Merge pull request #4467 from SimtoReal/master

add meterial element index
microsoft · May 2, 2022 · 19ac0f2 · 19ac0f2
2 parents 9b68c3d + cd0a687
commit 19ac0f2
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Showing 9 changed files with 31 additions and 30 deletions.
diff --git a/AirLib/include/api/RpcLibClientBase.hpp b/AirLib/include/api/RpcLibClientBase.hpp
@@ -152,8 +152,8 @@ namespace airlib
         void simSetKinematics(const Kinematics::State& state, bool ignore_collision, const std::string& vehicle_name = "");
         msr::airlib::Environment::State simGetGroundTruthEnvironment(const std::string& vehicle_name = "") const;
         std::vector<std::string> simSwapTextures(const std::string& tags, int tex_id = 0, int component_id = 0, int material_id = 0);
-        bool simSetObjectMaterial(const std::string& object_name, const std::string& material_name);
-        bool simSetObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path);
+        bool simSetObjectMaterial(const std::string& object_name, const std::string& material_name, const int component_id = 0);
+        bool simSetObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path, const int component_id = 0);
 
         // Recording APIs
         void startRecording();

diff --git a/AirLib/include/api/WorldSimApiBase.hpp b/AirLib/include/api/WorldSimApiBase.hpp
@@ -74,8 +74,8 @@ namespace airlib
         virtual bool setObjectScale(const std::string& object_name, const Vector3r& scale) = 0;
         virtual std::unique_ptr<std::vector<std::string>> swapTextures(const std::string& tag, int tex_id = 0, int component_id = 0, int material_id = 0) = 0;
         virtual bool setLightIntensity(const std::string& light_name, float intensity) = 0;
-        virtual bool setObjectMaterial(const std::string& object_name, const std::string& material_name) = 0;
-        virtual bool setObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path) = 0;
+        virtual bool setObjectMaterial(const std::string& object_name, const std::string& material_name, const int component_id = 0) = 0;
+        virtual bool setObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path, const int component_id = 0) = 0;
         virtual vector<MeshPositionVertexBuffersResponse> getMeshPositionVertexBuffers() const = 0;
 
         virtual bool createVoxelGrid(const Vector3r& position, const int& x_size, const int& y_size, const int& z_size, const float& res, const std::string& output_file) = 0;

diff --git a/AirLib/src/api/RpcLibClientBase.cpp b/AirLib/src/api/RpcLibClientBase.cpp
@@ -493,14 +493,14 @@ __pragma(warning(disable : 4239))
             return pimpl_->client.call("simSwapTextures", tags, tex_id, component_id, material_id).as<vector<string>>();
         }
 
-        bool RpcLibClientBase::simSetObjectMaterial(const std::string& object_name, const std::string& material_name)
+        bool RpcLibClientBase::simSetObjectMaterial(const std::string& object_name, const std::string& material_name, const int component_id)
         {
-            return pimpl_->client.call("simSetObjectMaterial", object_name, material_name).as<bool>();
+            return pimpl_->client.call("simSetObjectMaterial", object_name, material_name, component_id).as<bool>();
         }
 
-        bool RpcLibClientBase::simSetObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path)
+        bool RpcLibClientBase::simSetObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path, const int component_id)
         {
-            return pimpl_->client.call("simSetObjectMaterialFromTexture", object_name, texture_path).as<bool>();
+            return pimpl_->client.call("simSetObjectMaterialFromTexture", object_name, texture_path, component_id).as<bool>();
         }
 
         bool RpcLibClientBase::simLoadLevel(const string& level_name)

diff --git a/AirLib/src/api/RpcLibServerBase.cpp b/AirLib/src/api/RpcLibServerBase.cpp
@@ -477,12 +477,12 @@ namespace airlib
             return *getWorldSimApi()->swapTextures(tag, tex_id, component_id, material_id);
         });
 
-        pimpl_->server.bind("simSetObjectMaterial", [&](const std::string& object_name, const std::string& material_name) -> bool {
-            return getWorldSimApi()->setObjectMaterial(object_name, material_name);
+        pimpl_->server.bind("simSetObjectMaterial", [&](const std::string& object_name, const std::string& material_name, const int component_id) -> bool {
+            return getWorldSimApi()->setObjectMaterial(object_name, material_name, component_id);
         });
 
