Merge pull request #936 from allenai/erick/oobb-clone

Clone GameObject when generating OOBB

ai2thor/tests/test_unity.py

@@ -2108,6 +2108,25 @@ def test_rotate_hand(controller):
     assert_near(h1["localRotation"], dict(x=0, y=0, z=0))
     assert_near(h2["localRotation"], dict(x=90, y=180, z=0))
 
+def test_settle_physics(fifo_controller):
+    from dictdiffer import diff
+    fifo_controller.reset(agentMode="arm")
+
+    for i in range(30):
+        fifo_controller.step("AdvancePhysicsStep", raise_for_failure=True)
+
+    first_objs = {o['objectId']: o for o in fifo_controller.last_event.metadata["objects"]}
+
+    for i in range(30):
+        fifo_controller.step("AdvancePhysicsStep", raise_for_failure=True)
+
+    diffs = []
+    last_objs = {o['objectId']: o for o in fifo_controller.last_event.metadata["objects"]}
+    for object_id, object_metadata in first_objs.items():
+        for d in (diff(object_metadata, last_objs.get(object_id, {}), tolerance=0.00001, ignore=set(["receptacleObjectIds"]))):
+            diffs.append((object_id, d))
+
+    assert diffs == []
 
 @pytest.mark.parametrize("controller", fifo_wsgi)
 def test_fill_liquid(controller):

setup.py

@@ -56,7 +56,7 @@
         "werkzeug>=0.15.0",  # needed for unix socket support
     ],
     setup_requires=["pytest-runner"],
-    tests_require=["pytest", "pytest-timeout", "pytest-cov", "jsonschema", "shapely", "pytest-mock"],
+    tests_require=["pytest", "pytest-timeout", "pytest-cov", "jsonschema", "shapely", "pytest-mock", "dictdiffer"],
     scripts=["scripts/ai2thor-xorg"],
     include_package_data=False,
 )

unity/Assets/Scripts/CanOpen_Object.cs

@@ -60,18 +60,23 @@ public List<SimObjType> WhatReceptaclesMustBeOffToOpen() {
         return MustBeOffToOpen;
     }
 
-    // Use this for initialization
-    void Start() {
-        // init Itween in all doors to prep for animation
+    void Awake() {
         if (MovingParts != null) {
+            // init Itween in all doors to prep for animation
             foreach (GameObject go in MovingParts) {
+                // Init is getting called in Awake() vs Start() so that cloned gameobjects can add MovingParts
+                // before iTween.Awake() gets called which would throw an error if this was done in Start()
                 iTween.Init(go);
 
                 // check to make sure all doors have a Fridge_Door.cs script on them, if not throw a warning
                 // if (!go.GetComponent<Fridge_Door>())
                 // Debug.Log("Fridge Door is missing Fridge_Door.cs component! OH NO!");
             }
         }
+    }
+
+    // Use this for initialization
+    void Start() {
 
 #if UNITY_EDITOR
         if (!this.GetComponent<SimObjPhysics>().DoesThisObjectHaveThisSecondaryProperty(SimObjSecondaryProperty.CanOpen)) {

unity/Assets/Scripts/CanToggleOnOff.cs

@@ -111,13 +111,18 @@ public void SetMovementToRotate() {
 
 #endif
 
-    // Use this for initialization
-    void Start() {
+    void Awake() {
         if (MovingParts != null) {
             foreach (GameObject go in MovingParts) {
+                // Init is getting called in Awake() vs Start() so that cloned gameobjects can add MovingParts
+                // before iTween.Awake() gets called which would throw an error if this was done in Start()
                 iTween.Init(go);
             }
         }
+    }
+
+    // Use this for initialization
+    void Start() {
 
 #if UNITY_EDITOR
         if (!this.GetComponent<SimObjPhysics>().DoesThisObjectHaveThisSecondaryProperty(SimObjSecondaryProperty.CanToggleOnOff)) {

unity/Assets/Scripts/SimObjPhysics.cs

@@ -302,20 +302,16 @@ private ObjectOrientedBoundingBox objectOrientedBoundingBox() {
 
             }
 
-            // Align SimObject to origin and axes
-            Vector3 cachedPosition = this.transform.position;
-            Quaternion cachedRotation = this.transform.rotation;
-
-            this.transform.position = Vector3.zero;
-            this.transform.rotation = Quaternion.identity;
-            if (!Physics.autoSyncTransforms) {
-                Physics.SyncTransforms();
-            }
+            // The GameObject is cloned instead of teleporting/rotating to avoid
+            // waking up the rigidbody, which can cause the SimObj to shift by tiny amounts
+            // since it will never sleep.
+            GameObject clone = Instantiate(this.gameObject, Vector3.zero, Quaternion.identity);
+
 
             // Get all colliders on the sop, excluding colliders if they are not enabled
             List<(Collider, LayerMask)> cols = new List<(Collider, LayerMask)>();
             var nonInteractiveLayer = LayerMask.NameToLayer("NonInteractive");
-            foreach (Collider c in this.transform.GetComponentsInChildren<Collider>()) {
+            foreach (Collider c in clone.transform.GetComponentsInChildren<Collider>()) {
                 if (c.enabled) {
                     // save the state of all the layers prior to modifying
                     cols.Add((c, c.transform.gameObject.layer));
@@ -331,12 +327,12 @@ private ObjectOrientedBoundingBox objectOrientedBoundingBox() {
             // Encapsulate all active colliders in SimObject's array
             foreach ((Collider, LayerMask) colAndLayerMask in cols) {
                 Collider c = colAndLayerMask.Item1;
-                if (!c.isTrigger && c.gameObject != this.BoundingBox) {
+                if (!c.isTrigger && c.gameObject != clone.GetComponent<SimObjPhysics>().BoundingBox) {
                     newBB.Encapsulate(c.bounds);
                 }
             }
             // Encapsulate all visilibity points of the SimObject array
-            foreach (Transform visPoint in this.VisibilityPoints) {
+            foreach (Transform visPoint in clone.GetComponent<SimObjPhysics>().VisibilityPoints) {
                 newBB.Encapsulate(visPoint.position);
             }
 
@@ -346,24 +342,26 @@ private ObjectOrientedBoundingBox objectOrientedBoundingBox() {
             this.BoundingBox.GetComponent<BoxCollider>().center = newBB.center;
             this.BoundingBox.GetComponent<BoxCollider>().size = newBB.extents * 2.0f;
 
-            // Revert SimObject back to its initial transform
-            this.transform.position = cachedPosition;
-            this.transform.rotation = cachedRotation;
-            if (!Physics.autoSyncTransforms) {
-                Physics.SyncTransforms();
-            }
-
             // Re-enable colliders, moving them back to their original layer
             foreach ((Collider, LayerMask) colAndLayerMask in cols) {
                 colAndLayerMask.Item1.transform.gameObject.layer = colAndLayerMask.Item2;
-
             }
 
             // reparent child simobjects
             foreach (Transform childSimObject in childSimObjects) {
                 childSimObject.SetParent(this.transform);
             }
 
+            DestroyImmediate(clone);
+
+            // iTween adds references to the iTween.tweens List
+            for (int i = 0; i < iTween.tweens.Count; i++) {
+                if (((GameObject)iTween.tweens[i]["target"]) == null) {
+                   iTween.tweens.RemoveAt(i);
+                }
+            }
+
+
             // Get corner points of SimObject's new BoundingBox, in its correct transformation
             List<Vector3> points = new List<Vector3>();
             points.Add(this.transform.TransformPoint(newBB.center + new Vector3(newBB.size.x, -newBB.size.y, newBB.size.z) * 0.5f));