Gather points (#171)

* Change logic for GatheringRowComponent
* Added row gathering points to 4 lanes

Signed-off-by: Michał Pełka <[email protected]>

Project/Gem/Source/ApplePicker/GatheringRowComponent.cpp

@@ -19,30 +19,23 @@ namespace AppleKraken
         if (AZ::SerializeContext* serialize = azrtti_cast<AZ::SerializeContext*>(context))
         {
             serialize->Class<GatheringRowComponent, AZ::Component>()
-                ->Version(3)
-                ->Field("Start", &GatheringRowComponent::m_start)
-                ->Field("End", &GatheringRowComponent::m_end)
-                ->Field("PoseOffset", &GatheringRowComponent::m_poseOffset)
-                ->Field("TreeCount", &GatheringRowComponent::m_appleTreeCount);
+                ->Version(4)
+                ->Field("PoseOffset", &GatheringRowComponent::m_poseOffset);
 
             if (AZ::EditContext* ec = serialize->GetEditContext())
             {
-                ec->Class<GatheringRowComponent>("Gathering Row Component", "Poses (points with orientation) suitable for apple gathering")
+                ec->Class<GatheringRowComponent>("Gathering Row Component", "Poses (points with orientation) suitable for apple gathering."
+                                                                            "Component will return as navigation plan all its children "
+                                                                            "with name containing \'GatherPoint\'. "
+                                                                            "Points are sorted with entity name.")
                     ->ClassElement(AZ::Edit::ClassElements::EditorData, "")
                     ->Attribute(AZ::Edit::Attributes::Category, "AppleKraken")
                     ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC("Game"))
-                    ->DataElement(AZ::Edit::UIHandlers::Default, &GatheringRowComponent::m_start, "Start", "Entity with the start pose")
-                    ->DataElement(AZ::Edit::UIHandlers::Default, &GatheringRowComponent::m_end, "End", "Entity with the end pose")
                     ->DataElement(
                         AZ::Edit::UIHandlers::Default,
                         &GatheringRowComponent::m_poseOffset,
                         "Offset",
                         "Pose offset for each point (depends on robot)")
-                    ->DataElement(
-                        AZ::Edit::UIHandlers::Default,
-                        &GatheringRowComponent::m_appleTreeCount,
-                        "Tree count",
-                        "How many trees are in the row")
                     ->Attribute(AZ::Edit::Attributes::Min, 1);
             }
         }
@@ -61,35 +54,33 @@ namespace AppleKraken
 
