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cleaning up comments, rename one variable
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cleaning up some comments and spelling, changing the following nomenclature:

//for third party camera
agentPositionRelativeThirdPartyCameraRotation -> agentRotationRelativeThirdPartyCameraRotation

//for main camera
agentPositionRelativeCameraRotation -> agentRotationRelativeCameraRotation

as rotation relative to the agent position doesn't mean anything.
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@winthos
winthos committed Sep 10, 2024
1 parent c7c3aff commit ef3bfb2
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Showing 3 changed files with 23 additions and 24 deletions.
17 changes: 8 additions & 9 deletions unity/Assets/Scripts/AgentManager.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -1295,7 +1295,7 @@ bool shouldRenderImageSynthesis
Camera camera = thirdPartyCameras.ToArray()[i];
cMetadata.thirdPartyCameraId = i;

//to be depracated at some point, will be replaced by more descriptive worldRelativeThirdPartyCamera....
//to be deprecated at some point, will be replaced by more descriptive worldRelativeThirdPartyCamera....
cMetadata.position = camera.transform.position;
cMetadata.rotation = camera.transform.eulerAngles;
//currently redundant data as it is the same as metadata.position/rotation, but more descriptive naming convention
Expand All @@ -1313,7 +1313,7 @@ bool shouldRenderImageSynthesis
cMetadata.parentPositionRelativeThirdPartyCameraPosition =
camera.transform.parent.InverseTransformPoint(camera.transform.position);

//get third party camera rotation as quaternion in world space
//get third party camera rotation as quaternion in parent space
var parentSpaceCameraRotationAsQuaternion =
Quaternion.Inverse(camera.transform.parent.rotation)
* worldSpaceCameraRotationAsQuaternion;
Expand All @@ -1325,23 +1325,22 @@ bool shouldRenderImageSynthesis
cMetadata.parentPositionRelativeThirdPartyCameraRotation = null;
}

//if this camera is part of the agent's heirarchy at all, get agent relative info
//if this camera is part of the agent's hierarchy at all, get agent relative info
if (camera.GetComponentInParent<BaseAgentComponent>() != null) {
GameObject agent = camera.GetComponentInParent<BaseAgentComponent>().gameObject;

cMetadata.agentPositionRelativeThirdPartyCameraPosition =
agent.transform.InverseTransformPoint(camera.gameObject.transform.position);

//get third party camera rotation as quaternion in world space
var agentSpaceCameraRotationAsQuaternion =
Quaternion.Inverse(agent.transform.rotation)
* worldSpaceCameraRotationAsQuaternion;
cMetadata.agentPositionRelativeThirdPartyCameraRotation =
cMetadata.agentRotationRelativeThirdPartyCameraRotation =
agentSpaceCameraRotationAsQuaternion.eulerAngles;
} else {
//if this third party camera is not a child of the agent, we don't need agent-relative coordinates
cMetadata.agentPositionRelativeThirdPartyCameraPosition = null;
cMetadata.agentPositionRelativeThirdPartyCameraRotation = null;
cMetadata.agentRotationRelativeThirdPartyCameraRotation = null;
}

cMetadata.fieldOfView = camera.fieldOfView;
Expand Down Expand Up @@ -1877,12 +1876,12 @@ public class ThirdPartyCameraMetadata {
//note these should only be returned with values
//if the third party camera is a child of the agent
public Vector3? agentPositionRelativeThirdPartyCameraPosition;
public Vector3? agentPositionRelativeThirdPartyCameraRotation;
public Vector3? agentRotationRelativeThirdPartyCameraRotation;

//return the local space coordinates if this third party camera has a parent object, this may be the same as agentPositionRelative depending on how things are parented
public Vector3? parentPositionRelativeThirdPartyCameraPosition;
public Vector3? parentPositionRelativeThirdPartyCameraRotation;
public string parentObjectName; //if this third party camera is in a heirarchy, return the name of the parent object
public string parentObjectName; //if this third party camera is in a hierarchy, return the name of the parent object
}

[Serializable]
Expand Down Expand Up @@ -2314,7 +2313,7 @@ public struct MetadataWrapper {
public Vector3 worldRelativeCameraPosition;
public Vector3 worldRelativeCameraRotation;
public Vector3 agentPositionRelativeCameraPosition;
public Vector3 agentPositionRelativeCameraRotation;
public Vector3 agentRotationRelativeCameraRotation;
public float cameraOrthSize;
public ThirdPartyCameraMetadata[] thirdPartyCameras;
public bool collided;
Expand Down
8 changes: 4 additions & 4 deletions unity/Assets/Scripts/BaseFPSAgentController.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -2627,8 +2627,8 @@ public virtual MetadataWrapper generateMetadataWrapper() {
metaMessage.screenWidth = Screen.width;
metaMessage.screenHeight = Screen.height;

metaMessage.cameraPosition = m_Camera.transform.position;
metaMessage.cameraRotation = m_Camera.transform.eulerAngles;
metaMessage.cameraPosition = m_Camera.transform.position; //to be deprecated
metaMessage.cameraRotation = m_Camera.transform.eulerAngles; //to be deprecated
metaMessage.worldRelativeCameraPosition = m_Camera.transform.position;
metaMessage.worldRelativeCameraRotation = m_Camera.transform.eulerAngles;

