Merge from 'develop' into 'main' for CLOiSim-4.5.5 (#287)

Assets/Scenes/MainScene.unity

@@ -38,7 +38,6 @@ RenderSettings:
   m_ReflectionIntensity: 1
   m_CustomReflection: {fileID: 0}
   m_Sun: {fileID: 0}
-  m_IndirectSpecularColor: {r: 0.17276844, g: 0.2158925, b: 0.29782635, a: 1}
   m_UseRadianceAmbientProbe: 0
 --- !u!157 &3
 LightmapSettings:
@@ -567,7 +566,7 @@ RectTransform:
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
   m_AnchorMin: {x: 0.5, y: 0.5}
   m_AnchorMax: {x: 0.5, y: 0.5}
-  m_AnchoredPosition: {x: 245, y: 0}
+  m_AnchoredPosition: {x: 240, y: 0}
   m_SizeDelta: {x: 95, y: 25}
   m_Pivot: {x: 0.5, y: 0.5}
 --- !u!114 &92331978
@@ -1519,7 +1518,7 @@ RectTransform:
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
   m_AnchorMin: {x: 0, y: 0}
   m_AnchorMax: {x: 0, y: 0}
-  m_AnchoredPosition: {x: 615, y: 20}
+  m_AnchoredPosition: {x: 593, y: 20}
   m_SizeDelta: {x: 175, y: 25}
   m_Pivot: {x: 0.5, y: 0.5}
 --- !u!114 &227849492
@@ -2584,7 +2583,7 @@ RectTransform:
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
   m_AnchorMin: {x: 0.5, y: 0.5}
   m_AnchorMax: {x: 0.5, y: 0.5}
-  m_AnchoredPosition: {x: 185, y: 0}
+  m_AnchoredPosition: {x: 180, y: 0}
   m_SizeDelta: {x: 30, y: 25}
   m_Pivot: {x: 0.5, y: 0.5}
 --- !u!114 &389794125
@@ -5288,7 +5287,7 @@ RectTransform:
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
   m_AnchorMin: {x: 0.5, y: 0.5}
   m_AnchorMax: {x: 0.5, y: 0.5}
-  m_AnchoredPosition: {x: 345, y: 0}
+  m_AnchoredPosition: {x: 336, y: 0}
   m_SizeDelta: {x: 45, y: 25}
   m_Pivot: {x: 0.5, y: 0.5}
 --- !u!114 &957005822
@@ -5961,7 +5960,7 @@ MonoBehaviour:
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
-  m_text: 'Time:  Sim'
+  m_text: 'Time: Sim'
   m_isRightToLeft: 0
   m_fontAsset: {fileID: 11400000, guid: 8f586378b4e144a9851e7b34d9b748ee, type: 2}
   m_sharedMaterial: {fileID: 2100000, guid: e73a58f6e2794ae7b1b7e50b7fb811b0, type: 2}
@@ -7032,7 +7031,7 @@ RectTransform:
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
   m_AnchorMin: {x: 0.5, y: 0.5}
   m_AnchorMax: {x: 0.5, y: 0.5}
-  m_AnchoredPosition: {x: 315, y: 0}
+  m_AnchoredPosition: {x: 308, y: 0}
   m_SizeDelta: {x: 30, y: 25}
   m_Pivot: {x: 0.5, y: 0.5}
 --- !u!114 &1426083622
@@ -7249,7 +7248,7 @@ RectTransform:
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
   m_AnchorMin: {x: 0, y: 0}
   m_AnchorMax: {x: 0, y: 0}
-  m_AnchoredPosition: {x: 410, y: 20}
+  m_AnchoredPosition: {x: 395, y: 20}
   m_SizeDelta: {x: 30, y: 25}
   m_Pivot: {x: 0.5, y: 0.5}
 --- !u!114 &1608531202
@@ -7419,7 +7418,7 @@ RectTransform:
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
   m_AnchorMin: {x: 0.5, y: 0.5}
   m_AnchorMax: {x: 0.5, y: 0.5}
-  m_AnchoredPosition: {x: 115, y: 0}
+  m_AnchoredPosition: {x: 112, y: 0}
   m_SizeDelta: {x: 95, y: 25}
   m_Pivot: {x: 0.5, y: 0.5}
 --- !u!114 &1652506032
@@ -8229,7 +8228,7 @@ RectTransform:
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
   m_AnchorMin: {x: 0, y: 0}
   m_AnchorMax: {x: 0, y: 0}
-  m_AnchoredPosition: {x: 500, y: 20}
+  m_AnchoredPosition: {x: 480, y: 20}
   m_SizeDelta: {x: 50, y: 25}
   m_Pivot: {x: 0.5, y: 0.5}
 --- !u!114 &1829705137
@@ -8832,7 +8831,7 @@ RectTransform:
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
   m_AnchorMin: {x: 0, y: 0}
   m_AnchorMax: {x: 0, y: 0}
-  m_AnchoredPosition: {x: 440, y: 20}
+  m_AnchoredPosition: {x: 423, y: 20}
   m_SizeDelta: {x: 30, y: 25}
   m_Pivot: {x: 0.5, y: 0.5}
 --- !u!114 &1928431087

Assets/Scripts/Main.cs

@@ -44,7 +44,7 @@ public class Main : MonoBehaviour
 	private static RuntimeGizmos.TransformGizmo transformGizmo = null;
 	private static CameraControl cameraControl = null;
 	private static SegmentationManager _segmentationManager = null;
-
+	private static MeshProcess.VHACD _vhacd = null;
 
 	private static bool isResetting = false;
 	private static bool resetTriggered = false;
@@ -64,6 +64,8 @@ public class Main : MonoBehaviour
 
 	public static CameraControl CameraControl => cameraControl;
 
