Modfiy/segmentation (#305)

Assets/Resources/RenderPipelines/SegmentationRenderer.asset

@@ -10,12 +10,12 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 6b3d386ba5cd94485973aee1479b272e, type: 3}
-  m_Name: RenderObjects
+  m_Name: SegmentationRenderObjects
   m_EditorClassIdentifier: 
   m_Active: 1
   settings:
-    passTag: RenderObjects
-    Event: 600
+    passTag: SegmentationRenderObjects
+    Event: 300
     filterSettings:
       RenderQueueType: 0
       LayerMask:
@@ -28,7 +28,7 @@ MonoBehaviour:
     overrideShaderPassIndex: 0
     overrideMode: 2
     overrideDepthState: 0
-    depthCompareFunction: 2
+    depthCompareFunction: 0
     enableWrite: 0
     stencilSettings:
       overrideStencilState: 0
@@ -97,8 +97,8 @@ MonoBehaviour:
     failOperation: 0
     zFailOperation: 0
   m_ShadowTransparentReceive: 0
-  m_RenderingMode: 0
+  m_RenderingMode: 1
   m_DepthPrimingMode: 0
-  m_CopyDepthMode: 2
+  m_CopyDepthMode: 0
   m_AccurateGbufferNormals: 0
   m_IntermediateTextureMode: 0

Assets/Resources/Shader/GeometryGrass.shader

@@ -44,9 +44,10 @@ Shader "Custom/GeometryGrass"
 	{
 		Tags
 		{
+			"RenderPipeline" = "UniversalPipeline"
 			"RenderType" = "Opaque"
 			"Queue" = "Geometry"
-			"RenderPipeline" = "UniversalPipeline"
+			"IgnoreProjector" = "True"
 		}
 
 		LOD 100
@@ -56,6 +57,9 @@ Shader "Custom/GeometryGrass"
 		#include "Packages/com.unity.render-pipelines.universal/ShaderLibrary/Core.hlsl"
 		#include "Packages/com.unity.render-pipelines.universal/ShaderLibrary/Lighting.hlsl"
 
+		#pragma require geometry
+		#pragma require tessellation tessHW
+
 		#pragma multi_compile _ _MAIN_LIGHT_SHADOWS
 		#pragma multi_compile _ _MAIN_LIGHT_SHADOWS_CASCADE
 		#pragma multi_compile _ _SHADOWS_SOFT
@@ -65,6 +69,8 @@ Shader "Custom/GeometryGrass"
 		#pragma multi_compile_local WIND_OFF _
 
 		#pragma multi_compile_instancing
+		#pragma instancing_options renderinglayer
+		#include_with_pragmas "Packages/com.unity.render-pipelines.universal/ShaderLibrary/DOTS.hlsl"
 
 		#define BLADE_SEGMENTS 4
 
@@ -311,7 +317,7 @@ Shader "Custom/GeometryGrass"
 				float4 tangent = (input[0].tangentWS + input[1].tangentWS + input[2].tangentWS) / 3.0f;
 				float3 bitangent = cross(normal, tangent.xyz) * tangent.w;
 
-				pos -= _GrassOffset;
+				pos -= _GrassOffset.xyz;
 
 				float3x3 tangentToLocal = float3x3
 				(
@@ -390,25 +396,17 @@ Shader "Custom/GeometryGrass"
 				"LightMode" = "UniversalForward"
 			}
 
-			ZWrite On
-			ZTest LEqual
-
 			HLSLPROGRAM
-			#pragma require geometry
-			#pragma require tessellation tessHW
-
 			#pragma vertex vert
 			#pragma hull hull
 			#pragma domain domain
 			#pragma geometry geom
 			#pragma fragment frag
 
-			#pragma multi_compile_instancing
-
 			// The lighting sections of the frag shader taken from this helpful post by Ben Golus:
 			// https://forum.unity.com/threads/water-shader-graph-transparency-and-shadows-universal-render-pipeline-order.748142/#post-5518747
 
-			float4 frag (g2f i) : SV_Target
+			float4 frag(g2f i) : SV_Target
 			{
 				float4 color = tex2D(_BaseTex, i.uv);
 
