Merge branch 'master' of github.com:sintefneodroid/droid

README.md

@@ -79,6 +79,23 @@ environments and ease of integration with existing projects)
 
 ## Usage
 
+- Edit your Unity projects "Packages/manifest.json" to include the string 
+  `"net.cnheider.neodroid": "https://github.com/sintefneodroid/droid.git"}`.
+
+  Example `manifest.json`
+  ````
+  {
+    "dependencies": {
+      "com.unity.package-manager-ui": "0.0.0-builtin",
+      ...
+      "net.cnheider.neodroid": "https://github.com/sintefneodroid/droid.git"
+    }
+  }
+  ````
+  You can use `"net.cnheider.neodroid": "https://github.com/sintefneodroid/droid.git#branch"` for a specific branch.
+
+***Or***
+
 - Download the newest Droid.unitypackage from [releases](https://github.com/sintefneodroid/droid/releases) and import into your Unity project.
 
 ***Or***
@@ -93,7 +110,7 @@ environments and ease of integration with existing projects)
 
 ## Repository Structure
 ---
-<!--    ├  └  ─  │   -->
+<!--        ├  └  ─  │        -->
     sintefneodroid/droid      # This repository
     │
     ├── docs

Runtime/Interfaces/ISimulatorConfiguration.cs

@@ -1,4 +1,5 @@
 using Neodroid.Runtime.Messaging.Messages;
+using Neodroid.Runtime.Utilities.Enums;
 using Neodroid.Runtime.Utilities.ScriptableObjects;
 
 namespace Neodroid.Runtime.Interfaces {

Runtime/Managers/NeodroidManager.cs

@@ -5,6 +5,7 @@
 using Neodroid.Runtime.Interfaces;
 using Neodroid.Runtime.Messaging;
 using Neodroid.Runtime.Messaging.Messages;
+using Neodroid.Runtime.Utilities.Enums;
 using Neodroid.Runtime.Utilities.EventRecipients.droid.Neodroid.Utilities.Unsorted;
 using Neodroid.Runtime.Utilities.ScriptableObjects;
 using UnityEngine;
@@ -733,7 +734,7 @@ public void React(Reaction[] reactions) {
             Debug.Log($"Could not find an environment with the identifier: {reaction.RecipientEnvironment}");
           }
           #endif
-		}	
+		}
       }
     }
 
@@ -779,7 +780,7 @@ void SetStepping(bool step) {
     }
 
     void SetStepping(Reaction[] reactions) {
-      if (reactions.Any(reac => reac.Parameters.Step)) {
+      if (reactions.Any(reaction => reaction.Parameters.Step)) {
         this.SetStepping(true);
       }
     }

Runtime/Managers/PausableManager.cs

@@ -1,4 +1,5 @@
 using System;
+using Neodroid.Runtime.Utilities.Enums;
 using Neodroid.Runtime.Utilities.ScriptableObjects;
 using UnityEngine;
 

Runtime/Prototyping/Observers/Camera/CameraObserver.cs

@@ -1,6 +1,7 @@
 using System;
 using Neodroid.Runtime.Interfaces;
 using Neodroid.Runtime.Managers;
+using Neodroid.Runtime.Utilities.Enums;
 using Neodroid.Runtime.Utilities.ScriptableObjects;
 using UnityEngine;
 

Runtime/Prototyping/Observers/Camera/FloatArrayCameraObserver.cs

@@ -1,4 +1,5 @@
 using Neodroid.Runtime.Interfaces;
+using Neodroid.Runtime.Utilities.Enums;
 using Neodroid.Runtime.Utilities.ScriptableObjects;
 using UnityEngine;
 

Runtime/Prototyping/Observers/Camera/Segmentation/SegmentationCameraObserver.cs

@@ -1,4 +1,5 @@
 using System.Linq;
+using Neodroid.Runtime.Utilities.Enums;
 using Neodroid.Runtime.Utilities.NeodroidCamera.Segmentation;
 using Neodroid.Runtime.Utilities.ScriptableObjects;
 using UnityEngine;

