Skip to content

Commit

Permalink
fix pre commit errors
Browse files Browse the repository at this point in the history 
Signed-off-by: SujayAmberkar <[email protected]>
  • Loading branch information
@SujayAmberkar
SujayAmberkar committed Aug 20, 2024
1 parent bb2adea commit 2725f7b
Showing 1 changed file with 65 additions and 52 deletions.
117 changes: 65 additions & 52 deletions Assets/AWSIM/Scripts/NPCs/RvizNPCSpawner/RVIZNPCSpawner.cs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -36,13 +36,13 @@ public class RVIZNPCSpawner : MonoBehaviour
private float _npcVelocity;
private int _npcLabel;
private int _interactiveAction = 0;
private int _activeNPCCount=0;
private int _activeNPCCount = 0;
private GameObject interactiveVehicle;
private List<GameObject> _spawnedNPCs = new List<GameObject>();
private Quaternion _npcSpawnRotation;
private Vector3 _npcSpawnPosition;
private float _raycastStart = 1.33f;

// Subscriber
ISubscription<dummy_perception_publisher.msg.Object> dummyPerceptionSubscriber;

Expand All @@ -57,31 +57,35 @@ void Start()
private void FixedUpdate()
{
// clear the _spawnedNPCs array if all the npcs are despawned
if(_allNPCsDespawned){
if (_allNPCsDespawned)
{
DespawnAllNPCs();
_allNPCsDespawned = false;
return;
}

// spawn a new NPC
if (_willSpawnNpc){
if (_willSpawnNpc)
{
SpawnNewNPC();
}


// interactive action = 1: update the position of the last spawned interactive NPC
if(_interactiveAction==1 && _spawnedNPCs != null && _spawnedNPCs.Count>0){

// interactive action = 1: update the position of the last spawned interactive NPC
if (_interactiveAction == 1 && _spawnedNPCs != null && _spawnedNPCs.Count > 0)
{
MoveNPC();
}


if (_willDespawnAllNPCs)
{
DespawnAllNPCs();
_willDespawnAllNPCs = false;
return;
}
if(_willDespawnInteractiveNPCs){
if (_willDespawnInteractiveNPCs)
{
DespawnInteractiveNPCs();
_willDespawnInteractiveNPCs = false;
return;
Expand All @@ -99,33 +103,38 @@ void OnObjectInfoReceived(dummy_perception_publisher.msg.Object msg)
_npcSpawnPosition = ROS2Utility.RosMGRSToUnityPosition(msg.Initial_state.Pose_covariance.Pose.Position);
_npcSpawnRotation = ROS2Utility.RosToUnityRotation(msg.Initial_state.Pose_covariance.Pose.Orientation);
_npcVelocity = (float)msg.Initial_state.Twist_covariance.Twist.Linear.X;

// interactive mode;
if(_interactiveAction==1){

// interactive mode;
if (_interactiveAction == 1)
{
return;
}

if (_npcLabel == 0){

if (_npcLabel == 0)
{
_willDespawnAllNPCs = true;
return;
}


// spawn normal npcs
if(_interactiveAction==0){
if (_interactiveAction == 0)
{
_willSpawnNpc = true;
return ;
return;
}

// delete only interactive npcs
if(_interactiveAction==2){
if (_interactiveAction == 2)
{
_willDespawnInteractiveNPCs = true;
return;
}

}

private void SpawnNewNPC(){
private void SpawnNewNPC()
{
{
// check where the ground collider is and spawn the NPC above the ground
Vector3 rayOrigin = new Vector3(_npcSpawnPosition.x, _raycastStart, _npcSpawnPosition.z);
Expand Down Expand Up @@ -160,21 +169,22 @@ private void SpawnNewNPC(){
private void SpawnPedestrians(Vector3 spawnPoint, Quaternion spawnOrientation)
{
GameObject npcPedestrian = Instantiate(npcPedestrianPrefab, new Vector3(spawnPoint.x, spawnPoint.y, spawnPoint.z), spawnOrientation, npcPedestrianParent);