@@ -437,18 +435,13 @@ Shader "Custom/GeometryGrass"
 			Name "ShadowCaster"
 			Tags { "LightMode" = "ShadowCaster" }
 
-			ZWrite On
-			ZTest LEqual
-
 			HLSLPROGRAM
 			#pragma vertex shadowVert
 			#pragma hull hull
 			#pragma domain domain
 			#pragma geometry geom
 			#pragma fragment shadowFrag
 
-			// #pragma multi_compile_instancing
-
 			#include "Packages/com.unity.render-pipelines.core/ShaderLibrary/Common.hlsl"
 			#include "Packages/com.unity.render-pipelines.core/ShaderLibrary/CommonMaterial.hlsl"
 			#include "Packages/com.unity.render-pipelines.universal/ShaderLibrary/Shadows.hlsl"

Assets/Resources/Shader/Segmentation.shader

@@ -4,35 +4,43 @@ Shader "Sensor/Segmentation"
 	{
 		_SegmentationColor ("Segmentation Color", Color) = (1, 1, 1, 1)
 		_SegmentationClassId ("Segmentation Class ID Value in 16bits", Color) = (0, 0, 0, 1)
-		_DisableColor ("Disable Color output", int) = 0
-		_Hide ("Hide this label", int) = 0
+		[Toggle] _DisableColor ("Disable Color method", int) = 0
+		[Toggle] _Hide ("Hide this label", int) = 0
 	}
 
 	SubShader
 	{
-		Tags {
+		Tags
+		{
+			"RenderPipeline" = "UniversalPipeline"
 			"RenderType" = "Opaque"
+			"Queue" = "Geometry"
 		}
 
+		Cull Off // Disable backface culling
+		Lighting Off
+
+		HLSLINCLUDE
+		#include "Packages/com.unity.render-pipelines.universal/ShaderLibrary/Core.hlsl"
+
+		CBUFFER_START(UnityPerMaterial)
+		half4 _SegmentationColor;
+		half4 _SegmentationClassId;
+		int _DisableColor;
+		int _Hide;
+		CBUFFER_END
+
+		ENDHLSL
+
 		Pass
 		{
-			Name "Segmentation"
-
-			Cull Off // Disable backface culling
+			Name "PixelSegmentation"
 
 			HLSLPROGRAM
-			#include "Packages/com.unity.render-pipelines.universal/ShaderLibrary/Core.hlsl"
 
 			#pragma vertex vert
 			#pragma fragment frag
 
-			CBUFFER_START(UnityPerMaterial)
-			half4 _SegmentationColor;
-			half4 _SegmentationClassId;
-			int _DisableColor;
-			int _Hide;
-			CBUFFER_END
-
 			struct Attributes
 			{
 				float4 positionOS : POSITION;
@@ -41,32 +49,24 @@ Shader "Sensor/Segmentation"
 			struct Varyings
 			{
 				float4 positionCS : SV_POSITION;
-				half4 color : COLOR;
 			};
 
-			Varyings vert(Attributes input)
+			Varyings vert(Attributes i)
 			{
-				Varyings output = (Varyings)0;
-				VertexPositionInputs vertexInput = GetVertexPositionInputs(input.positionOS.xyz);
-				output.positionCS = vertexInput.positionCS;
-
-				half4 output_color = half4(0, 0, 0, 1);
-				if (_Hide == 0)
-				{
-					output_color = (_DisableColor == 0)? _SegmentationColor : _SegmentationClassId;
-				}
-				output.color = output_color;
-				return output;
+				Varyings o;
+				VertexPositionInputs vertexInput = GetVertexPositionInputs(i.positionOS.xyz);
+				o.positionCS = vertexInput.positionCS;
+				return o;
 			}
 
 			half4 frag(Varyings i) : SV_Target
 			{
-				half4 output_color = half4(0, 0, 0, 1);
+				half4 segColor = half4(0, 0, 0, 0);
 				if (_Hide == 0)
 				{
-					output_color = (_DisableColor == 0)? _SegmentationColor : _SegmentationClassId;
+					segColor = (_DisableColor == 0)? _SegmentationColor : _SegmentationClassId;
 				}
-				return output_color;
+				return segColor;
 			}
 			ENDHLSL
 		}

