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@@ -4520,7 +8726,7 @@ MonoBehaviour:
Offset: 0
Height: 2.82
HeightMultiplier: 0.5
- RotateAroundModeToggle: 99
+ EnableRotateAroundMode: 0
RotateAroundSensitivity: 16
HeightAdjustmentSensitivity: 1
ZoomSensitivity: 200
@@ -4542,53 +8748,6 @@ MonoBehaviour:
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@@ -4764,6 +8970,10 @@ PrefabInstance:
propertyPath: m_Name
value: Lexus RX450h 2015 Sample Sensor
objectReference: {fileID: 0}
+ - target: {fileID: 4981081891045692867, guid: 164645b2d105b6b4ab4e3d2e7c65dab2, type: 3}
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diff --git a/Assets/AWSIM/Scripts/FollowCamera.cs b/Assets/AWSIM/Scripts/FollowCamera.cs
index 0fefba22b..7173c496f 100644
--- a/Assets/AWSIM/Scripts/FollowCamera.cs
+++ b/Assets/AWSIM/Scripts/FollowCamera.cs
@@ -39,7 +39,8 @@ public class FollowCamera : MonoBehaviour
[Space(10)]
[Header("Camera Movement Settings")]
[Tooltip("Toggle key between rotate around mode and follow mode")]
- public KeyCode RotateAroundModeToggle = KeyCode.C;
+ public bool EnableRotateAroundMode = false;
+ private bool lastEnableRotateAroundMode = false;
[Space(10)]
[Tooltip("Mouse movement sensitivity for camera rotation around the target")]
@@ -113,8 +114,10 @@ void Awake()
void Update()
{
// turn on or off the camera rotate around feature
- if (Input.GetKeyDown(RotateAroundModeToggle))
+ if (EnableRotateAroundMode != lastEnableRotateAroundMode)
{
+ lastEnableRotateAroundMode = EnableRotateAroundMode;
+
rotateCameraAroundActive = !rotateCameraAroundActive;
onActivateRotateCameraAround?.Invoke(rotateCameraAroundActive);
}
diff --git a/Assets/AWSIM/Scripts/RandomTraffic/TrafficManager.cs b/Assets/AWSIM/Scripts/RandomTraffic/TrafficManager.cs
index c92bfb3c6..2cd0f4572 100644
--- a/Assets/AWSIM/Scripts/RandomTraffic/TrafficManager.cs
+++ b/Assets/AWSIM/Scripts/RandomTraffic/TrafficManager.cs
@@ -4,281 +4,317 @@
namespace AWSIM.TrafficSimulation
{
-///
-/// Component for managing traffic simulators. Traffic manager collets all traffic simulators and manages the spawning process.
-/// - Reproducibility by Seed value
-///
-public class TrafficManager : MonoBehaviour
-{
- [SerializeField, Tooltip("Seed value for random generator.")]
- public int seed;
- [Header("NPC Vehicle Settings")]
- [SerializeField] private NPCVehicleConfig vehicleConfig = NPCVehicleConfig.Default();
-
- [SerializeField, Tooltip("Vehicle layer for raytracing the collision distances.")]
- private LayerMask vehicleLayerMask;
-
- [SerializeField, Tooltip("Ground layer for raytracing the collision distances.")]
- private LayerMask groundLayerMask;
-
- [SerializeField, Tooltip("A maximum number of vehicles that can simultaneously live in the scene. Lowering this value results in less dense traffic but improves the simulator's performance.")]
- public int maxVehicleCount = 40;
-
- [SerializeField, Tooltip("Ego vehicle handler. If not set, the manager creates a dummy ego. This reference is also set automatically when the Ego spawns via the traffic simulator.")]
- private GameObject _egoVehicle;
-
- public GameObject egoVehicle {
- get {
- return _egoVehicle;
- }
- set {
- _egoVehicle = value;
- if(_egoVehicle != null)
- {
- npcVehicleSimulator.RegisterEgo(value);
- } else {
- npcVehicleSimulator.UnregisterEgo();
- _egoVehicle = dummyEgo;
- }
- }
- }
-
- [Header("Debug")]
- [SerializeField] protected bool showGizmos = false;
- [SerializeField] protected bool showYieldingPhase = false;
- [SerializeField] protected bool showObstacleChecking = false;
- [SerializeField] protected bool showSpawnPoints = false;
- public RandomTrafficSimulatorConfiguration[] randomTrafficSims;
- public RouteTrafficSimulatorConfiguration[] routeTrafficSims;
- public NPCVehicleSimulator npcVehicleSimulator;
- private List trafficSimulatorNodes;
- private Dictionary> spawnLanes;
- private GameObject dummyEgo;
-
///
- /// Adds traffic simulator to the manager
+ /// Component for managing traffic simulators. Traffic manager collets all traffic simulators and manages the spawning process.