-        pimpl_->server.bind("simSetObjectMaterialFromTexture", [&](const std::string& object_name, const std::string& texture_path) -> bool {
-            return getWorldSimApi()->setObjectMaterialFromTexture(object_name, texture_path);
+        pimpl_->server.bind("simSetObjectMaterialFromTexture", [&](const std::string& object_name, const std::string& texture_path, const int component_id) -> bool {
+            return getWorldSimApi()->setObjectMaterialFromTexture(object_name, texture_path, component_id);
         });
 
         pimpl_->server.bind("startRecording", [&]() -> void {

diff --git a/PythonClient/airsim/client.py b/PythonClient/airsim/client.py
@@ -190,31 +190,33 @@ def simSwapTextures(self, tags, tex_id = 0, component_id = 0, material_id = 0):
         """
         return self.client.call("simSwapTextures", tags, tex_id, component_id, material_id)
 
-    def simSetObjectMaterial(self, object_name, material_name):
+    def simSetObjectMaterial(self, object_name, material_name, component_id = 0):
         """
         Runtime Swap Texture API
         See https://microsoft.github.io/AirSim/retexturing/ for details
         Args:
             object_name (str): name of object to set material for
             material_name (str): name of material to set for object
+            component_id (int, optional) : index of material elements
 
         Returns:
             bool: True if material was set
         """
-        return self.client.call("simSetObjectMaterial", object_name, material_name)
+        return self.client.call("simSetObjectMaterial", object_name, material_name, component_id)
 
-    def simSetObjectMaterialFromTexture(self, object_name, texture_path):
+    def simSetObjectMaterialFromTexture(self, object_name, texture_path, component_id = 0):
         """
         Runtime Swap Texture API
         See https://microsoft.github.io/AirSim/retexturing/ for details
         Args:
             object_name (str): name of object to set material for
             texture_path (str): path to texture to set for object
+            component_id (int, optional) : index of material elements
 
         Returns:
             bool: True if material was set
         """
-        return self.client.call("simSetObjectMaterialFromTexture", object_name, texture_path)
+        return self.client.call("simSetObjectMaterialFromTexture", object_name, texture_path, component_id)
 
 
     # time-of-day control
@@ -1616,4 +1618,4 @@ def getCarControls(self, vehicle_name=''):
             CarControls:
         """
         controls_raw = self.client.call('getCarControls', vehicle_name)
-        return CarControls.from_msgpack(controls_raw)
+        return CarControls.from_msgpack(controls_raw)
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp
@@ -75,15 +75,15 @@ std::unique_ptr<std::vector<std::string>> WorldSimApi::swapTextures(const std::s
     return result;
 }
 
-bool WorldSimApi::setObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path)
+bool WorldSimApi::setObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path, const int component_id)
 {
     throw std::invalid_argument(common_utils::Utils::stringf(
                                     "setObjectMaterialFromTexture is not supported on unity")
                                     .c_str());
     return false;
 }
 
-bool WorldSimApi::setObjectMaterial(const std::string& object_name, const std::string& material_name)
+bool WorldSimApi::setObjectMaterial(const std::string& object_name, const std::string& material_name, const int component_id)
 {
     throw std::invalid_argument(common_utils::Utils::stringf(
                                     "setObjectMaterial is not supported on unity")

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h
@@ -40,8 +40,8 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase
 
     virtual bool setLightIntensity(const std::string& light_name, float intensity) override;
     virtual std::unique_ptr<std::vector<std::string>> swapTextures(const std::string& tag, int tex_id = 0, int component_id = 0, int material_id = 0) override;
-    virtual bool setObjectMaterial(const std::string& object_name, const std::string& material_name) override;
-    virtual bool setObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path) override;
+    virtual bool setObjectMaterial(const std::string& object_name, const std::string& material_name, const int component_id = 0) override;
+    virtual bool setObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path, const int component_id = 0) override;
     virtual std::vector<std::string> listSceneObjects(const std::string& name_regex) const override;
     virtual Pose getObjectPose(const std::string& object_name) const override;
 

diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp b/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp
@@ -476,10 +476,10 @@ std::unique_ptr<std::vector<std::string>> WorldSimApi::swapTextures(const std::s
     return swappedObjectNames;
 }
 
