaRobot robot in simulationManager.CurrentSimulation.Robots) | ||
| { | ||
| robots.Add(robot.transform); | ||
| } | ||
|
|
||
| _revealRadius = simulationManager.CurrentScenario.RobotConstraints.SlamRayTraceRange; | ||
| _revealRadiusSqr = _revealRadius * _revealRadius; | ||
| _mesh = _fogOfWarPlane.GetComponent<MeshFilter>().mesh; | ||
| _vertices = _mesh.vertices; | ||
| _colors = new Color[_vertices.Length]; | ||
| for (int i = 0; i < _colors.Length; i++) | ||
| { | ||
| _colors[i] = Color.black; | ||
| } | ||
| for (int i = 0; i < _vertices.Length; i++) | ||
| { | ||
| _vertices[i] = _fogOfWarPlane.transform.TransformPoint(_vertices[i]); | ||
| } | ||
| UpdateColor(); | ||
| } | ||
|
|
||
| // Update is called once per frame | ||
| void Update() //various optimizations options, robots shoot up to plane, instead of from camera, visible area around robot shoots up | ||
| { | ||
| foreach (Transform robot in robots) | ||
| { | ||
| Ray r = new Ray(transform.position, robot.position - transform.position); | ||
| RaycastHit hit; | ||
| if (Physics.Raycast(r, out hit, 1000, _foglayer, QueryTriggerInteraction.Collide)) | ||
| { | ||
| for (int i = 0; i < _vertices.Length; i++) | ||
| { | ||
| Vector3 v = _vertices[i]; | ||
| float dist = Vector3.SqrMagnitude(v - hit.point); | ||
| if (dist < _revealRadiusSqr) | ||
| { | ||
| float alpha = Mathf.Min(_colors[i].a, dist / _revealRadiusSqr); | ||
| _colors[i].a = alpha; | ||
| } | ||
| } | ||
| UpdateColor(); | ||
| } | ||
| } | ||
|
|
||
| } | ||
|
|
||
| void UpdateColor() | ||
| { | ||
| _mesh.colors = _colors; | ||
| } | ||
| // Copyright 2024 MAES | ||
| // | ||
| // This file is part of MAES | ||
| // | ||
| // MAES is free software: you can redistribute it and/or modify it under | ||
| // the terms of the GNU General Public License as published by the | ||
| // Free Software Foundation, either version 3 of the License, or (at your option) | ||
| // any later version. | ||
| // | ||
| // MAES is distributed in the hope that it will be useful, but WITHOUT | ||
| // ANY WARRANTY; without even the implied warranty of MERCHANTABILITY | ||
| // or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General | ||
| // Public License for more details. | ||
| // | ||
| // You should have received a copy of the GNU General Public License along | ||
| // with MAES. If not, see http://www.gnu.org/licenses/. | ||
| // | ||
| // Contributors: Rasmus Borrisholt Schmidt, Andreas Sebastian Sørensen, Thor Beregaard | ||
| // | ||
| // Original repository: https://github.com/Molitany/MAES | ||
|
|
||
| using System.Collections.Generic; | ||
|
|
||
| using MAES.Simulation; | ||
|
|
||
| using UnityEngine; | ||
|
|
||
| public class FogOfWarScript : MonoBehaviour | ||
| { | ||
|
|
||
| public ISimulationManager simulationManager; | ||
| public GameObject _fogOfWarPlane; | ||
| public List<Transform> robots; | ||
| public LayerMask _foglayer; | ||
| private float _revealRadius; | ||
| private float _revealRadiusSqr; | ||
|
|
||
| private Mesh _mesh; | ||
| private Vector3[] _vertices; | ||
| private Color[] _colors; | ||
|
|
||
| // Use this for initialization | ||
| void Start() | ||
| { | ||
| foreach (Maes.Robot.MonaRobot robot in simulationManager.CurrentSimulation.Robots) | ||
| { | ||
| robots.Add(robot.transform); | ||
| } | ||
|
|
||
| _revealRadius = simulationManager.CurrentScenario.RobotConstraints.SlamRayTraceRange; | ||
| _revealRadiusSqr = _revealRadius * _revealRadius; | ||
| _mesh = _fogOfWarPlane.GetComponent<MeshFilter>().mesh; | ||
| _vertices = _mesh.vertices; | ||
| _colors = new Color[_vertices.Length]; | ||
| for (int i = 0; i < _colors.Length; i++) | ||
| { | ||
| _colors[i] = Color.black; | ||
| } | ||
| for (int i = 0; i < _vertices.Length; i++) | ||
| { | ||
| _vertices[i] = _fogOfWarPlane.transform.TransformPoint(_vertices[i]); | ||