+ /// - Reproducibility by Seed value
///
- public void AddTrafficSimulator(ITrafficSimulator simulator)
+ public class TrafficManager : MonoBehaviour
{
- trafficSimulatorNodes.Add(simulator);
- }
+ [SerializeField, Tooltip("Seed value for random generator.")]
+ public int seed;
+ [Header("NPC Vehicle Settings")]
+ [SerializeField] private NPCVehicleConfig vehicleConfig = NPCVehicleConfig.Default();
- ///
- /// Clears all NPC vehicles running in simulation
- ///
- public void ClearAll()
- {
- trafficSimulatorNodes.Clear();
- npcVehicleSimulator?.ClearAll();
- }
+ [SerializeField, Tooltip("Vehicle layer for raytracing the collision distances.")]
+ private LayerMask vehicleLayerMask;
- private void Awake()
- {
- Random.InitState(seed);
+ [SerializeField, Tooltip("Ground layer for raytracing the collision distances.")]
+ private LayerMask groundLayerMask;
- spawnLanes = new Dictionary>();
- dummyEgo = new GameObject("DummyEgo");
- if (_egoVehicle == null)
- {
- _egoVehicle = dummyEgo;
- }
- npcVehicleSimulator = new NPCVehicleSimulator(vehicleConfig, vehicleLayerMask, groundLayerMask, maxVehicleCount, _egoVehicle);
- npcVehicleSimulator.SetDummyEgo(dummyEgo);
- }
+ [SerializeField, Tooltip("A maximum number of vehicles that can simultaneously live in the scene. Lowering this value results in less dense traffic but improves the simulator's performance.")]
+ public int maxVehicleCount = 40;
- void Start()
- {
- verifyIntegrationEnvironmentElements();
- trafficSimulatorNodes = new List();
- if (npcVehicleSimulator == null)
- {
- Debug.LogError("Traffic manager requires NPC Vehicle Simulator script.");
- return;
- }
+ [SerializeField, Tooltip("Ego vehicle handler. If not set, the manager creates a dummy ego. This reference is also set automatically when the Ego spawns via the traffic simulator.")]
+ private GameObject _egoVehicle;
- foreach(var randomTrafficConf in randomTrafficSims)
+ public GameObject egoVehicle
{
- RandomTrafficSimulator randomTs = new RandomTrafficSimulator(
- this.gameObject,
- randomTrafficConf.npcPrefabs,
- randomTrafficConf.spawnableLanes,
- npcVehicleSimulator,
- randomTrafficConf.maximumSpawns
- );
- randomTs.enabled = randomTrafficConf.enabled;
- trafficSimulatorNodes.Add(randomTs);
+ get
+ {
+ return _egoVehicle;
+ }
+ set
+ {
+ _egoVehicle = value;
+ if (_egoVehicle != null)
+ {
+ npcVehicleSimulator.RegisterEgo(value);
+ }
+ else
+ {
+ npcVehicleSimulator.UnregisterEgo();
+ _egoVehicle = dummyEgo;
+ }
+ }
}
- foreach(var routeTrafficSimConf in routeTrafficSims)
+ [Header("Debug")]
+ [SerializeField] protected bool showGizmos = false;
+ [SerializeField] protected bool showYieldingPhase = false;
+ [SerializeField] protected bool showObstacleChecking = false;
+ [SerializeField] protected bool showSpawnPoints = false;
+ public RandomTrafficSimulatorConfiguration[] randomTrafficSims;
+ public RouteTrafficSimulatorConfiguration[] routeTrafficSims;
+ public NPCVehicleSimulator npcVehicleSimulator;
+ private List trafficSimulatorNodes;
+ private Dictionary> spawnLanes;
+ private GameObject dummyEgo;
+
+ ///
+ /// Adds traffic simulator to the manager
+ ///
+ public void AddTrafficSimulator(ITrafficSimulator simulator)
{
- RouteTrafficSimulator routeTs = new RouteTrafficSimulator(
- this.gameObject,
- routeTrafficSimConf.npcPrefabs,
- routeTrafficSimConf.route,
- npcVehicleSimulator,
- routeTrafficSimConf.maximumSpawns
- );
- routeTs.enabled = routeTrafficSimConf.enabled;
- trafficSimulatorNodes.Add(routeTs);
+ trafficSimulatorNodes.Add(simulator);