     void GatheringRowComponent::ComputeGatheringPoses()
     {
-        if (!m_start.IsValid() || !m_end.IsValid())
+        // find all children
+        AZStd::vector<AZ::EntityId> descendants;
+        AZ::TransformBus::EventResult(descendants, GetEntityId(), &AZ::TransformBus::Events::GetAllDescendants);
+        if (descendants.empty())
         {
-            AZ_Error("GatheringRowComponent", false, "ComputeGatheringPoses: unable to proceed without both start and end entity set");
+            AZ_Error("GatheringRowComponent", false, "ComputeGatheringPoses: unable to proceed with empty set");
             return;
         }
-
-        if (m_appleTreeCount < 1)
+        // Simplification - we assume same orientations along the way
+        AZStd::map<AZStd::string, AZ::EntityId> sorted_names;
+        for (const auto& entity_id:descendants)
         {
-            AZ_Error("GatheringRowComponent", false, "ComputeGatheringPoses: unable to proceed with apple tree count less than 1");
-            return;
+            AZStd::string entity_name;
+            AZ::ComponentApplicationBus::BroadcastResult(entity_name, &AZ::ComponentApplicationRequests::GetEntityName, entity_id);
+            if (entity_id.IsValid()) {
+                if (entity_name.contains("GatherPoint")) {
+                    sorted_names[entity_name] = entity_id;
+                }
+            }
         }
-
-        GatheringPoses allPoses;
-        AZ::Transform startPose;
-        AZ::Transform endPose;
-        AZ::TransformBus::EventResult(startPose, m_start, &AZ::TransformBus::Events::GetWorldTM);
-        AZ::TransformBus::EventResult(endPose, m_end, &AZ::TransformBus::Events::GetWorldTM);
-
-        const AZ::Transform rowLookAt =
-            AZ::Transform::CreateLookAt(startPose.GetTranslation(), endPose.GetTranslation(), AZ::Constants::Axis::XPositive);
-
-        // Simplification - we assume same orientations along the way
-        const auto rowVector = endPose.GetTranslation() - startPose.GetTranslation();
-        for (int i = 0; i < m_appleTreeCount; ++i)
+        for (const auto &[_, entity_id]:sorted_names)
         {
-            AZ::Transform gatheringPoint = rowLookAt;
-            const float scale = static_cast<float>(i) / (m_appleTreeCount - 1);
-            gatheringPoint.SetTranslation(gatheringPoint.GetTranslation() + m_poseOffset + rowVector * scale);
-            m_gatheringPoses.emplace_back(gatheringPoint);
+            AZ::Transform pose;
+            AZ::TransformBus::EventResult(pose, entity_id, &AZ::TransformBus::Events::GetWorldTM);
+            pose = pose * AZ::Transform::CreateFromQuaternionAndTranslation(AZ::Quaternion::CreateIdentity(),
+                                                                            m_poseOffset);
+            m_gatheringPoses.emplace_back(pose);
         }
     }
 } // namespace AppleKraken

Project/Gem/Source/ApplePicker/GatheringRowComponent.h

@@ -39,11 +39,7 @@ namespace AppleKraken
 
         void ComputeGatheringPoses();
 
-        AZ::EntityId m_start;
-        AZ::EntityId m_end;
         AZ::Vector3 m_poseOffset = AZ::Vector3::CreateZero(); //!< Depends on robot / effector setting, exposed for experimenting
-        uint16_t m_appleTreeCount = 13;
-
         GatheringPoses m_gatheringPoses;
     };
 } // namespace AppleKraken

Project/Gem/Source/ApplePicker/KrakenEffectorComponent.cpp

@@ -11,6 +11,7 @@
 #include "Manipulator/ManipulatorRequestBus.h"
 #include "PickingStructs.h"
 #include <AzCore/Component/Entity.h>
+#include <AzCore/Component/ComponentApplicationBus.h>
 #include <AzCore/Component/TransformBus.h>
 #include <AzCore/Serialization/EditContext.h>
 #include <AzCore/Serialization/EditContextConstants.inl>

