removing visibilityScheme param from GetVisibleObjects...

... to ensure an error is thrown because the local visibilityScheme value is set to the only valid enum at initialization now also adding a main camera unit test in GetVisibleObjectsFromCamera as previously only the created ThirdPartyCamera was being tested for expected returns
allenai · Aug 21, 2024 · 37cce20 · 37cce20
1 parent 93a137f
commit 37cce20
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Showing 2 changed files with 27 additions and 14 deletions.
diff --git a/unity/Assets/Scripts/BaseFPSAgentController.cs b/unity/Assets/Scripts/BaseFPSAgentController.cs
@@ -4562,12 +4562,6 @@ public void GetVisibleObjectsFromCamera(
                 camera = agentManager.thirdPartyCameras[thirdPartyCameraId.Value];
             }
 
-            if (this.visibilityScheme != VisibilityScheme.Distance) {
-                throw new System.NotImplementedException(
-                    $"Visibility scheme {this.visibilityScheme} is not compatible. Visibility scheme should be 'Distance'."
-                );
-            }
-
             //only check visibility for objects with these ids otherwise check them all
             List<SimObjPhysics> filterSimObjs = null;
             if (filterObjectIds != null) {
@@ -4608,7 +4602,6 @@ public void GetVisibleObjectsFromCamera(
         )]
         public void GetVisibleObjects(
             float? maxDistance = null,
-            string visibilityScheme = null,
             int? thirdPartyCameraIndex = null,
             List<string> objectIds = null
         ) {
@@ -4621,12 +4614,6 @@ public void GetVisibleObjects(
                 camera = m_Camera;
             }
 
-            if (this.visibilityScheme != VisibilityScheme.Distance) {
-                throw new System.NotImplementedException(
-                    $"Visibility scheme {this.visibilityScheme} is not compatible. Visibility scheme should be 'Distance'."
-                );
-            }
-
             List<SimObjPhysics> filterSimObjs = null;
             if (objectIds != null) {
                 foreach (string objectId in objectIds) {
@@ -4646,7 +4633,7 @@ public void GetVisibleObjects(
 
             visible = GetAllVisibleSimObjPhysicsDistance(
                 camera: camera,
-                maxDistance: maxDistance.GetValueOrDefault(this.maxVisibleDistance), // lgtm [cs/dereferenced-value-may-be-null]
+                maxDistance: maxDistance.GetValueOrDefault(this.maxVisibleDistance),
                 filterSimObjs: filterSimObjs,
                 interactable: out interactable
             );

diff --git a/unity/Assets/UnitTests/TestThirdPartyCameraAndMainCamera.cs b/unity/Assets/UnitTests/TestThirdPartyCameraAndMainCamera.cs
@@ -214,6 +214,7 @@ public IEnumerator TestGetVisibleObjectsFromCamera()
 
             action.Clear();
 
+            //testing third party camera return
             action["action"] = "GetVisibleObjectsFromCamera";
             action["thirdPartyCameraId"] = 0;
             yield return step(action);
@@ -241,7 +242,10 @@ public IEnumerator TestGetVisibleObjectsFromCamera()
 
             visibleObjects.Clear();
             visibleObjects = (List<string>)actionReturn;
+
 #if UNITY_EDITOR
+            Debug.Log($"Checking Visible Objects from ThirdPartyCamera Index 0");
+            Debug.Log($"Total Visible Objects: {visibleObjects.Count}");
             foreach (string obj in visibleObjects)
             {
                 Debug.Log(obj);
@@ -250,6 +254,28 @@ public IEnumerator TestGetVisibleObjectsFromCamera()
 
             Assert.AreEqual(visibleObjects.Count, 1);
             Assert.AreEqual(visibleObjects[0], "Apple|-00.47|+01.15|+00.48");
+
+            //Test main camera return
+            action.Clear();
+
+            action["action"] = "GetVisibleObjectsFromCamera";
+            action["thirdPartyCameraId"] = null; //null ID queries main camera instead
+            yield return step(action);
+
+            visibleObjects.Clear();
+            visibleObjects = (List<string>)actionReturn;
+
+#if UNITY_EDITOR
+            Debug.Log($"Checking Visible Objects from Main Camera");
+            Debug.Log($"Total Visible Objects: {visibleObjects.Count}");
+            foreach (string obj in visibleObjects)
+            {
+                Debug.Log(obj);
+            }
+#endif
+
+            Assert.AreEqual(visibleObjects.Count, 4);
+            Assert.AreEqual(visibleObjects[0], "Cabinet|-01.85|+02.02|+00.38");
         }
 
         [UnityTest]