}
- }
- private void verifyIntegrationEnvironmentElements()
- {
- GameObject trafficLanesObject = GameObject.Find("TrafficLanes");
- if (trafficLanesObject == null)
+
+ ///
+ /// Clears all NPC vehicles running in simulation
+ ///
+ public void ClearAll()
{
- Debug.LogError("VerifyIntegrationEnvironmentElements error: Object 'TrafficLanes' not found in the scene.");
+ trafficSimulatorNodes.Clear();
+ npcVehicleSimulator?.ClearAll();
}
- Transform[] children = trafficLanesObject.GetComponentsInChildren();
- HashSet uniqueNames = new HashSet();
- bool isAnyIntersectionLane = false;
- bool isAnyTrafficScript = false;
- foreach (Transform child in children)
+ void Initialize()
{
- var trafficScript = child.gameObject.GetComponent();
- if (trafficScript)
+ Random.InitState(seed);
+
+ spawnLanes = new Dictionary>();
+ dummyEgo = new GameObject("DummyEgo");
+ if (_egoVehicle == null)
{
- isAnyTrafficScript = true;
- if (trafficScript.intersectionLane)
- {
- isAnyIntersectionLane = true;
- }
- if (!uniqueNames.Add(child.name))
- {
- Debug.LogError("VerifyIntegrationEnvironmentElements error: Found repeated child name in the 'TrafficLanes' object: " + child.name);
- }
+ _egoVehicle = dummyEgo;
+ }
+ npcVehicleSimulator = new NPCVehicleSimulator(vehicleConfig, vehicleLayerMask, groundLayerMask, maxVehicleCount, _egoVehicle);
+ npcVehicleSimulator.SetDummyEgo(dummyEgo);
+
+ verifyIntegrationEnvironmentElements();
+ trafficSimulatorNodes = new List();
+ if (npcVehicleSimulator == null)
+ {
+ Debug.LogError("Traffic manager requires NPC Vehicle Simulator script.");
+ return;
+ }
+
+ foreach (var randomTrafficConf in randomTrafficSims)
+ {
+ RandomTrafficSimulator randomTs = new RandomTrafficSimulator(
+ this.gameObject,
+ randomTrafficConf.npcPrefabs,
+ randomTrafficConf.spawnableLanes,
+ npcVehicleSimulator,
+ randomTrafficConf.maximumSpawns
+ );
+ randomTs.enabled = randomTrafficConf.enabled;
+ trafficSimulatorNodes.Add(randomTs);
+ }
+
+ foreach (var routeTrafficSimConf in routeTrafficSims)
+ {
+ RouteTrafficSimulator routeTs = new RouteTrafficSimulator(
+ this.gameObject,
+ routeTrafficSimConf.npcPrefabs,
+ routeTrafficSimConf.route,
+ npcVehicleSimulator,
+ routeTrafficSimConf.maximumSpawns
+ );
+ routeTs.enabled = routeTrafficSimConf.enabled;
+ trafficSimulatorNodes.Add(routeTs);
}
}
- if (!isAnyIntersectionLane)
+
+ void Dispose()
{
- Debug.LogError("VerifyIntegrationEnvironmentElements error: Not found any TrafficLane with 'IntersectionLane' set to true.");
+ npcVehicleSimulator?.Dispose();
+ ClearAll();
+ Despawn();
+ spawnLanes.Clear();
+ if (dummyEgo)
+ {
+ Destroy(dummyEgo);
+ _egoVehicle = null;
+ }
}
- if (!isAnyTrafficScript)
+
+ void Start()
{
- Debug.LogError("VerifyIntegrationEnvironmentElements error: Not found any TrafficLane with 'TrafficScript'.");
+ Initialize();
}
- }
+ public void Restart(int newSeed = 0, int newMaxVehicleCount = 10)
+ {
+ Dispose();
- private void FixedUpdate()
- {
- // Manage NPC spawning with the traffic simulators
+ seed = newSeed;
+ maxVehicleCount = newMaxVehicleCount;
- // Clear null elements in current list of traffic simulator
- trafficSimulatorNodes.RemoveAll(item => item == null);
+ Initialize();
+ }
- // Find out which lanes are used by multiple spawners
- // We can easly spawn vehicle on a lane which only one spawner hooked to that lane.
- // If there are multiple spawners for one lane, we need to manage spawning. Without
- // managing, one spawner might overcome all others because of the vehicle size check.