Project/Levels/Main/Main.prefab

@@ -40,6 +40,9 @@
                     "Entity_[104676312987105]",
                     "Entity_[1090499316769908]",
                     "Entity_[1377679985301621]",
+                    "Entity_[50248621122467]",
+                    "Entity_[50364585239459]",
+                    "Entity_[50497729225635]",
                     "Entity_[613152547383712]",
                     "Instance_[40055725095069]/ContainerEntity"
                 ]
@@ -1030,7 +1033,7 @@
         },
         "Entity_[1377679985301621]": {
             "Id": "Entity_[1377679985301621]",
-            "Name": "GatheringRow",
+            "Name": "GatheringRowLine1",
             "Components": {
                 "Component_[12569860409072173675]": {
                     "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
@@ -1038,8 +1041,8 @@
                     "Parent Entity": "Entity_[1146574390643]",
                     "Transform Data": {
                         "Translate": [
-                            -59.84291458129883,
-                            35.47842788696289,
+                            -63.237327575683594,
+                            36.44573974609375,
                             0.0
                         ]
                     }
@@ -1068,17 +1071,26 @@
                     "$type": "GenericComponentWrapper",
                     "Id": 6506285051007944421,
                     "m_template": {
-                        "$type": "GatheringRowComponent",
-                        "Start": "Entity_[1377688575236213]",
-                        "End": "Entity_[1377697165170805]"
+                        "$type": "GatheringRowComponent"
                     }
                 },
                 "Component_[8164175847176343181]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 8164175847176343181,
                     "Child Entity Order": [
-                        "Entity_[1377688575236213]",
-                        "Entity_[1377697165170805]"
+                        "Entity_[4429910008739]",
+                        "Entity_[4438499943331]",
+                        "Entity_[4455679812515]",
+                        "Entity_[4468564714403]",
+                        "Entity_[4481449616291]",
+                        "Entity_[4494334518179]",
+                        "Entity_[4507219420067]",
+                        "Entity_[4520104321955]",
+                        "Entity_[4532989223843]",
+                        "Entity_[4545874125731]",
+                        "Entity_[4558759027619]",
+                        "Entity_[4571643929507]",
+                        "Entity_[4584528831395]"
                     ]
                 },
                 "Component_[8225996335577294700]": {
@@ -1091,99 +1103,6 @@
                 }
             }
         },
-        "Entity_[1377688575236213]": {
-            "Id": "Entity_[1377688575236213]",
-            "Name": "Start",
-            "Components": {
-                "Component_[11538459141403005529]": {
-                    "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
-                    "Id": 11538459141403005529,
-                    "Parent Entity": "Entity_[1377679985301621]"
-                },
-                "Component_[11947992469664550580]": {
-                    "$type": "EditorEntityIconComponent",
-                    "Id": 11947992469664550580
-                },
-                "Component_[12136844628209740403]": {
-                    "$type": "EditorVisibilityComponent",
-                    "Id": 12136844628209740403
-                },
-                "Component_[14199351808047054605]": {
-                    "$type": "EditorOnlyEntityComponent",
-                    "Id": 14199351808047054605
-                },
-                "Component_[14960584158294418045]": {
-                    "$type": "EditorInspectorComponent",
-                    "Id": 14960584158294418045
-                },
-                "Component_[1845133092815959833]": {
-                    "$type": "EditorPendingCompositionComponent",
-                    "Id": 1845133092815959833
-                },
-                "Component_[5033738611993447155]": {
-                    "$type": "EditorEntitySortComponent",
-                    "Id": 5033738611993447155
-                },
-                "Component_[7192414286059315724]": {
-                    "$type": "EditorDisabledCompositionComponent",
-                    "Id": 7192414286059315724
-                },
-                "Component_[8631506422829805841]": {
-                    "$type": "EditorLockComponent",
-                    "Id": 8631506422829805841
-                }
-            }
-        },
-        "Entity_[1377697165170805]": {
-            "Id": "Entity_[1377697165170805]",
-            "Name": "End",
-            "Components": {
-                "Component_[14622380832334875767]": {
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-                },
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-                },
-                "Component_[16456657311684002994]": {
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-                    "Id": 16456657311684002994,
-                    "Parent Entity": "Entity_[1377679985301621]",
-                    "Transform Data": {
-                        "Translate": [
-                            0.0,
-                            -38.903377532958984,
-                            0.0
-                        ]
-                    }
-                },
-                "Component_[17760302013238664821]": {
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-                    "Id": 17760302013238664821
-                },
-                "Component_[6079329122693101296]": {
-                    "$type": "EditorEntityIconComponent",
-                    "Id": 6079329122693101296
-                },
-                "Component_[6636293252330045092]": {
