Have multiple grid cell ids for room goal

client/js/lib/STK-core.js

@@ -77,6 +77,7 @@ module.exports = {
   /** @namespace gfx */
   gfx: {
     Camera: require('./gfx/Camera'),
+    ClippingBox: require('./gfx/ClippingBox'),
     EDLPass: require('./gfx/EDLPass'),
     Lights: require('./gfx/Lights'),
     Renderer: require('./gfx/Renderer'),
@@ -94,7 +95,7 @@ module.exports = {
   /** @namespace search */
   search: {
     BasicSearchController: require('./search/BasicSearchController'),
-    SolrQuerier: require("./search/SolrQuerier")
+    SolrQuerier: require('./search/SolrQuerier')
   },
   /** @namespace sim */
   sim: {

client/js/lib/materials/Materials.js

@@ -131,7 +131,7 @@ Materials.getBasicMaterial = function (color, alpha) {
   if (color instanceof THREE.Material || color instanceof THREE.MultiMaterial) {
     return color;
   }
-  var mat = new THREE.MeshBasicMaterial({side: THREE.DoubleSide, color: color});
+  var mat = new THREE.MeshBasicMaterial({side: Materials.DefaultMaterialSide, color: color});
   if (alpha != undefined) {
     Materials.setMaterialOpacity(mat, alpha);
   }
@@ -183,7 +183,7 @@ Materials.getStandardMaterial = function (color, alpha, materialType) {
     //ambient: a,
     specular: s,
     shininess: 64,
-    side: THREE.DoubleSide
+    side: Materials.DefaultMaterialSide
   }));
   if (alpha != undefined) {
     Materials.setMaterialOpacity(mat, alpha);

client/js/lib/nav/Graph.js

@@ -60,6 +60,9 @@ Graph.prototype.createCellAttributes = function(key, cellAttr, force) {
     this._tileAttributes[key] = new type(this.numNodes);
   }
 };
+Graph.prototype.hasCellAttribute = function(key) {
+  return this._tileAttributes[key] != null;
+};
 Graph.prototype.setCellAttribute = function(id, key, value) {
   this._tileAttributes[key][id] = value;
 };
@@ -329,7 +332,26 @@ Graph.prototype.getCellIdsWithUserData = function(key, valuefilter) {
     }
   });
   return ids;
-}
+};
+
+Graph.prototype.getCellIdsWithCellAttribute = function(key, valuefilter) {
+  var ids = [];
+  var filter;
+  if (valuefilter == undefined) {
+    filter = function(v, k) { return _.isFinite(v); };
+  } else if (_.isFunction(valuefilter)) {
+    filter = valuefilter;
+  } else {
+    filter = function(v, k) { return v === valuefilter; };
+  }
+  _.each(this._tileAttributes[key], function (v, id) {
+    if (filter(v, key)) {
+      ids.push(id);
+    }
+  });
+  return ids;
+};
+
 
 /**
  * A grid of squares, to be used as a graph.