- foreach(var trafficSimulator in trafficSimulatorNodes)
+ private void verifyIntegrationEnvironmentElements()
{
- if(!trafficSimulator.IsEnabled()) continue;
+ GameObject trafficLanesObject = GameObject.Find("TrafficLanes");
+ if (trafficLanesObject == null)
+ {
+ Debug.LogError("VerifyIntegrationEnvironmentElements error: Object 'TrafficLanes' not found in the scene.");
+ }
- trafficSimulator.GetRandomSpawnInfo(out var spawnPoint, out var prefab);
- if (spawnLanes.ContainsKey(spawnPoint))
+ Transform[] children = trafficLanesObject.GetComponentsInChildren();
+ HashSet uniqueNames = new HashSet();
+ bool isAnyIntersectionLane = false;
+ bool isAnyTrafficScript = false;
+ foreach (Transform child in children)
+ {
+ var trafficScript = child.gameObject.GetComponent();
+ if (trafficScript)
+ {
+ isAnyTrafficScript = true;
+ if (trafficScript.intersectionLane)
+ {
+ isAnyIntersectionLane = true;
+ }
+ if (!uniqueNames.Add(child.name))
+ {
+ Debug.LogError("VerifyIntegrationEnvironmentElements error: Found repeated child name in the 'TrafficLanes' object: " + child.name);
+ }
+ }
+ }
+ if (!isAnyIntersectionLane)
+ {
+ Debug.LogError("VerifyIntegrationEnvironmentElements error: Not found any TrafficLane with 'IntersectionLane' set to true.");
+ }
+ if (!isAnyTrafficScript)
{
- spawnLanes[spawnPoint].Add(trafficSimulator, prefab);
- } else {
- var tsims = new Dictionary();
- tsims.Add(trafficSimulator, prefab);
- spawnLanes.Add(spawnPoint, tsims);
+ Debug.LogError("VerifyIntegrationEnvironmentElements error: Not found any TrafficLane with 'TrafficScript'.");
}
+
}
- // For lane with single vehicle spawner - just spawn it.
- // For lane with multiple vehicle spawners - make priorities and spawn one by one.
- foreach (var spawnLoc in spawnLanes)
+ private void FixedUpdate()
{
- NPCVehicle spawnedVehicle;
-
- if (spawnLoc.Value.Count == 1) {
- var tsimAndPrefab = spawnLoc.Value.First();
- var trafficSim = tsimAndPrefab.Key;
- var prefab = tsimAndPrefab.Value;
- if (!NPCVehicleSpawner.IsSpawnable(prefab.GetComponent().Bounds, spawnLoc.Key))
- continue;
- var spawned = trafficSim.Spawn(prefab, spawnLoc.Key, out spawnedVehicle);
- }
- else {
- var priorityTrafficSimList = spawnLoc.Value.OrderByDescending(x => x.Key.GetCurrentPriority());
- var priorityTrafficSimGo = priorityTrafficSimList.First();
- var prefab = priorityTrafficSimGo.Value;
- if (!NPCVehicleSpawner.IsSpawnable(prefab.GetComponent().Bounds, spawnLoc.Key))
+ // Manage NPC spawning with the traffic simulators
+
+ // Clear null elements in current list of traffic simulator
+ trafficSimulatorNodes.RemoveAll(item => item == null);
+
+ // Find out which lanes are used by multiple spawners
+ // We can easly spawn vehicle on a lane which only one spawner hooked to that lane.
+ // If there are multiple spawners for one lane, we need to manage spawning. Without
+ // managing, one spawner might overcome all others because of the vehicle size check.
+ foreach (var trafficSimulator in trafficSimulatorNodes)
+ {
+ if (!trafficSimulator.IsEnabled()) continue;
+
+ trafficSimulator.GetRandomSpawnInfo(out var spawnPoint, out var prefab);
+ if (spawnLanes.ContainsKey(spawnPoint))
{
- continue;
+ spawnLanes[spawnPoint].Add(trafficSimulator, prefab);
+ }
+ else
+ {
+ var tsims = new Dictionary();
+ tsims.Add(trafficSimulator, prefab);
+ spawnLanes.Add(spawnPoint, tsims);
}
- bool spawned = priorityTrafficSimGo.Key.Spawn(prefab, spawnLoc.Key, out spawnedVehicle);
- if (spawned) {
- foreach (var rest in priorityTrafficSimList)
- {
- rest.Key.IncreasePriority(1);
- }
- priorityTrafficSimGo.Key.ResetPriority();
- }
}
- if (spawnedVehicle && spawnedVehicle.gameObject.tag == "Ego")
+ // For lane with single vehicle spawner - just spawn it.
+ // For lane with multiple vehicle spawners - make priorities and spawn one by one.