-                    "$type": "EditorDisabledCompositionComponent",
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-                },
-                "Component_[7890849669701597370]": {
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-                },
-                "Component_[8436891138138350551]": {
-                    "$type": "EditorOnlyEntityComponent",
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-                }
-            }
-        },
         "Entity_[17223493880265070]": {
             "Id": "Entity_[17223493880265070]",
             "Name": "RefProbMain",
@@ -2315,181 +2234,3257 @@
                 }
             }
         },
-        "Entity_[4569290015101]": {
-            "Id": "Entity_[4569290015101]",
-            "Name": "Skybox",
+        "Entity_[4429910008739]": {
+            "Id": "Entity_[4429910008739]",
+            "Name": "GatherPoint01",
             "Components": {
-                "Component_[1030066146196689940]": {
+                "Component_[10592247055369956730]": {
+                    "$type": "EditorOnlyEntityComponent",
+                    "Id": 10592247055369956730
+                },
+                "Component_[1074467445936196339]": {
+                    "$type": "EditorInspectorComponent",
+                    "Id": 1074467445936196339
+                },
+                "Component_[11609650740897354057]": {
+                    "$type": "EditorLockComponent",
+                    "Id": 11609650740897354057
+                },
+                "Component_[11903273050669042648]": {
+                    "$type": "EditorPendingCompositionComponent",
+                    "Id": 11903273050669042648
+                },
+                "Component_[11962354142411427710]": {
                     "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
-                    "Id": 1030066146196689940,
-                    "Parent Entity": "Entity_[1176639161715]",
+                    "Id": 11962354142411427710,
+                    "Parent Entity": "Entity_[1377679985301621]",
                     "Transform Data": {
+                        "Translate": [
+                            0.0,
+                            -1.350982666015625,
+                            0.0
+                        ],
                         "Rotate": [
                             0.0,
                             0.0,
-                            199.0
+                            -90.0
                         ]
                     }
                 },
-                "Component_[16508829793178525305]": {
+                "Component_[14013846644142765707]": {
+                    "$type": "EditorEntitySortComponent",
+                    "Id": 14013846644142765707
+                },
+                "Component_[16159770048066527878]": {
+                    "$type": "EditorEntityIconComponent",
+                    "Id": 16159770048066527878
+                },
+                "Component_[587997580022414092]": {
                     "$type": "EditorDisabledCompositionComponent",
-                    "Id": 16508829793178525305
+                    "Id": 587997580022414092
                 },
-                "Component_[1691941468498727695]": {
-                    "$type": "AZ::Render::EditorImageBasedLightComponent",
-                    "Id": 1691941468498727695,
-                    "Controller": {
-                        "Configuration": {
-                            "diffuseImageAsset": {
-                                "assetId": {
-                                    "guid": "{3FD09945-D0F2-55C8-B9AF-B2FD421FE3BE}",
-                                    "subId": 3000
-                                },
-                                "assetHint": "lightingpresets/highcontrast/goegap_4k_iblglobalcm_ibldiffuse.exr.streamingimage"
-                            },
-                            "specularImageAsset": {
-                                "assetId": {
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-                                    "subId": 2000
-                                },
-                                "assetHint": "lightingpresets/highcontrast/goegap_4k_iblglobalcm_iblspecular.exr.streamingimage"
-                            },
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+                "Component_[9935025774700671265]": {
+                    "$type": "EditorVisibilityComponent",
+                    "Id": 9935025774700671265
+                }
+            }
+        },
+        "Entity_[4438499943331]": {
+            "Id": "Entity_[4438499943331]",
+            "Name": "GatherPoint02",
+            "Components": {
+                "Component_[10592247055369956730]": {
+                    "$type": "EditorOnlyEntityComponent",
+                    "Id": 10592247055369956730
                 },
-                "Component_[16929892164416738853]": {
-                    "$type": "AZ::Render::EditorHDRiSkyboxComponent",
-                    "Id": 16929892164416738853,
-                    "Controller": {
-                        "Configuration": {
-                            "CubemapAsset": {
-                                "assetId": {
-                                    "guid": "{A127016D-187B-5145-B9AC-FE6146A0CFCD}",
-                                    "subId": 1000
-                                },
-                                "assetHint": "assets/images/sunflowers_4k_cm.exr.streamingimage"
-                            },
-                            "Exposure": 1.0
-                        }
-                    }
+                "Component_[1074467445936196339]": {
+                    "$type": "EditorInspectorComponent",
+                    "Id": 1074467445936196339
                 },
-                "Component_[17298970327614700857]": {
+                "Component_[11609650740897354057]": {
+                    "$type": "EditorLockComponent",
+                    "Id": 11609650740897354057