Runtime/Prototyping/Observers/Camera/StringAugmentedCameraObserver.cs

@@ -1,6 +1,7 @@
 using System;
 using Neodroid.Runtime.Environments;
 using Neodroid.Runtime.Interfaces;
+using Neodroid.Runtime.Utilities.Enums;
 using Neodroid.Runtime.Utilities.Misc;
 using Neodroid.Runtime.Utilities.ScriptableObjects;
 using UnityEngine;

Runtime/Shaders/Experimental/OpticalFlow.shader

@@ -0,0 +1,89 @@
+// Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)'
+
+Shader "Excluded/OpticalFlow"
+{
+	Properties
+	{
+		_Sensitivity("Sensitivity", Float) = 1
+	}
+	SubShader
+	{
+		// No culling or depth
+		Cull Off ZWrite Off ZTest Always
+
+		Pass
+		{
+			CGPROGRAM
+			#pragma vertex vert
+			#pragma fragment frag
+
+			#include "UnityCG.cginc"
+
+
+			struct appdata
+			{
+				float4 vertex : POSITION;
+				float2 uv : TEXCOORD0;
+			};
+
+			struct v2f
+			{
+				float2 uv : TEXCOORD0;
+				float4 vertex : SV_POSITION;
+			};
+
+			float4 _CameraMotionVectorsTexture_ST;
+			v2f vert (appdata v)
+			{
+				v2f o;
+				o.vertex = UnityObjectToClipPos(v.vertex);
+				o.uv = TRANSFORM_TEX(v.uv, _CameraMotionVectorsTexture);
+				return o;
+			}
+
+			sampler2D _CameraMotionVectorsTexture;
+
+            float3 Hue(float H)
+			{
+			    float R = abs(H * 6 - 3) - 1;
+			    float G = 2 - abs(H * 6 - 2);
+			    float B = 2 - abs(H * 6 - 4);
+			    return saturate(float3(R,G,B));
+			}
+
+			float3 HSVtoRGB(float3 HSV)
+			{
+			    return float3(((Hue(HSV.x) - 1) * HSV.y + 1) * HSV.z);
+			}
+
+			float _Sensitivity;
+			float3 MotionVectorsToOpticalFlow(float2 motion)
+			{
+				// Currently is based on HSV encoding from:
+				//			"Optical Flow in a Smart Sensor Based on Hybrid Analog-Digital Architecture" by P. Guzman et al
+				//			http://www.mdpi.com/1424-8220/10/4/2975
+
+				// Analogous to http://docs.opencv.org/trunk/d7/d8b/tutorial_py_lucas_kanade.html
+				// but might need to swap or rotate axis!
+
+				// @TODO: support other HSV encodings (using lookup texture)
+				// https://www.microsoft.com/en-us/research/wp-content/uploads/2007/10/ofdatabase_iccv_07.pdf
+				// https://people.csail.mit.edu/celiu/SIFTflow/
+				// some MATLAB code: https://github.com/suhangpro/epicflow/blob/master/utils/flow-code-matlab/computeColor.m
+
+				float angle = atan2(-motion.y, -motion.x);
+				float hue = angle / (UNITY_PI * 2.0) + 0.5;		// convert motion angle to Hue
+				float value = length(motion) * _Sensitivity;  	// convert motion strength to Value
+    			return HSVtoRGB(float3(hue, 1, value));		// HSV -> RGB
+			}
+
+			fixed4 frag (v2f i) : SV_Target
+			{
+				float2 motion = tex2D(_CameraMotionVectorsTexture, i.uv).rg;
+				float3 rgb = MotionVectorsToOpticalFlow(motion);
+				return float4(rgb, 1);
+			}
+			ENDCG
+		}
+	}
+}