+ foreach (var spawnLoc in spawnLanes)
{
- npcVehicleSimulator.EGOVehicle = spawnedVehicle.transform;
+ NPCVehicle spawnedVehicle;
+
+ if (spawnLoc.Value.Count == 1)
+ {
+ var tsimAndPrefab = spawnLoc.Value.First();
+ var trafficSim = tsimAndPrefab.Key;
+ var prefab = tsimAndPrefab.Value;
+ if (!NPCVehicleSpawner.IsSpawnable(prefab.GetComponent().Bounds, spawnLoc.Key))
+ continue;
+ var spawned = trafficSim.Spawn(prefab, spawnLoc.Key, out spawnedVehicle);
+ }
+ else
+ {
+ var priorityTrafficSimList = spawnLoc.Value.OrderByDescending(x => x.Key.GetCurrentPriority());
+ var priorityTrafficSimGo = priorityTrafficSimList.First();
+ var prefab = priorityTrafficSimGo.Value;
+ if (!NPCVehicleSpawner.IsSpawnable(prefab.GetComponent().Bounds, spawnLoc.Key))
+ {
+ continue;
+ }
+ bool spawned = priorityTrafficSimGo.Key.Spawn(prefab, spawnLoc.Key, out spawnedVehicle);
+ if (spawned)
+ {
+ foreach (var rest in priorityTrafficSimList)
+ {
+ rest.Key.IncreasePriority(1);
+ }
+ priorityTrafficSimGo.Key.ResetPriority();
+ }
+ }
+
+ if (spawnedVehicle && spawnedVehicle.gameObject.tag == "Ego")
+ {
+ npcVehicleSimulator.EGOVehicle = spawnedVehicle.transform;
+ }
}
- }
-
- spawnLanes.Clear();
- npcVehicleSimulator.StepOnce(Time.fixedDeltaTime);
- Despawn();
- }
- private void Despawn()
- {
- foreach (var state in npcVehicleSimulator.VehicleStates)
+ spawnLanes.Clear();
+ npcVehicleSimulator.StepOnce(Time.fixedDeltaTime);
+
+ Despawn();
+ }
+ private void Despawn()
{
- if (state.ShouldDespawn)
+ foreach (var state in npcVehicleSimulator.VehicleStates)
{
- Object.DestroyImmediate(state.Vehicle.gameObject);
+ if (state.ShouldDespawn)
+ {
+ Object.DestroyImmediate(state.Vehicle.gameObject);
+ }
}
+ npcVehicleSimulator.RemoveInvalidVehicles();
}
- npcVehicleSimulator.RemoveInvalidVehicles();
- }
- private void OnDestroy()
- {
- npcVehicleSimulator?.Dispose();
- }
+ private void OnDestroy()
+ {
+ npcVehicleSimulator?.Dispose();
+ }
- private void DrawSpawnPoints()
- {
- Gizmos.color = Color.cyan;
- foreach (var randomTrafficConf in randomTrafficSims)
+ private void DrawSpawnPoints()
{
- foreach (var lane in randomTrafficConf.spawnableLanes)
+ Gizmos.color = Color.cyan;
+ foreach (var randomTrafficConf in randomTrafficSims)
{
- Gizmos.DrawCube(lane.Waypoints[0], new Vector3(2.5f, 0.2f, 2.5f));
+ foreach (var lane in randomTrafficConf.spawnableLanes)
+ {
+ Gizmos.DrawCube(lane.Waypoints[0], new Vector3(2.5f, 0.2f, 2.5f));
+ }
}
- }
- Gizmos.color = Color.magenta;
- foreach (var routeTrafficSimConf in routeTrafficSims)
- {
- if (routeTrafficSimConf.route.Length > 0)
+ Gizmos.color = Color.magenta;
+ foreach (var routeTrafficSimConf in routeTrafficSims)
{
- Gizmos.DrawCube(routeTrafficSimConf.route[0].Waypoints[0], new Vector3(2.5f, 0.2f, 2.5f));
+ if (routeTrafficSimConf.route.Length > 0)
+ {
+ Gizmos.DrawCube(routeTrafficSimConf.route[0].Waypoints[0], new Vector3(2.5f, 0.2f, 2.5f));
+ }
}
}
- }
- private void OnDrawGizmos()
- {
- if (!showGizmos)
- return;
+ private void OnDrawGizmos()
+ {
+ if (!showGizmos)
+ return;
- var defaultColor = Gizmos.color;
- npcVehicleSimulator?.ShowGizmos(showYieldingPhase, showObstacleChecking);
- if (showSpawnPoints)
- DrawSpawnPoints();
+ var defaultColor = Gizmos.color;
+ npcVehicleSimulator?.ShowGizmos(showYieldingPhase, showObstacleChecking);
+ if (showSpawnPoints)
+ DrawSpawnPoints();
- Gizmos.color = defaultColor;
+ Gizmos.color = defaultColor;
+ }
}
}
-}
diff --git a/Assets/AWSIM/Scripts/UI/DemoUI.cs b/Assets/AWSIM/Scripts/UI/DemoUI.cs
index cea278c33..9c7542278 100644
--- a/Assets/AWSIM/Scripts/UI/DemoUI.cs
+++ b/Assets/AWSIM/Scripts/UI/DemoUI.cs
@@ -7,26 +7,37 @@ namespace AWSIM
{
public class DemoUI : MonoBehaviour
{