client/js/lib/nav/NavScene.js

@@ -102,7 +102,7 @@ SceneGrid2D.prototype.idToCell = function(id) {
 };
 SceneGrid2D.prototype.idToPosition = function(id) {
   var ij = this.fromId(id);
-  var cellHeight = this.getCellAttribute('floorHeight', id);
+  var cellHeight = this.getCellAttribute(id, 'floorHeight');
   if (cellHeight == undefined || !isFinite(cellHeight)) {
     cellHeight = this.min[1];
   }
@@ -455,6 +455,15 @@ MultiLevelGrid.prototype.createCellAttributes = function(key, cellAttr, force) {
     levelGrid.createCellAttributes(key, cellAttr, force);
   }
 };
+MultiLevelGrid.prototype.hasCellAttribute = function(key) {
+  for (var i = 0; i < this.levelGrids.length; i++) {
+    var levelGrid = this.levelGrids[i];
+    if (levelGrid.hasCellAttribute(key)) {
+      return true;
+    }
+  }
+  return false;
+};
 MultiLevelGrid.prototype.setCellAttribute = function(id, key, value) {
   var levelGrid = this.idToLevelGrid(id);
   if (levelGrid) {
@@ -607,6 +616,18 @@ MultiLevelGrid.prototype.getCellIdsWithUserData = function(key, valuefilter) {
   }
   return cellIds;
 };
+MultiLevelGrid.prototype.getCellIdsWithCellAttribute = function(key, valuefilter) {
+  var cellIds = [];
+  for (var i = 0; i < this.levelGrids.length; i++) {
+    var levelGrid = this.levelGrids[i];
+    var ids = levelGrid.getCellIdsWithCellAttribute(key, valuefilter);
+    for (var j = 0; j < ids.length; j++) {
+      var id = ids[j];
+      cellIds.push(levelGrid.nodeIdOffset + id);
+    }
+  }
+  return cellIds;
+};
 MultiLevelGrid.prototype.checkCellsTraversable = function(cellIds, filter) {
   var scope = this;
   var cellIdsByLevelGrid = _.groupBy(cellIds, function(id) {
@@ -639,6 +660,7 @@ MultiLevelGrid.prototype.checkCellsTraversable = function(cellIds, filter) {
  * @param [opts.autoUpdate=true] {boolean} Whether to automatically update the position of the agent and the shortest path
  * @param [opts.refineGrid] {{radius: number}} Options for how to refine loaded grid
  * @param [opts.mapName=navmap] {string} Default name of navigation map to use
+ * @param [opts.metadata] {Object} Additional metadata to be stored away
  * @constructor
  * @memberOf nav
  */
@@ -1051,6 +1073,10 @@ NavScene.prototype.getCellAttribute = function(pos, key) {
   return value;
 };
 
+NavScene.prototype.hasCellAttribute = function(key) {
+  return this.cellAttributes[key] != null;
+};
+
 NavScene.prototype.getRoom = function(pos) {
   var roomIndex = this.getCellAttribute(pos, 'roomIndex');
   return this.sceneState.getRoomByIndex1(roomIndex);
@@ -1198,6 +1224,14 @@ NavScene.prototype.getGoalCells = function(goals, opts) {
         scope.getCellId(goal, opts.saveCell);
         return objectCellIds;
       }
+    } else if (goal.type === 'room') {
+      // var roomIndex = _.map(goal.room, function(x) { return scope.sceneState.getRoomIndex().indexOf(x); });
+      var roomIndex = scope.sceneState.getRoomIndex().indexOf(goal.room[0]);
+      var roomCellIds = scope.grid.getCellIdsWithCellAttribute('roomIndex', roomIndex);
+      if (roomCellIds.length) {
+        scope.getCellId(goal, opts.saveCell);
+        return roomCellIds;
+      }
     }
     return [scope.getCellId(goal, opts.saveCell)];
   });
@@ -1402,6 +1436,7 @@ NavScene.prototype.visualizeTileWeight = function() {
 NavScene.prototype.visualizeTraversable = function(color) {
   //console.log('visualizing navigation tiles');
   this.__visualizeTiles({
+    type: 'nav',
     getColor: function(w) {
       if (w === Infinity) {
         return NavScene.defaultTileColors.obstacle;
@@ -1415,7 +1450,7 @@ NavScene.prototype.visualizeTraversable = function(color) {
 NavScene.prototype.visualizePathCost = function(opts) {
   opts = opts || {};
   var showPathOnly = opts.showPathOnly;
-  //console.log('visualizing navigation map');
+  // console.log('visualizing navigation map', showPathOnly);
   var colorFn = Colors.getColorFunction({
     type: 'interpolate',
     space: 'hsl',

client/js/lib/scene/SceneUtil.js

@@ -316,8 +316,14 @@ SceneUtil.__remapSceneModelMaterials = function (sceneState, opts) {
   };
   for (var i = 0; i < sceneState.modelInstances.length; i++) {
     var modelInstance = sceneState.modelInstances[i];
-    var getMeshMaterial = function (m) { return getMeshMaterialForModel(modelInstance.model.info, m); };
-    colorObj(modelInstance.object3D, getMeshMaterial, opts);
+    var modelInfo = modelInstance.model.info;
+    if (modelInfo[remapMaterialsKey].data != null) {
+      var getMeshMaterial = function (m) { return getMeshMaterialForModel(modelInfo, m); };
+      colorObj(modelInstance.object3D, getMeshMaterial, opts);
+    } else {
+      console.error('Cannot find remapMaterial ' + remapMaterialsKey + ' for model ' + modelInfo.fullId);
+      colorObj(modelInstance.object3D, Object3DUtil.BlackMat, opts);
+    }
   }
 };
 

client/js/lib/sim/CollisionProcessorNavGrid.js

@@ -49,9 +49,17 @@ CollisionProcessorNavGrid.prototype.computeSensorForces = function (sceneState,
 