// in interactive mode I don't need the following, but I need it in normal mode
SimplePedestrianWalkerController walker = npcPedestrian.AddComponent<SimplePedestrianWalkerController>();
walker.GetType().GetField("duration", System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance).SetValue(walker, 30);
walker.GetType().GetField("speed", System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance).SetValue(walker, _interactiveAction==1?0:_npcVelocity);

if(_interactiveAction==1){
walker.GetType().GetField("speed", System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance).SetValue(walker, _interactiveAction == 1 ? 0 : _npcVelocity);

if (_interactiveAction == 1)
{
NPCPedestrian pedestrianScript = npcPedestrian.GetComponent<NPCPedestrian>();
if (pedestrianScript != null)
{
Destroy(walker);
Destroy(pedestrianScript);
}
}

_spawnedNPCs.Add(npcPedestrian);
StartCoroutine(DespawnNPC(npcPedestrian, despawnTime));
}
Expand All @@ -186,7 +196,7 @@ private void SpawnVehicles(Vector3 spawnPoint, Quaternion spawnOrientation, int
{
// default vehicle is car
GameObject vehiclePrefab = npcCarPrefabs[Random.Range(0, npcCarPrefabs.Length - 1)];

// change the vehicle to bus
if (vehicleType == 3)
{
Expand All @@ -206,38 +216,40 @@ private void SpawnVehicles(Vector3 spawnPoint, Quaternion spawnOrientation, int
StartCoroutine(DespawnNPC(npcVehicle, despawnTime));
}

private void MoveNPC(){
private void MoveNPC()
{
int groundLayerMask = LayerMask.GetMask("Ground");

Vector3 rayOrigin = new Vector3(_npcSpawnPosition.x, _raycastStart, _npcSpawnPosition.z);
Vector3 rayDirection = Vector3.down;

if (Physics.Raycast(rayOrigin, rayDirection, out RaycastHit hit, Mathf.Infinity,groundLayerMask))
Vector3 rayOrigin = new Vector3(_npcSpawnPosition.x, _raycastStart, _npcSpawnPosition.z);
Vector3 rayDirection = Vector3.down;

if (Physics.Raycast(rayOrigin, rayDirection, out RaycastHit hit, Mathf.Infinity, groundLayerMask))
{
interactiveVehicle = _spawnedNPCs[_spawnedNPCs.Count - 1];
interactiveVehicle.tag = "InteractiveNpcs";
if (interactiveVehicle != null)
{
interactiveVehicle = _spawnedNPCs[_spawnedNPCs.Count-1];
interactiveVehicle.tag = "InteractiveNpcs";
if(interactiveVehicle !=null){
if (_npcLabel == 7)
if (_npcLabel == 7)
{
// remove unwanted components for interactive pedestrians
NPCPedestrian pedestrianScript = interactiveVehicle.GetComponent<NPCPedestrian>();
SimplePedestrianWalkerController walker = interactiveVehicle.GetComponent<SimplePedestrianWalkerController>();
if (walker != null)
{
// remove unwanted components for interactive pedestrians
NPCPedestrian pedestrianScript = interactiveVehicle.GetComponent<NPCPedestrian>();
SimplePedestrianWalkerController walker = interactiveVehicle.GetComponent<SimplePedestrianWalkerController>();
if (walker != null)
{
Destroy(walker); // Destroy the SimplePedestrianWalkerController script
}

if (pedestrianScript != null)
{
Destroy(pedestrianScript); // Destroy the NPCPedestrian script
}
Destroy(walker); // Destroy the SimplePedestrianWalkerController script
}

if (pedestrianScript != null)
{
Destroy(pedestrianScript); // Destroy the NPCPedestrian script
}

interactiveVehicle.transform.position = new Vector3(_npcSpawnPosition.x, hit.point.y , _npcSpawnPosition.z);
interactiveVehicle.transform.rotation = _npcSpawnRotation;
}
return;

interactiveVehicle.transform.position = new Vector3(_npcSpawnPosition.x, hit.point.y, _npcSpawnPosition.z);
interactiveVehicle.transform.rotation = _npcSpawnRotation;
}
return;
}
}

/// <summary>
Expand Down Expand Up @@ -292,7 +304,8 @@ private void DespawnInteractiveNPCs()
_activeNPCCount--;
Destroy(npc);
}
if(_activeNPCCount==0){
if (_activeNPCCount == 0)
{
_allNPCsDespawned = true;
}
}
Expand Down

0 comments on commit 2725f7b

Please sign in to comment.