- [SerializeField] Text timeScaleText;
- [SerializeField] Slider timeScaleSlider;
[SerializeField] Text versionText;
+ [SerializeField] Text fpsText;
+
+ int frameCount;
+ float lastTime;
+ float fps;
private void Start()
{
- timeScaleSlider.value = Time.timeScale;
- timeScaleText.text = "x " + timeScaleSlider.value.ToString("F2");
var version = Application.version;
print(version);
versionText.text = "AWSIM v " + version;
+
+ frameCount = 0;
+ lastTime = 0.0f;
}
- public void SetTimeScale(float timeScale)
+ private void Update()
{
- Time.timeScale = timeScale;
- timeScaleText.text = "x " + timeScale.ToString("F2");
+ frameCount++;
+ float time = Time.realtimeSinceStartup - lastTime;
+
+ if (time >= 0.5f)
+ {
+ fps = frameCount / time;
+
+ frameCount = 0;
+ lastTime = Time.realtimeSinceStartup;
+ }
- // synchronisation of new timescale value with TimeScaleProvider
- TimeScaleProvider.DoUpdate();
+ fpsText.text = fps.ToString("F0") + " fps";
}
}
}
diff --git a/Assets/AWSIM/Scripts/UI/FollowCameraSettingsUI.cs b/Assets/AWSIM/Scripts/UI/FollowCameraSettingsUI.cs
new file mode 100644
index 000000000..9166b59c9
--- /dev/null
+++ b/Assets/AWSIM/Scripts/UI/FollowCameraSettingsUI.cs
@@ -0,0 +1,26 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.UI;
+
+namespace AWSIM
+{
+ ///
+ /// Setting UI for FollowCamera
+ ///
+ public class FollowCameraSettingsUI : MonoBehaviour
+ {
+ [SerializeField] FollowCamera followCamera;
+ [SerializeField] Toggle enableRotateAroundModeToggle;
+
+ void Start()
+ {
+ enableRotateAroundModeToggle.isOn = followCamera.EnableRotateAroundMode;
+ }
+
+ public void OnToggle(bool isOn)
+ {
+ followCamera.EnableRotateAroundMode = isOn;
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/AWSIM/Scripts/UI/MainCameraViewUI.cs.meta b/Assets/AWSIM/Scripts/UI/FollowCameraSettingsUI.cs.meta
similarity index 83%
rename from Assets/AWSIM/Scripts/UI/MainCameraViewUI.cs.meta
rename to Assets/AWSIM/Scripts/UI/FollowCameraSettingsUI.cs.meta
index fd284c01f..6dd71d158 100644
--- a/Assets/AWSIM/Scripts/UI/MainCameraViewUI.cs.meta
+++ b/Assets/AWSIM/Scripts/UI/FollowCameraSettingsUI.cs.meta
@@ -1,5 +1,5 @@
fileFormatVersion: 2
-guid: 45c967c5f46b6612f874eb3cfb4bca64
+guid: 2dc863eb5893a674db49357356fd3352
MonoImporter:
externalObjects: {}
serializedVersion: 2
diff --git a/Assets/AWSIM/Scripts/UI/MainCameraViewUI.cs b/Assets/AWSIM/Scripts/UI/MainCameraViewUI.cs
deleted file mode 100644
index b3df450f0..000000000
--- a/Assets/AWSIM/Scripts/UI/MainCameraViewUI.cs
+++ /dev/null
@@ -1,44 +0,0 @@
-using UnityEngine;
-
-namespace AWSIM
-{
- ///
- /// UI View Class for Camera Rotate Around feature from Camera Follow script.
- ///
- [RequireComponent(typeof(CanvasGroup))]
- public class MainCameraViewUI : MonoBehaviour
- {
- private CanvasGroup canvasGroup = null;
- private FollowCamera followCamera = null;
-
- private void Awake()
- {
- canvasGroup = this.GetComponent();
- followCamera = FindObjectOfType();
- canvasGroup.alpha = 0.0f;
- }
-
- void OnEnable()
- {
- if(followCamera != null)
- {
- followCamera.onActivateRotateCameraAround += Show;
- }
- }
-
- void OnDisable()
- {
- if(followCamera != null)
- {
- followCamera.onActivateRotateCameraAround -= Show;
- }
- }
-
- private void Show(bool active)
- {
- canvasGroup.alpha = active? 1.0f : 0.0f;
- }
-
- }
-
-}
diff --git a/Assets/AWSIM/Scripts/UI/RightScrollViewUI.cs b/Assets/AWSIM/Scripts/UI/RightScrollViewUI.cs
new file mode 100644
index 000000000..ea48cda5d
--- /dev/null
+++ b/Assets/AWSIM/Scripts/UI/RightScrollViewUI.cs
@@ -0,0 +1,57 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.UI;
+
+namespace AWSIM
+{
+ ///
+ /// UI class for RightScrollview.
+ /// Open and Close functions are available.