 CollisionProcessorNavGrid.prototype.isPositionInsideScene = function(sceneState, pFeet) {
   var navscene = this.__ensureNavScene(sceneState);
-  //TODO implement more precise check
   var sceneBBox = sceneState.getBBox();
-  return sceneBBox.contains(pFeet);
+  if (sceneBBox.contains(pFeet)) {
+    // TODO: decide if this is the correct check to use
+    if (navscene.hasCellAttribute('floorHeight')) {
+      return _.isFinite(navscene.getCellAttribute(pFeet, 'floorHeight'));
+    } else {
+      return true;
+    }
+  } else {
+    return false;
+  }
 };
 
 CollisionProcessorNavGrid.prototype.isPositionAgentCanStandAt = function (sceneState, agent, pFeet, opts) {

client/js/lib/sim/CollisionProcessorNull.js

@@ -6,7 +6,7 @@ var _ = require('util/util');
  * @constructor
  * @memberOf sim
  * @param opts Configuration parameters for collision processing
- * @param [opts.traversableHeight=0.25] {number} Ignore obstacles lower than this height
+ * @param [opts.traversableFloorHeight=0.25] {number} Ignore obstacles lower than this height
  **/
 function CollisionProcessorNull(opts) {
   opts = _.defaultsDeep(Object.create(null), opts, {

client/js/lib/sim/SimState.js

@@ -315,7 +315,12 @@ SimState.prototype.getSerializableGoals = function() {
   return this.__serializableGoals;
 };
 
-// Convert a model instance to a goal
+/**
+ * Convert a model instance to a goal
+ * @param mi {model.ModelInstance}
+ * @returns {sim.ObjectGoal}
+ * @private
+ */
 SimState.prototype.__getGoalForModelInstance = function (mi) {
   const bbox = mi.getBBox();
   const objectCentroid = bbox.centroid();
@@ -346,7 +351,12 @@ SimState.prototype.__getGoalForModelInstance = function (mi) {
   };
 };
 
-// Convert a room object to a goal
+/**
+ * Convert a room object to a goal
+ * @param room {THREE.Object3D}
+ * @returns {sim.RoomGoal}
+ * @private
+ */
 SimState.prototype.__getGoalInRoom = function (room) {
   const bbox = Object3DUtil.getBoundingBox(room);
   const sample = this.__sampleFloor(room, this.opts.sampleFloor);
@@ -365,7 +375,12 @@ SimState.prototype.__getGoalInRoom = function (room) {
   };
 };
 
-// Convert a position in the scene to a goal
+/**
+ * Convert a position in the scene to a goal
+ * @param position {THREE.Vector3}
+ * @returns {sim.PositionGoal}
+ * @private
+ */
 SimState.prototype.__getGoalForPosition = function (position) {
   const room = this.sceneState.getIntersectedRoomAt(position);
   const roomInfo = this.sceneState.getRoomInfo(room.object);
@@ -380,7 +395,7 @@ SimState.prototype.__getGoalForPosition = function (position) {
 
 /**
  * Computes actual goals from goal specification
- * @returns {Array<{position: THREE.Vector3, room: ?string, angle: ?number, bbox: ?geo.BBox, objectId: ?string, modelInstance: ?model.ModelInstance, initialOffsetFromAgent: ?THREE.Vector3, audioFile: ?string}>}
+ * @returns {Array<sim.Goal>}
  */
 SimState.prototype.computeGoals = function () {
   let goalsSpec = this.opts.goal;