Assets/Scripts/CLOiSimPlugins/MowingPlugin.cs

@@ -39,7 +39,7 @@ public void SetBladingRatio(in float bladeMin, in float bladeMax, in float bladi
 		{
 			this.heightThreshold = bladingHeight;
 			this.ratio = Mathf.Lerp(bladeMin, bladeMax, bladingHeight);
-			Debug.Log("_bladingRatio: " + this.ratio);
+			// Debug.Log("_bladingRatio: " + this.ratio);
 		}
 	}
 
@@ -298,10 +298,9 @@ private bool FindTargetBlade(Target targetBlade)
 		var bladeBounds = new Bounds();
 		foreach (var meshFilter in meshFilters)
 		{
-			Debug.Log(meshFilter.name);
-			Debug.Log(meshFilter.sharedMesh.bounds);
+			// Debug.Log(meshFilter.name);
+			// Debug.Log(meshFilter.sharedMesh.bounds);
 			var bounds = meshFilter.sharedMesh.bounds;
-			// bounds.center = Vector3.zero;
 			bladeBounds.Encapsulate(bounds);
 		}
 

Assets/Scripts/Core/Modules/SegmentationTag.cs

@@ -47,7 +47,7 @@ public bool Hide
 		get => _hide;
 		set {
 			_hide = value;
-			HideLabelForMaterialPropertyBlock(_hide);
+			HideLabelForMaterialPropertyBlock(value);
 		}
 	}
 
@@ -89,6 +89,7 @@ public void Refresh()
 
 		mpb.SetColor("_SegmentationColor", color);
 		mpb.SetColor("_SegmentationClassId", classValue);
+		mpb.SetInt("_Hide", 0);
 
 		// Debug.Log(TagName + ": mode=" + Main.SegmentationManager.Mode +
 		// 			" color=" + color +
@@ -119,7 +120,7 @@ private void UpdateClass()
 			default:
 				return;
 		}
-
+		// Debug.Log("UpdateClass(): " + _className);
 		Main.SegmentationManager.AddClass(_className, this);
 	}
 
@@ -130,8 +131,13 @@ private void AllocateMaterialPropertyBlock(in MaterialPropertyBlock mpb)
 		foreach (var renderer in renderers)
 		{
 			// Debug.Log($"{this.name} material length {renderer.materials.Length}");
-			for (var i =0 ; i < renderer.materials.Length; i++)
+			for (var i = 0; i < renderer.materials.Length; i++)
 			{
+				var existMpb = new MaterialPropertyBlock();
+				renderer.GetPropertyBlock(existMpb, i);
+				var hide = existMpb.GetInt("_Hide");
+				// Debug.Log($"{this.name} {i} hide={hide}");
+				mpb.SetInt("_Hide", hide);
 				renderer.SetPropertyBlock(mpb, i);
 			}
 		}
@@ -147,15 +153,19 @@ private void AllocateMaterialPropertyBlock(in MaterialPropertyBlock mpb)
 	/// Hides the label in material property block.
 	/// </summary>
 	/// <param name="value">if set to <c>true</c>, hide this segmentation.</param>
-	private void HideLabelForMaterialPropertyBlock(in bool value)
+	public void HideLabelForMaterialPropertyBlock(in bool value)
 	{
+		// Debug.Log("HideLabelForMaterialPropertyBlock: " + name);
 		var mpb = new MaterialPropertyBlock();
 		var renderers = GetComponentsInChildren<Renderer>();
 		foreach (var renderer in renderers)
 		{
-			renderer.GetPropertyBlock(mpb);
-			mpb.SetInt("_Hide", value? 1 : 0);
-			renderer.SetPropertyBlock(mpb);
+			for (var i = 0; i < renderer.materials.Length; i++)
+			{
+				renderer.GetPropertyBlock(mpb, i);
+				mpb.SetInt("_Hide", value ? 1 : 0);
+				renderer.SetPropertyBlock(mpb, i);
+			}
 		}
 	}
 }