-bool WorldSimApi::setObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path)
+bool WorldSimApi::setObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path, const int component_id)
 {
     bool success = false;
-    UAirBlueprintLib::RunCommandOnGameThread([this, &object_name, &texture_path, &success]() {
+    UAirBlueprintLib::RunCommandOnGameThread([this, &object_name, &texture_path, &success, &component_id]() {
         if (!IsValid(simmode_->domain_rand_material_)) {
             UAirBlueprintLib::LogMessageString("Cannot find material for domain randomization",
                                                "",
@@ -495,7 +495,7 @@ bool WorldSimApi::setObjectMaterialFromTexture(const std::string& object_name, c
                 for (UStaticMeshComponent* staticMeshComponent : components) {
                     UMaterialInstanceDynamic* dynamic_material = UMaterialInstanceDynamic::Create(simmode_->domain_rand_material_, staticMeshComponent);
                     dynamic_material->SetTextureParameterValue("TextureParameter", texture_desired);
-                    staticMeshComponent->SetMaterial(0, dynamic_material);
+                    staticMeshComponent->SetMaterial(component_id, dynamic_material);
                 }
                 success = true;
             }
@@ -511,10 +511,10 @@ bool WorldSimApi::setObjectMaterialFromTexture(const std::string& object_name, c
     return success;
 }
 
-bool WorldSimApi::setObjectMaterial(const std::string& object_name, const std::string& material_name)
+bool WorldSimApi::setObjectMaterial(const std::string& object_name, const std::string& material_name, const int component_id)
 {
     bool success = false;
-    UAirBlueprintLib::RunCommandOnGameThread([this, &object_name, &material_name, &success]() {
+    UAirBlueprintLib::RunCommandOnGameThread([this, &object_name, &material_name, &success, &component_id]() {
         AActor* actor = UAirBlueprintLib::FindActor<AActor>(simmode_, FString(object_name.c_str()));
         UMaterial* material = static_cast<UMaterial*>(StaticLoadObject(UMaterial::StaticClass(), nullptr, *FString(material_name.c_str())));
 
@@ -528,7 +528,7 @@ bool WorldSimApi::setObjectMaterial(const std::string& object_name, const std::s
                 TArray<UStaticMeshComponent*> components;
                 actor->GetComponents<UStaticMeshComponent>(components);
                 for (UStaticMeshComponent* staticMeshComponent : components) {
-                    staticMeshComponent->SetMaterial(0, material);
+                    staticMeshComponent->SetMaterial(component_id, material);
                 }
                 success = true;
             }
@@ -843,7 +843,6 @@ std::vector<msr::airlib::GeoPoint> WorldSimApi::getWorldExtents() const
 
     return result;
 }
-
 msr::airlib::CameraInfo WorldSimApi::getCameraInfo(const CameraDetails& camera_details) const
 {
     msr::airlib::CameraInfo info;

diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.h b/Unreal/Plugins/AirSim/Source/WorldSimApi.h
@@ -50,8 +50,8 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase
 
     virtual bool setLightIntensity(const std::string& light_name, float intensity) override;
     virtual std::unique_ptr<std::vector<std::string>> swapTextures(const std::string& tag, int tex_id = 0, int component_id = 0, int material_id = 0) override;
-    virtual bool setObjectMaterial(const std::string& object_name, const std::string& material_name) override;
-    virtual bool setObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path) override;
+    virtual bool setObjectMaterial(const std::string& object_name, const std::string& material_name, const int component_id = 0) override;
+    virtual bool setObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path, const int component_id = 0) override;
     virtual std::vector<std::string> listSceneObjects(const std::string& name_regex) const override;
     virtual Pose getObjectPose(const std::string& object_name) const override;
     virtual bool setObjectPose(const std::string& object_name, const Pose& pose, bool teleport) override;