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Normalize Unity heightfield data before writing to MuJoCo #3500

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Normalize Unity heightfield data before writing to MuJoCo #3500

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22 changes: 17 additions & 5 deletions unity/Runtime/Components/Shapes/MjHeightFieldShape.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,8 @@ public class MjHeightFieldShape : IMjShape {
public int UpdateLimit;

private int _updateCountdown;
private float _minimumHeightMapValue;
private float _maximumHeightMapValue;

[HideInInspector]
public float MinimumHeight { get; private set; }
Expand Down Expand Up @@ -102,12 +104,15 @@ public void PrepareHeightMap() {
texture.ReadPixels(new Rect(0, 0, RenderTexture.active.width, RenderTexture.active.height),
0,
0);
MaximumHeight = texture.GetPixels().Select(c => c.r).Max() * HeightMapScale.y * 2;
var minimumHeight = texture.GetPixels().Select(c => c.r).Min() * HeightMapScale.y * 2;
var pixels = texture.GetPixels();
_maximumHeightMapValue = pixels.Max(c => c.r);
_minimumHeightMapValue = pixels.Min(c => c.r);
MaximumHeight = _maximumHeightMapValue * HeightMapScale.y * 2;
MinimumHeight = _minimumHeightMapValue * HeightMapScale.y * 2;

RenderTexture.active = null;
if (ExportImage) {
if (minimumHeight > 0.0001)
if (_minimumHeightMapValue > 0.0001)
Debug.LogWarning("Due to assumptions in MuJoCo heightfields, terrains should have a " +
"minimum heightmap value of 0.");
File.WriteAllBytes(FullHeightMapPath, texture.EncodeToPNG());
Expand All @@ -124,8 +129,15 @@ public unsafe void UpdateHeightFieldData() {
0);
RenderTexture.active = null;

float[] curData = texture.GetPixels(0, 0, texture.width, texture.height)
.Select(c => c.r * 2).ToArray();
var pixels = texture.GetPixels(0, 0, texture.width, texture.height);
float heightRange = _maximumHeightMapValue - _minimumHeightMapValue;
float[] curData;
if (heightRange > Mathf.Epsilon) {
curData = pixels.Select(
c => Mathf.Clamp01((c.r - _minimumHeightMapValue) / heightRange)).ToArray();
} else {
curData = new float[pixels.Length];
}
int adr = MjScene.Instance.Model->hfield_adr[HeightFieldId];
for (int i = 0; i < curData.Length; i++) {
MjScene.Instance.Model->hfield_data[adr + i] = curData[i];
Expand Down