Cellulo in Unity 3D

Demo https://youtu.be/XnN9yhErv5g

Project in Unity with all required assets {F8970681}

Running app on Android with 2 connected robots {F8970680}

Tested with Qt 5.11.1, android-ndk-r16b, android-sdk_r22.3-linux, API 27 tablet, Unity for Linux 2018.2.0f2 Personal, Cellulo-QML efdb94f

Installation (common)

1. Need Qt and access to cellulo-qml-plugin on c4science through ssh
2. git submodule init; git submodule update. Build and install cellulo-qml-plugin for your architecture. On Linux, make it available for loading
3. Using qt, build the project cellulo-unity.pro for your architecture
4. Add the resulting file libcellulo-unity.so as a Unity asset to your project
5. Use the C# class EscapeTheGhost/Assets/Cellulo.cs in your project to wrap the C calls to Cellulo

Usage

1. Need Robot pool daemon running. In C#:
2. After connection to the pool with Cellulo.initialize(), test if have enough robots with Cellulo.robotsRemaining().
3. If the quantity is enough for you, create Cellulo objects with new Cellulo()
4. If the constructor did not show errors, the robot is ready to use!

Additional steps for Android

First of all, the library libcelluloplugin.so must be bundled with the app.

On Android, apart from building the library libcellulo-unity.so and including it as an asset to Unity, also need to supply the following libraries:

libgnustl_shared.so
libqandroidbearer.so
libQt5AndroidExtras.so
libQt5Bluetooth.so
libQt5Concurrent.so
libQt5Core.so
libQt5Gui.so
libQt5Multimedia.so
libQt5Network.so
libQt5Qml.so
libQt5Quick.so
libqtforandroid.so

These are taken from Qt and Android NDK.

Check logcat on your device and use /path_to/android_ndk/find_it/arm-linux-androideabi-readelf -d yourfile.so to get dependencies of libs, if new versions are different.

Also the following jar files are required (copied from Qt installation):

QtAndroidBearer.jar
QtAndroidBluetooth.jar
QtAndroidExtras.jar
QtAndroidGamepad.jar
QtAndroid.jar
QtAndroidWebView.jar
QtMultimedia.jar
QtNfc.jar
QtPositioning.jar
QtSensors.jar
QtTextToSpeech.jar

Moreover, Qt libraries need to be loaded from Java using System.load, which calls C function JNI_OnLoad. Unity does that to libcellulo-unity.so because it's referenced in Cellulo.cs file. However, it does not do that for Qt libs because they are simply dependencies of libcellulo-unity and are loaded using regular dlopen. Qt libs crash if that method has not been called because they need the pointer to Java VM. To fix the issue, methods are called manually in CelluloUnity_Cellulo.cpp. To obtain list of libs which require manual call, run /path_to/android_ndk/find_it/arm-linux-androideabi-gcc-nm -D your_so_file|grep OnLoad. If it is nonempty, it needs to be called.

The exception is libqtforandroid.so which also enables Bluetooth. Calling it results in a crash and it is not clear at this moment how to enable it. Therefore, the Robot Pool is used which does not require Bluetooth.

C++ example

Example of usage in C++ is at cpp-test

Example

MsPacman-like example

The project EscapeTheGhost is a simple demo with two Cellulos where one of them is a ghost and is dangerous when is red. The other Cellulo is the player and it must be moved to the goal while avoiding the ghost and other obstacles. When the robot hits the obstacle, it vibrates and returns to start of the level (level failed).

2D GUI interface shows some info.

Task

T2160