+ ///
+ public class RightScrollViewUI : MonoBehaviour
+ {
+ [SerializeField] RectTransform rightScrollViewRect;
+ [SerializeField] GameObject OpenUIButtonObj;
+ [SerializeField] GameObject CloseUIBUttonObj;
+ Vector3 initialPos;
+ Vector3 closedPos = new Vector3(165, 0, 0); // take off the screen position
+
+ ///
+ /// open/close can be selected at initialization
+ ///
+ public bool opened = true;
+
+ void Start()
+ {
+ initialPos = rightScrollViewRect.anchoredPosition;
+
+ if (opened)
+ OpenUI();
+ else
+ CloseUI();
+ }
+
+ ///
+ /// Callback from OpenUIButton
+ ///
+ public void OpenUI()
+ {
+ opened = true;
+ rightScrollViewRect.anchoredPosition = initialPos;
+ OpenUIButtonObj.SetActive(false);
+ CloseUIBUttonObj.SetActive(true);
+ }
+
+ ///
+ /// Callback from CloseUIButton
+ ///
+ public void CloseUI()
+ {
+ opened = false;
+ rightScrollViewRect.anchoredPosition = closedPos;
+ OpenUIButtonObj.SetActive(true);
+ CloseUIBUttonObj.SetActive(false);
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/AWSIM/Scripts/UI/RightScrollViewUI.cs.meta b/Assets/AWSIM/Scripts/UI/RightScrollViewUI.cs.meta
new file mode 100644
index 000000000..30fa8e253
--- /dev/null
+++ b/Assets/AWSIM/Scripts/UI/RightScrollViewUI.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: cd879c044ee385149948e611f1127e60
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/AWSIM/Scripts/UI/TimeScaleSettingsUI.cs b/Assets/AWSIM/Scripts/UI/TimeScaleSettingsUI.cs
new file mode 100644
index 000000000..7535a1d5a
--- /dev/null
+++ b/Assets/AWSIM/Scripts/UI/TimeScaleSettingsUI.cs
@@ -0,0 +1,28 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.UI;
+
+namespace AWSIM
+{
+ public class TimeScaleSettingsUI : MonoBehaviour
+ {
+ [SerializeField] Text timeScaleText;
+ [SerializeField] Slider timeScaleSlider;
+
+ void Start()
+ {
+ timeScaleSlider.value = Time.timeScale;
+ timeScaleText.text = "x " + timeScaleSlider.value.ToString("F2");
+ }
+
+ public void SetTimeScale(float timeScale)
+ {
+ Time.timeScale = timeScale;
+ timeScaleText.text = "x " + timeScale.ToString("F2");
+
+ // synchronisation of new timescale value with TimeScaleProvider
+ TimeScaleProvider.DoUpdate();
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/AWSIM/Scripts/UI/TimeScaleSettingsUI.cs.meta b/Assets/AWSIM/Scripts/UI/TimeScaleSettingsUI.cs.meta
new file mode 100644
index 000000000..429bdb451
--- /dev/null
+++ b/Assets/AWSIM/Scripts/UI/TimeScaleSettingsUI.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 41335af0143009e499902125fb7444a4
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/AWSIM/Scripts/UI/TrafficSettingsUI.cs b/Assets/AWSIM/Scripts/UI/TrafficSettingsUI.cs
new file mode 100644
index 000000000..34fe7fc5b
--- /dev/null
+++ b/Assets/AWSIM/Scripts/UI/TrafficSettingsUI.cs
@@ -0,0 +1,52 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.UI;
+using AWSIM.TrafficSimulation;
+
+namespace AWSIM
+{
+ public class TrafficSettingsUI : MonoBehaviour
+ {
+ [SerializeField] TrafficManager trafficManager;
+ [SerializeField] InputField seedInputField;
+ [SerializeField] InputField maxVehicleCountInputField;
+ [SerializeField] GameObject appliedTextObj;
+
+ int seed = 0;
+ int count = 0;
+
+ void Start()
+ {
+ seed = trafficManager.seed;
+ count = trafficManager.maxVehicleCount;
+
+ seedInputField.text = seed.ToString();
+ maxVehicleCountInputField.text = count.ToString();
+ }
+
+ public void RestartRandomTraffic()
+ {
+ if (seedInputField.text == string.Empty)
+ seedInputField.text = seed.ToString();
+
+ if (maxVehicleCountInputField.text == string.Empty)
+ maxVehicleCountInputField.text = count.ToString();
+
+ seed = Int32.Parse(seedInputField.text);
+ count = Int32.Parse(maxVehicleCountInputField.text);
+
+ trafficManager.Restart(seed, count);
+
+ StartCoroutine(DisplayAppliedText());
+ }
+
+ IEnumerator DisplayAppliedText()
+ {
+ appliedTextObj.SetActive(true);
+ yield return new WaitForSecondsRealtime(3f);
+ appliedTextObj.SetActive(false);
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/AWSIM/Scripts/UI/TrafficSettingsUI.cs.meta b/Assets/AWSIM/Scripts/UI/TrafficSettingsUI.cs.meta
new file mode 100644
index 000000000..32e94e8cc
--- /dev/null
+++ b/Assets/AWSIM/Scripts/UI/TrafficSettingsUI.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8c3bd46029406e849a389f7cbbe59789
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/AWSIM/Scripts/UI/VehicleInfomationUI.cs b/Assets/AWSIM/Scripts/UI/VehicleInfomationUI.cs
new file mode 100644
index 000000000..0e47150b0
--- /dev/null
+++ b/Assets/AWSIM/Scripts/UI/VehicleInfomationUI.cs
@@ -0,0 +1,38 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.UI;
+
+namespace AWSIM
+{
+ ///
+ /// Displays speed and gear UI.