client/js/lib/sim/Simulator.js

@@ -34,15 +34,17 @@ var __optsToIgnore = ['renderer', 'simpleRenderer', 'assetManager', 'net', 'wav'
  * @param [opts.assetManager] {AssetManager} For loading assets (will be created if not specified).
  * @param [opts.assetCacheSize=100] {int} Size of asset cache
  * @param [opts.outputDir] {string} Output directory for debug output (e.g. screenshots and audio output)
- * @param [opts.agent] {Object} Agent configuration
+ * @param [opts.agent] {Object} Agent configuration.  See {@link sim.Agent} for options.
  * @param [opts.sensors] {Object} Sensor configuration
  * @param [opts.scene] {Object} Options for loading a scene
- * @param [opts.start] {Object|string} Start specification (use `random` for random start)
- * @param [opts.goal] {Object|string} Goal specification (use `random` for random goal)
- * @param [opts.audio] {Object} Options for audio simulator
- * @param [opts.navmap] {Object} Options for navigation map (use `{ recompute=true }` for force recomputation of navigation maps
+ * @param [opts.start] {Object|string} Start specification (use `random` for random start, and `{ position: number[], angle: number}` to specify a position)
+ * @param [opts.goal] {sim.GoalSpec|string} Goal specification (use `random` for random goal)
+ * @param [opts.audio] {Object} Options for audio simulator.  See {@link sim.AudioSimulator} for options.
+ * @param [opts.navmap] {Object} Options for navigation map (use `{ recompute=true }` for force recomputation of navigation maps).  See {@link nav.NavScene} for more options.
  * @param [opts.collisionDetection] {Object} Parameters for collision detection
+ * @param [opts.modifications] {sim.ModificationCmd[]} Modifications to scene
  * @param [opts.seed] {int} Seed to use for random number generator
+ * @param [opts.rng] {math.RNG} Random number generator to use
  * @param [opts.useSky=true] {boolean} Whether to use grass and sky for outside environment.
  * @param [opts.actionTraceLog] {string|boolean} True to use log action traces to file.  If string, used to specify filename of action trace.
  *        By default, action trace is saved to `outputDir/action_trace.csv`.
@@ -66,6 +68,13 @@ function Simulator(opts) {
       useSky: true
     });
   opts = _.mapKeysDeep(opts, function(v,k) { return _.camelCase(k); });
+  if (opts.scene) {
+    if (opts.scene.level != null) {
+      if (_.isString(opts.scene.level)) {
+        opts.scene.level = parseInt(opts.scene.level);
+      }
+    }
+  }
   console.log('Creating Simulator with options', _.omit(opts, __optsToIgnore));
   this.__init(opts);
 }
@@ -703,7 +712,7 @@ Simulator.prototype.prepareTopDownMapProjection = function() {
 /**
  * Set the simulator to this the specified scene state.  If there
  * @param sceneState {scene.SceneState} Scene state for the simulator
- * @param modifications {Array[]} Array of modifications to apply to the scene state
+ * @param modifications {sim.ModificationCmd[]} Array of modifications to apply to the scene state
  * @param callback {callback} Error first callback returning modifications to the scene if scene loaded successfully
  * @private
  */

client/package.json

@@ -49,7 +49,6 @@
     "jsdom": "^9.12.0",
     "jshint": "^2.9.5",
     "json-loader": "^0.5.4",
-    "minimist": "^1.2.0",
     "mocha": "^5.2.0",
     "optimist": "^0.6.1",
     "pngjs": "^3.3.3",

ssc/render.js

@@ -337,7 +337,7 @@ function processIds(assetsDb) {
                 console.warn('No wall for scene ' + fullId);
               }
             } else if (extraInfo.assetType === 'navmap') {
-              var collisionProcessor = STK.sim.CollisionProcessorFactory.createCollisionProcessor();
+              var collisionProcessor = STK.sim.CollisionProcessorFactory.createCollisionProcessor({mode: 'navgrid'});
               if (extraInfo.data) {
                 var navscene = new STK.nav.NavScene({
                   sceneState: sceneState,
@@ -347,6 +347,7 @@ function processIds(assetsDb) {
                     return collisionProcessor.isPositionInsideScene(sceneState, position);
                   }
                 });
+                sceneState.navscene = navscene;
                 //navscene.visualizeTileWeight();
                 navscene.visualizeTraversable(new THREE.Color('orange'));
               } else {

ssc/scripts/export-meshes.sh

@@ -9,7 +9,7 @@ input_format=kmz
 output_format=obj
 n=4
 
-opts="--input_type {input_type} --input_format ${input_format} --output_format ${output_format} --assetType model --export_textures copy --texture_path images --require_faces --use_search_controller --include_group --normalize_size diagonal --center --handle_material_side"
+opts="--input_type ${input_type} --input_format ${input_format} --output_format ${output_format} --assetType model --export_textures copy --texture_path images --require_faces --use_search_controller --include_group --normalize_size diagonal --center --handle_material_side"
 
 mkdir -p $output_dir
 mkdir -p $output_dir/meshes