Runtime/Utilities/Enums/FrameFinishes.cs

@@ -1,4 +1,4 @@
-namespace Neodroid.Runtime.Utilities.ScriptableObjects {
+namespace Neodroid.Runtime.Utilities.Enums {
     /// <summary>
     ///   Determines where in the monobehaviour cycle a frame/step is finished
     /// </summary>

Runtime/Utilities/Enums/SimulationType.cs

@@ -1,4 +1,4 @@
-namespace Neodroid.Runtime.Utilities.ScriptableObjects
+namespace Neodroid.Runtime.Utilities.Enums
 {
     /// <summary>
     ///   Determines the discrete timesteps of the simulation environment.

Runtime/Utilities/Misc/Perlin.cs

@@ -1,6 +1,6 @@
 using System;
 
-namespace Neodroid.Runtime.Prototyping.Configurables.Experimental {
+namespace Neodroid.Runtime.Utilities.Misc {
 
     public class Perlin
     {

Runtime/Utilities/ScriptableObjects/SimulatorConfiguration.cs

@@ -1,6 +1,7 @@
 using System;
 using Neodroid.Runtime.Interfaces;
 using Neodroid.Runtime.Messaging.Messages;
+using Neodroid.Runtime.Utilities.Enums;
 using Neodroid.Runtime.Utilities.Misc.SearchableEnum;
 using UnityEngine;
 

Runtime/Utilities/Structs/DoubleVector3.cs

@@ -4,9 +4,9 @@
 namespace Neodroid.Runtime.Utilities.Structs {
   [Serializable]
   public struct DoubleVector3 {
-    [SerializeField] public double _X;
-    [SerializeField] public double _Y;
-    [SerializeField] public double _Z;
+    [SerializeField] double _X;
+    [SerializeField] double _Y;
+    [SerializeField] double _Z;
 
     public DoubleVector3(Vector3 vec3) {
       this._X = vec3.x;
@@ -27,10 +27,10 @@ public DoubleVector3(double x, double y, double z) {
       this._Z = z;
     }
 
-    public Double X { get { return this._X; } set { this._X = value; } }
+    public Double x { get { return this._X; } set { this._X = value; } }
 
-    public Double Y { get { return this._Y; } set { this._Y = value; } }
+    public Double y { get { return this._Y; } set { this._Y = value; } }
 
-    public Double Z { get { return this._Z; } set { this._Z = value; } }
+    public Double z { get { return this._Z; } set { this._Z = value; } }
   }
 }

Samples/MultiArmedBandit/MultiArmedBanditMotor.cs

@@ -49,8 +49,9 @@ public Single[] WinLikelihoods {
     /// </summary>
     protected override void Setup() {
       var mvs = this.MotionValueSpace;
-      mvs._Min_Value = 0;
-      mvs._Max_Value = this._Indicators.Length - 1;
+      mvs._Min_Value = -1;
+      mvs._Max_Value = 1;
+      mvs._Decimal_Granularity = 0;
       this.MotionValueSpace = mvs;
       if (this._Win_Likelihoods == null || this._Win_Likelihoods.Length == 0) {
         this._Win_Likelihoods = new Single[this._Indicators.Length];
@@ -133,7 +134,7 @@ protected override void InnerApplyMotion(IMotorMotion motion) {
         indicator.color = this._inactive_color;
       }
 
-      var index = (int)motion.Strength;
+      var index = (int)motion.Strength+1;
 
       #if NEODROID_DEBUG
       if (this.Debugging) {
@@ -143,7 +144,7 @@ protected override void InnerApplyMotion(IMotorMotion motion) {
 
       this._last_index = index;
 
-      var random_value = Random.Range(0f, 1f);
+      var random_value = Random.Range(-1f, 1f);
       if (random_value <= this._Win_Likelihoods[this._last_index]) {
         this._Indicators[this._last_index].color = this._win_color;
         this._won = true;