+                },
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                     "$type": "EditorPendingCompositionComponent",
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+                    "Id": 11903273050669042648
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+                "Component_[11962354142411427710]": {
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+                    "Parent Entity": "Entity_[1377679985301621]",
+                    "Transform Data": {
+                        "Translate": [
+                            0.0,
+                            -4.791509628295898,
+                            0.0
+                        ],
+                        "Rotate": [
+                            0.0,
+                            0.0,
+                            -90.0
+                        ]
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+                "Component_[14013846644142765707]": {
+                    "$type": "EditorEntitySortComponent",
+                    "Id": 14013846644142765707
+                },
+                "Component_[16159770048066527878]": {
                     "$type": "EditorEntityIconComponent",
-                    "Id": 375615859842590616
+                    "Id": 16159770048066527878
                 },
-                "Component_[6031442569134381051]": {
+                "Component_[587997580022414092]": {
+                    "$type": "EditorDisabledCompositionComponent",
+                    "Id": 587997580022414092
+                },
+                "Component_[9935025774700671265]": {
+                    "$type": "EditorVisibilityComponent",
+                    "Id": 9935025774700671265
+                }
+            }
+        },
+        "Entity_[4455679812515]": {
+            "Id": "Entity_[4455679812515]",
+            "Name": "GatherPoint03",
+            "Components": {
+                "Component_[10592247055369956730]": {
                     "$type": "EditorOnlyEntityComponent",
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+                    "Id": 10592247055369956730
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                     "$type": "EditorLockComponent",
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+                "Component_[11903273050669042648]": {
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                 },
-                "Component_[9191985581143312457]": {
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+                    "Transform Data": {
+                        "Translate": [
+                            0.0,
+                            -7.949485778808594,
+                            0.0
+                        ],
+                        "Rotate": [
+                            0.0,
+                            0.0,
+                            -90.0
+                        ]
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                     "$type": "EditorVisibilityComponent",
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                 }
             }
         },
-        "Entity_[4575349763039]": {
-            "Id": "Entity_[4575349763039]",
-            "Name": "Grass Mesh",
+        "Entity_[4468564714403]": {
+            "Id": "Entity_[4468564714403]",
+            "Name": "GatherPoint04",
             "Components": {
-                "Component_[11829562936681814697]": {
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-                "Component_[11890639404604887989]": {
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+                "Component_[1074467445936196339]": {
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                 },
-                "Component_[12138013386905564555]": {
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+                "Component_[11609650740897354057]": {
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+                    "Parent Entity": "Entity_[1377679985301621]",
+                    "Transform Data": {
+                        "Translate": [
+                            0.0,
+                            -10.99848747253418,
+                            0.0
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+                        "Rotate": [
+                            0.0,
+                            0.0,
+                            -90.0
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+                "Component_[16159770048066527878]": {
+                    "$type": "EditorEntityIconComponent",
+                    "Id": 16159770048066527878
                 },
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+                "Component_[587997580022414092]": {
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+                    "Id": 587997580022414092
+                },
+                "Component_[9935025774700671265]": {
+                    "$type": "EditorVisibilityComponent",
+                    "Id": 9935025774700671265
+                }
+            }
+        },
+        "Entity_[4481449616291]": {
+            "Id": "Entity_[4481449616291]",
+            "Name": "GatherPoint05",
+            "Components": {
+                "Component_[10592247055369956730]": {
+                    "$type": "EditorOnlyEntityComponent",
+                    "Id": 10592247055369956730
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+                "Component_[1074467445936196339]": {
                     "$type": "EditorInspectorComponent",
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+                    "Id": 1074467445936196339
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-                "Component_[16974085005086347289]": {
+                "Component_[11609650740897354057]": {
                     "$type": "EditorLockComponent",
-                    "Id": 16974085005086347289
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