Expand All @@ -2645,9 +2645,9 @@ public virtual MetadataWrapper generateMetadataWrapper() {
var worldSpaceCameraRotationAsQuaternion = m_Camera.transform.rotation;
var localSpaceCameraRotationAsQuaternion =
Quaternion.Inverse(transform.rotation) * worldSpaceCameraRotationAsQuaternion;
metaMessage.agentPositionRelativeCameraRotation =
metaMessage.agentRotationRelativeCameraRotation =
localSpaceCameraRotationAsQuaternion.eulerAngles;
//Debug.Log($"agentRelativeCameraRotation: {metaMessage.agentPositionRelativeCameraRotation}");
//Debug.Log($"agentRelativeCameraRotation: {metaMessage.agentRotationRelativeCameraRotation}");

metaMessage.cameraOrthSize = cameraOrthSize;
cameraOrthSize = -1f;
Expand Down
22 changes: 11 additions & 11 deletions unity/Assets/UnitTests/TestThirdPartyCameraAndMainCamera.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -358,17 +358,17 @@ public IEnumerator TestMainCameraMetadataReturn()
);
Assert.AreEqual(result, true);
result = Mathf.Approximately(
metadata.agentPositionRelativeCameraRotation.x,
metadata.agentRotationRelativeCameraRotation.x,
0.0000000000f
);
Assert.AreEqual(result, true);
result = Mathf.Approximately(
metadata.agentPositionRelativeCameraRotation.y,
metadata.agentRotationRelativeCameraRotation.y,
0.0000000000f
);
Assert.AreEqual(result, true);
result = Mathf.Approximately(
metadata.agentPositionRelativeCameraRotation.z,
metadata.agentRotationRelativeCameraRotation.z,
0.0000000000f
);
Assert.AreEqual(result, true);
Expand Down Expand Up @@ -409,17 +409,17 @@ public IEnumerator TestMainCameraMetadataReturn()
);
Assert.AreEqual(result, true);
result = Mathf.Approximately(
metadata.agentPositionRelativeCameraRotation.x,
metadata.agentRotationRelativeCameraRotation.x,
30.0000000000f
);
Assert.AreEqual(result, true);
result = Mathf.Approximately(
metadata.agentPositionRelativeCameraRotation.y,
metadata.agentRotationRelativeCameraRotation.y,
10.0000000000f
);
Assert.AreEqual(result, true);
result = Mathf.Approximately(
metadata.agentPositionRelativeCameraRotation.z,
metadata.agentRotationRelativeCameraRotation.z,
12.0000000000f
);
Assert.AreEqual(result, true);
Expand Down Expand Up @@ -483,7 +483,7 @@ public IEnumerator TestThirdPartyCameraMetadataReturn()
null
);
Assert.AreEqual(
metadata.thirdPartyCameras[0].agentPositionRelativeThirdPartyCameraRotation,
metadata.thirdPartyCameras[0].agentRotationRelativeThirdPartyCameraRotation,
null
);
Assert.AreEqual(
Expand Down Expand Up @@ -514,7 +514,7 @@ public IEnumerator TestThirdPartyCameraMetadataReturn()
// Debug.Log($"world relative camera rot: {metadata.thirdPartyCameras[0].worldRelativeThirdPartyCameraRotation:F10}");
// //agent relative
// Debug.Log($"agent relative camera pos: {metadata.thirdPartyCameras[0].agentPositionRelativeThirdPartyCameraPosition:F10}");
// Debug.Log($"agent relative camera rot: {metadata.thirdPartyCameras[0].agentPositionRelativeThirdPartyCameraRotation:F10}");
// Debug.Log($"agent relative camera rot: {metadata.thirdPartyCameras[0].agentRotationRelativeThirdPartyCameraRotation:F10}");
// //parent relative
// Debug.Log($"parent relative camera rot: {metadata.thirdPartyCameras[0].parentPositionRelativeThirdPartyCameraPosition:F10}");
// Debug.Log($"parent relative camera rot: {metadata.thirdPartyCameras[0].parentPositionRelativeThirdPartyCameraRotation:F10}");
Expand Down Expand Up @@ -566,17 +566,17 @@ public IEnumerator TestThirdPartyCameraMetadataReturn()
);
Assert.AreEqual(result, true);
result = Mathf.Approximately(
metadata.thirdPartyCameras[0].agentPositionRelativeThirdPartyCameraRotation.Value.x,
metadata.thirdPartyCameras[0].agentRotationRelativeThirdPartyCameraRotation.Value.x,
20.0000000000f
);
Assert.AreEqual(result, true);
result = Mathf.Approximately(
metadata.thirdPartyCameras[0].agentPositionRelativeThirdPartyCameraRotation.Value.y,
metadata.thirdPartyCameras[0].agentRotationRelativeThirdPartyCameraRotation.Value.y,
20.0000000000f
);
Assert.AreEqual(result, true);
result = Mathf.Approximately(
metadata.thirdPartyCameras[0].agentPositionRelativeThirdPartyCameraRotation.Value.z,
metadata.thirdPartyCameras[0].agentRotationRelativeThirdPartyCameraRotation.Value.z,
20.0000000000f
);
Assert.AreEqual(result, true);
Expand Down

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