+ ///
+ public class VehicleInfomationUI : MonoBehaviour
+ {
+ [SerializeField] Vehicle vehicle;
+ [SerializeField] Text speedText;
+ [SerializeField] Text gearText;
+
+ void Update()
+ {
+ speedText.text = "" + Mathf.Floor(vehicle.Speed * 3.6f);
+ gearText.text = "" + GetShiftString(vehicle.AutomaticShift);
+
+ static string GetShiftString(Vehicle.Shift shift)
+ {
+ string shiftString = "";
+ if (shift == Vehicle.Shift.DRIVE)
+ shiftString = "D";
+ else if (shift == Vehicle.Shift.NEUTRAL)
+ shiftString = "N";
+ else if (shift == Vehicle.Shift.PARKING)
+ shiftString = "P";
+ else
+ shiftString = "R";
+
+ return shiftString;
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/AWSIM/Scripts/UI/VehicleInfomationUI.cs.meta b/Assets/AWSIM/Scripts/UI/VehicleInfomationUI.cs.meta
new file mode 100644
index 000000000..b0b1b8991
--- /dev/null
+++ b/Assets/AWSIM/Scripts/UI/VehicleInfomationUI.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e05d96f5e403eca48accb7d27bc550bb
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/AWSIM/Scripts/UI/VehicleSettingsUI.cs b/Assets/AWSIM/Scripts/UI/VehicleSettingsUI.cs
new file mode 100644
index 000000000..118713437
--- /dev/null
+++ b/Assets/AWSIM/Scripts/UI/VehicleSettingsUI.cs
@@ -0,0 +1,28 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.UI;
+
+namespace AWSIM
+{
+ ///
+ /// Provides a UI for the vehicle.
+ /// - Speed meter (km/h)
+ /// - Automatic gear shift
+ /// - Switch to manual contorl toggle
+ ///
+ public class VehicleSettingsUI : MonoBehaviour
+ {
+ // vehicle components
+ [SerializeField] Vehicle vehicle;
+ [SerializeField] VehicleKeyboardInput keyboardInput;
+ [SerializeField] VehicleRosInput rosInput;
+
+ // Enable keyboard input when toggle is on
+ public void OnSwitchVehicleControl(bool isOn)
+ {
+ keyboardInput.enabled = isOn;
+ rosInput.enabled = !isOn;
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/AWSIM/Scripts/UI/VehicleSettingsUI.cs.meta b/Assets/AWSIM/Scripts/UI/VehicleSettingsUI.cs.meta
new file mode 100644
index 000000000..028692852
--- /dev/null
+++ b/Assets/AWSIM/Scripts/UI/VehicleSettingsUI.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b9a4c4f92be2cd74788c963ea21ba744
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/AWSIM/Scripts/Vehicles/Vehicle.cs b/Assets/AWSIM/Scripts/Vehicles/Vehicle.cs
index d70406b98..3e75f83cd 100644
--- a/Assets/AWSIM/Scripts/Vehicles/Vehicle.cs
+++ b/Assets/AWSIM/Scripts/Vehicles/Vehicle.cs
@@ -254,11 +254,13 @@ public float SidewaySlipMultipler
///
public Vector3 LocalAngularAcceleration => m_transform.InverseTransformDirection(AngularAcceleration);
+ ///
+ /// Vehicle automatic shift (P, R, N, D)
+ ///
+ public Shift AutomaticShift => AutomaticShiftInput;
private float sleepTimer = 0.0f; ///Count the time until CanSleep is switched to true
-
-
// Cache components.
Wheel[] wheels;
Rigidbody m_rigidbody;
@@ -489,7 +491,7 @@ void UpdateWheelsForce(float acceleration)
if (Speed > 0)
{
- var maxAcceleration = Speed / Time.deltaTime;
+ var maxAcceleration = -Speed / Time.deltaTime;
if (acceleration > maxAcceleration)
acceleration = maxAcceleration;
}