RRGameState.h

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#pragma once
 
 
 
// UE
 
#include "CoreMinimal.h"
 
#include "GameFramework/Character.h"
 
#include "GameFramework/GameState.h"
 
 
 
// RapyutaSimulationPlugins
 
#include "Core/RRActorCommon.h"
 
#include "Core/RRConversionUtils.h"
 
 
 
#include "RRGameState.generated.h"
 
 
 
class ARRGameMode;
 
class URRGameInstance;
 
class ARRMeshActor;
 
 
 
class RAPYUTASIMULATIONPLUGINS_API ARRGameState : public AGameState
 
{
 
public:
 
    ARRGameState();
 
 
 
    virtual void StartSim();
 
 
 
 
    TObjectPtr<ARRGameMode> GameMode = nullptr;
 
 
 
 
    int8 SCENE_INSTANCES_NUM = 1;
 
 
 
 
    int32 OPERATION_BATCHES_NUM = 5;
 
 
 
 
    float SCENE_INSTANCES_DISTANCE_INTERVAL = 5000.f;
 
 
    int8 LastSceneInstanceId = URRActorCommon::DEFAULT_SCENE_INSTANCE_ID;
 
 
 
 
    TArray<URRSceneInstance*> SceneInstanceList;
 
 
 
    template<typename TScenceInstanceClass>
 
    TScenceInstanceClass* GetSceneInstance(int8 InSceneInstanceId) const
 
    {
 
        TScenceInstanceClass* instance = SceneInstanceList.IsValidIndex(InSceneInstanceId)
 
                                             ? Cast<TScenceInstanceClass>(SceneInstanceList[InSceneInstanceId])
 
                                             : nullptr;
 
        ensure(instance);
 
        return instance;
 
    }
 
 
 
    bool HasSceneInstance(int8 InSceneInstanceId)
 
    {
 
        return SceneInstanceList.IsValidIndex(InSceneInstanceId) && SceneInstanceList[InSceneInstanceId];
 
    }
 
 
 
    virtual bool HasSceneInstanceListBeenCreated(bool bIsLogged = false) const;
 
    virtual bool HasInitialized(bool bIsLogged = false) const;
 
 
 
    virtual bool HaveAllSceneInstancesCompleted() const;
 
 
 
    // ENVIRONMENT
 
 
    AActor* MainEnvironment = nullptr;
 
 
 
 
    AActor* MainFloor = nullptr;
 
 
 
 
    AActor* MainWall = nullptr;
 
 
 
 
    TArray<ALight*> MainLights;
 
 
 
    // SIM OUTPUTS
 
 
    FString SIM_OUTPUTS_BASE_FOLDER_NAME = TEXT("OutputData");
 
 
 
    FString GetSimOutputsBaseFolderPath() const
 
    {
 
        return FPaths::IsRelative(SIM_OUTPUTS_BASE_FOLDER_NAME)
 
                   ? FPaths::ConvertRelativePathToFull(FPaths::ProjectSavedDir() / SIM_OUTPUTS_BASE_FOLDER_NAME)
 
                   : SIM_OUTPUTS_BASE_FOLDER_NAME;
 
    }
 
 
 
    // ENTITIES
 
    /* The vertex normals
 
     * INI in ROS
 
      7 -- 4      Z
 
     /|   /|      |
 
    2-1--5 6      | Y
 
    |/   |/       |/
 
    0 -- 3         -----X
 
 
 
     * UE
 
    4 -- 7         Z
 
    |\   |\     Y  |
 
    6 5--1 2     \ |
 
     \|   \|      \|
 
      3 -- 0  X----
 
     */
 
    // NOTE: THESE ARE CONFIGURED BY USERS IN ROS RIGHT-HANDED COORD FOR CONVENIENCE, THUS THE INDEX ORDERING FOLLOWS CLOCK-WISE
 
 
    TArray<FVector> ENTITY_BOUNDING_BOX_VERTEX_NORMALS = {
 
        {0.f, 0.f, 0.f},    //[0]
 
        {0.f, 1.f, 0.f},    //[1]
 
        {0.f, 0.f, 1.f},    //[2]
 
        {1.f, 0.f, 0.f},    //[3]
 
        {1.f, 1.f, 1.f},    //[4]
 
        {1.f, 0.f, 1.f},    //[5]
 
        {1.f, 1.f, 0.f},    //[6]
 
        {0.f, 1.f, 1.f},    //[7]
 
    };
 
 
 
    // UE LEFT-HANDED COUNTER-CLOCKWISE ORDERING
 
    FORCEINLINE FVector GetEntityBBVertexNormal(int8 InVertexIdx)
 
    {
 
        static const TArray<FVector> bbVertexNormals = {ENTITY_BOUNDING_BOX_VERTEX_NORMALS[3],
 
                                                        ENTITY_BOUNDING_BOX_VERTEX_NORMALS[6],
 
                                                        ENTITY_BOUNDING_BOX_VERTEX_NORMALS[5],
 
                                                        ENTITY_BOUNDING_BOX_VERTEX_NORMALS[0],
 
                                                        ENTITY_BOUNDING_BOX_VERTEX_NORMALS[7],
 
                                                        ENTITY_BOUNDING_BOX_VERTEX_NORMALS[2],
 
                                                        ENTITY_BOUNDING_BOX_VERTEX_NORMALS[1],
 
                                                        ENTITY_BOUNDING_BOX_VERTEX_NORMALS[4]};
 
        return bbVertexNormals[InVertexIdx];
 
    }
 
 
 
    void SetAllEntitiesActivated(bool bIsActivated);
 
    ARRMeshActor* FindEntityByModel(const FString& InEntityModelName, bool bToActivate, bool bToTakeAway);
 
    void AddEntity(ARRMeshActor* InEntity);
 
 
 
    template<typename T>
 
    void AddEntities(const TArray<T*> InEntityList)
 
    {
 
        for (const auto& entity : InEntityList)
 
        {
 
            AddEntity(entity);
 
        }
 
    }
 
 
 
 
    virtual void MoveEnvironmentToSceneInstance(int8 InSceneInstanceId);
 
 
 
protected:
 
    virtual void CreateSceneInstance(int8 InSceneInstanceId);
 
 
 
    virtual void InitializeSim(int8 InSceneInstanceId);
 
 
 
    virtual void StartSubSim(int8 InSceneInstanceId);
 
 
 
    virtual void CreateServiceObjects(int8 InSceneInstanceId);
 
 
 
 
    virtual void SetupEnvironment();
 
 
 
 
    virtual void FetchEnvStaticActors();
 
 
 
    virtual void FinalizeSim();
 
    virtual void PrintSimConfig() const;
 
 
 
    virtual void BeginPlay() override;
 
 
 
    virtual void BeginSubPlay();
 
 
 
    virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
 
 
 
protected:
 
 
    TSubclassOf<URRSceneInstance> SceneInstanceClass;
 
 
 
 
 
    TArray<ARRMeshActor*> AllDynamicMeshEntities;
 
 
 
private:
 
 
 
    TArray<AActor*> OrphanEntities;
 
};