class Covered(RelativeObjectState, BooleanStateMixin):
def __init__(self, obj):
# Run super first
super().__init__(obj)
# Set internal values
self._visual_particle_group = None
@classmethod
def get_dependencies(cls):
deps = super().get_dependencies()
deps.update({AABB, ContactParticles})
return deps
def remove(self):
if self._initialized:
self._clear_attachment_groups()
def _clear_attachment_groups(self):
"""
Utility function to destroy all corresponding attachment groups for this object
"""
for system in VisualParticleSystem.get_active_systems().values():
if self._visual_particle_group in system.groups:
system.remove_attachment_group(self._visual_particle_group)
def _initialize(self):
super()._initialize()
# Grab group name
self._visual_particle_group = VisualParticleSystem.get_group_name(obj=self.obj)
def _get_value(self, system):
# Value is false by default
value = False
# First, we check what type of system
# Currently, we support VisualParticleSystems and PhysicalParticleSystems
if system.n_particles > 0:
if is_visual_particle_system(system_name=system.name):
if self._visual_particle_group in system.groups:
# check whether the current number of particles assigned to the group is greater than the threshold
value = system.num_group_particles(group=self._visual_particle_group) >= m.VISUAL_PARTICLE_THRESHOLD
elif is_physical_particle_system(system_name=system.name):
# Make sure we're not cloth -- not supported yet
assert self.obj.prim_type != PrimType.CLOTH, \
"Cloth objects currently cannot be Covered by physical particles!"
# We've already cached particle contacts, so we merely search through them to see if any particles are
# touching the object and are visible (the non-visible ones are considered already "removed")
n_near_particles = len(self.obj.states[ContactParticles].get_value(system))
# Heuristic: If the number of near particles is above the threshold, we consdier this covered
value = n_near_particles >= m.PHYSICAL_PARTICLE_THRESHOLD
else:
raise ValueError(f"Invalid system {system} received for getting Covered state!"
f"Currently, only VisualParticleSystems and PhysicalParticleSystems are supported.")
return value
def _set_value(self, system, new_value):
# Default success value is True
success = True
# First, we check what type of system
# Currently, we support VisualParticleSystems and PhysicalParticleSystems
if is_visual_particle_system(system_name=system.name):
# Create the group if it doesn't exist already
if self._visual_particle_group not in system.groups:
system.create_attachment_group(obj=self.obj)
# Check current state and only do something if we're changing state
if self.get_value(system) != new_value:
if new_value:
# Generate particles
success = system.generate_group_particles_on_object(
group=self._visual_particle_group,
max_samples=m.MAX_VISUAL_PARTICLES,
min_samples_for_success=m.VISUAL_PARTICLE_THRESHOLD,
)
else:
# We remove all of this group's particles
system.remove_all_group_particles(group=self._visual_particle_group)
elif is_physical_particle_system(system_name=system.name):
# Make sure we're not cloth -- not supported yet
assert self.obj.prim_type != PrimType.CLOTH, \
"Cloth objects currently cannot be Covered by physical particles!"
# Check current state and only do something if we're changing state
if self.get_value(system) != new_value:
if new_value:
# Sample particles on top of the object
success = system.generate_particles_on_object(
obj=self.obj,
max_samples=m.MAX_PHYSICAL_PARTICLES,
min_samples_for_success=m.PHYSICAL_PARTICLE_THRESHOLD,
)
else:
# We remove all particles touching this object
system.remove_particles(idxs=list(self.obj.states[ContactParticles].get_value(system)))
else:
raise ValueError(f"Invalid system {system} received for setting Covered state!"
f"Currently, only VisualParticleSystems and PhysicalParticleSystems are supported.")
return success