Assets/Scripts/Core/ObjectSpawning.cs

@@ -72,9 +72,7 @@ void OnDestroy()
 	// Update is called once per frame
 	void LateUpdate()
 	{
-		var leftControlPressed = Input.GetKey(KeyCode.LeftControl);
-
-		if (leftControlPressed)
+		if (Input.GetKey(KeyCode.LeftControl))
 		{
 			if (Input.GetMouseButtonUp(0))
 			{

Assets/Scripts/Core/SegmentationManager.cs

@@ -39,9 +39,7 @@ public void AttachTag(string className, Transform target)
 
 	private static IEnumerator AttachTagCoroutine(string className, Transform target)
 	{
-		yield return new WaitForEndOfFrame();
-
-		var segmentationTag = target?.gameObject.GetComponentInChildren<SegmentationTag>();
+		var segmentationTag = target?.GetComponentInChildren<SegmentationTag>();
 		if (segmentationTag == null)
 		{
 			segmentationTag = target?.gameObject.AddComponent<SegmentationTag>();

Assets/Scripts/Devices/DepthCamera.cs

@@ -153,6 +153,7 @@ protected override void SetupCamera()
 
 			camSensor.clearFlags = CameraClearFlags.Depth;
 			camSensor.allowHDR = false;
+			camSensor.allowMSAA = false;
 			camSensor.depthTextureMode = DepthTextureMode.Depth;
 
 			_universalCamData.requiresColorOption = CameraOverrideOption.Off;

Assets/Scripts/Devices/MicomSensor.cs

@@ -50,7 +50,7 @@ public void SetIMU(in string sensorName)
 			var imuList = gameObject.GetComponentsInChildren<SensorDevices.IMU>();
 			foreach (var imu in imuList)
 			{
-				Debug.Log(imu.name + " , " + imu.DeviceName);
+				// Debug.Log(imu.name + " , " + imu.DeviceName);
 				if (imu.DeviceName.Contains("::" + sensorName + "::") ||
 					imu.name.CompareTo(sensorName) == 0)
 				{

Assets/Scripts/Devices/SegmentationCamera.cs

@@ -43,17 +43,19 @@ protected override void SetupCamera()
 			camSensor.backgroundColor = Color.black;
 			camSensor.clearFlags = CameraClearFlags.SolidColor;
 			camSensor.allowHDR = false;
-			camSensor.allowMSAA = false;
+			camSensor.allowMSAA = true;
 
 			// Refer to SegmentationRenderer (Universal Renderer Data)
 			_universalCamData.SetRenderer(1);
 			_universalCamData.renderPostProcessing = true;
-			_universalCamData.requiresColorOption = CameraOverrideOption.On;
+			_universalCamData.requiresColorOption = CameraOverrideOption.Off;
 			_universalCamData.requiresDepthOption = CameraOverrideOption.Off;
-			_universalCamData.requiresColorTexture = true;
+			_universalCamData.requiresColorTexture = false;
 			_universalCamData.requiresDepthTexture = false;
 			_universalCamData.renderShadows = false;
-			_universalCamData.dithering = false;
+			_universalCamData.dithering = true;
+			_universalCamData.antialiasing = AntialiasingMode.FastApproximateAntialiasing;
+
 		}
 
 		protected override void InitializeMessages()

Assets/Scripts/Main.cs

@@ -484,15 +484,21 @@ private void SaveWorld()
 
 	void LateUpdate()
 	{
+#if UNITY_EDITOR
+		if (Input.GetKey(KeyCode.LeftAlt))
+#else
 		if (Input.GetKey(KeyCode.LeftControl))
+#endif
 		{
+			// Debug.Log("LeftControl Triggered");
 		 	if (Input.GetKeyUp(KeyCode.R))
 			{
-				_resetTriggered = true;
 				// Debug.Log("Reset Triggered");
+				_resetTriggered = true;
 			}
 			else if (Input.GetKeyUp(KeyCode.S))
 			{
+				// Debug.Log("Save World");
 				OnSaveButtonClicked();
 			}
 		}