| } | ||
| UpdateColor(); | ||
| } | ||
|
|
||
| // Update is called once per frame | ||
| void Update() //various optimizations options, robots shoot up to plane, instead of from camera, visible area around robot shoots up | ||
| { | ||
| foreach (Transform robot in robots) | ||
| { | ||
| Ray r = new Ray(transform.position, robot.position - transform.position); | ||
| RaycastHit hit; | ||
| if (Physics.Raycast(r, out hit, 1000, _foglayer, QueryTriggerInteraction.Collide)) | ||
| { | ||
| for (int i = 0; i < _vertices.Length; i++) | ||
| { | ||
| Vector3 v = _vertices[i]; | ||
| float dist = Vector3.SqrMagnitude(v - hit.point); | ||
| if (dist < _revealRadiusSqr) | ||
| { | ||
| float alpha = Mathf.Min(_colors[i].a, dist / _revealRadiusSqr); | ||
| _colors[i].a = alpha; | ||
| } | ||
| } | ||
| UpdateColor(); | ||
| } | ||
| } | ||
|
|
||
| } | ||
|
|
||
| void UpdateColor() | ||
| { | ||
| _mesh.colors = _colors; | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,40 +1,33 @@ | ||
| // Copyright 2024 MAES | ||
| // | ||
| // This file is part of MAES | ||
| // | ||
| // MAES is free software: you can redistribute it and/or modify it under | ||
| // the terms of the GNU General Public License as published by the | ||
| // Free Software Foundation, either version 3 of the License, or (at your option) | ||
| // any later version. | ||
| // | ||
| // MAES is distributed in the hope that it will be useful, but WITHOUT | ||
| // ANY WARRANTY; without even the implied warranty of MERCHANTABILITY | ||
| // or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General | ||
| // Public License for more details. | ||
| // | ||
| // You should have received a copy of the GNU General Public License along | ||
| // with MAES. If not, see http://www.gnu.org/licenses/. | ||
| // | ||
| // Contributors: Rasmus Borrisholt Schmidt, Andreas Sebastian Sørensen, Thor Beregaard | ||
| // | ||
| // Original repository: https://github.com/Molitany/MAES | ||
|
|
||
| using Maes.Map.MapGen; | ||
| using Maes.Robot; | ||
| using System.Collections; | ||
| using System.Collections.Generic; | ||
| using UnityEngine; | ||
| using System; | ||
| using Maes.ExplorationAlgorithm.Minotaur; | ||
| using Maes.ExperimentSimulations; | ||
|
|
||
| namespace Maes | ||
| { | ||
| public class MinotaurDemo : ExplorationExperimentBase | ||
| { | ||
| void Start() | ||
| { | ||
| RunSimulation("building", "minotaur", "Material", "100", 100, 775411, 9); | ||
| } | ||
| } | ||
| // Copyright 2024 MAES | ||
| // | ||
| // This file is part of MAES | ||
| // | ||
| // MAES is free software: you can redistribute it and/or modify it under | ||
| // the terms of the GNU General Public License as published by the | ||
| // Free Software Foundation, either version 3 of the License, or (at your option) | ||
| // any later version. | ||
| // | ||
| // MAES is distributed in the hope that it will be useful, but WITHOUT | ||
| // ANY WARRANTY; without even the implied warranty of MERCHANTABILITY | ||
| // or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General | ||
| // Public License for more details. | ||
| // | ||
| // You should have received a copy of the GNU General Public License along | ||
| // with MAES. If not, see http://www.gnu.org/licenses/. | ||
| // | ||
| // Contributors: Rasmus Borrisholt Schmidt, Andreas Sebastian Sørensen, Thor Beregaard | ||
| // | ||
| // Original repository: https://github.com/Molitany/MAES | ||
|
|
||
| using Maes.ExperimentSimulations; | ||
|
|
||
| namespace Maes | ||
| { | ||
| public class MinotaurDemo : ExplorationExperimentBase | ||
| { | ||
| void Start() | ||
| { | ||
| RunSimulation("building", "minotaur", "Material", "100", 100, 775411, 9); | ||
| } | ||
| } | ||
| } |
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