+	public static MeshProcess.VHACD MeshVHACD => _vhacd;
+
 	#region SDF Parser
 	private SDF.Root _sdfRoot = null;
 	private SDF.Import.Loader _sdfLoader = null;
@@ -253,7 +255,11 @@ void Awake()
 		SensorDevices.DepthCamera.LoadComputeShader();
 
 		gameObject.AddComponent<ObjectSpawning>();
+
 		_segmentationManager = gameObject.AddComponent<SegmentationManager>();
+
+		_vhacd = gameObject.AddComponent<MeshProcess.VHACD>();
+		_vhacd.m_parameters = VHACD.Params;
 	}
 
 	void Start()

Assets/Scripts/Tools/Mesh/VHACD.cs

@@ -5,79 +5,67 @@
  */
 
 using UnityEngine;
-using MeshVHACD = MeshProcess.VHACD;
 
 public partial class VHACD
 {
 	private static readonly int NumOfLimitConvexMeshTriangles = 255;
 
-	private static MeshVHACD.Parameters VHACDParams = new MeshVHACD.Parameters()
+	public static MeshProcess.VHACD.Parameters Params = new MeshProcess.VHACD.Parameters()
 	{
-		m_resolution = 18000,
-		// m_resolution = 800000, // max: 64,000,000
-		m_concavity = 0.005,
-		m_planeDownsampling = 3,
-		m_convexhullDownsampling = 3,
+		m_resolution = 250000,
+		m_concavity = 0.01,
+		m_planeDownsampling = 4,
+		m_convexhullDownsampling = 4,
 		m_alpha = 0.1,
-		m_beta = 0.05,
+		m_beta = 0.1,
 		m_pca = 0,
 		m_mode = 0,
-		m_maxNumVerticesPerCH = 128,
-		m_minVolumePerCH = 0.0005,
+		m_maxNumVerticesPerCH = 512,
+		m_minVolumePerCH = 0.001,
 		m_convexhullApproximation = 1,
-		m_oclAcceleration = 0,
-		m_maxConvexHulls = 256,
+		m_oclAcceleration = 1,
+		m_maxConvexHulls = 1024,
 		m_projectHullVertices = true
 	};
 
-	public static void Apply(in GameObject targetObject)
+	public static void Apply(MeshFilter[] meshFilters)
 	{
-		for (var i = 0; i < targetObject.transform.childCount; i++)
-		{
-			var targetMeshObject = targetObject.transform.GetChild(i).gameObject;
-
-			var meshFilters = targetMeshObject.GetComponentsInChildren<MeshFilter>();
-
-			var decomposer = targetMeshObject.AddComponent<MeshVHACD>();
-			decomposer.m_parameters = VHACDParams;
+		var decomposer = Main.MeshVHACD;
 
-			foreach (var meshFilter in meshFilters)
+		foreach (var meshFilter in meshFilters)
+		{
+			// Just skip if the number of vertices in the mesh is less than the limit of convex mesh triangles
+			if (meshFilter.sharedMesh.vertexCount >= NumOfLimitConvexMeshTriangles)
 			{
-				// Just skip if the number of vertices in the mesh is less than the limit of convex mesh triangles
-				if (meshFilter.sharedMesh.vertexCount >= NumOfLimitConvexMeshTriangles)
+				// #if ENABLE_MERGE_COLLIDER
+				// 	Debug.LogFormat("Apply VHACD({0}), EnableMergeCollider will be ignored.", targetObject.name);
+				// #else
+				// 	Debug.LogFormat("Apply VHACD({0})", targetObject.name);
+				// #endif
+				var colliderMeshes = decomposer.GenerateConvexMeshes(meshFilter.sharedMesh);
+
+				for (var index = 0; index < colliderMeshes.Count; index++)
 				{
-					// #if ENABLE_MERGE_COLLIDER
-					// 	Debug.LogFormat("Apply VHACD({0}), EnableMergeCollider will be ignored.", targetObject.name);
-					// #else
-					// 	Debug.LogFormat("Apply VHACD({0})", targetObject.name);
-					// #endif
-					var colliderMeshes = decomposer.GenerateConvexMeshes(meshFilter.sharedMesh);
+					var colliderMesh = colliderMeshes[index];
 
-					for (var index = 0; index < colliderMeshes.Count; index++)
-					{
-						var collider = colliderMeshes[index];
+					var currentMeshCollider = meshFilter.gameObject.AddComponent<MeshCollider>();
+					colliderMesh.name = "VHACD_" + meshFilter.name + "_" + index;
 
-						var currentMeshCollider = targetMeshObject.AddComponent<MeshCollider>();
-						collider.name = "VHACD_" + meshFilter.name + "_" + index;
-						// Debug.Log(collider.name);
-						currentMeshCollider.sharedMesh = collider;
-						currentMeshCollider.convex = false;
-						currentMeshCollider.cookingOptions = SDF.Implement.Collision.CookingOptions;
-						currentMeshCollider.hideFlags |= HideFlags.NotEditable;
-					}
+					// Debug.Log(collider.name);
+					currentMeshCollider.sharedMesh = colliderMesh;
+					currentMeshCollider.convex = false;
+					currentMeshCollider.cookingOptions = SDF.Implement.Collision.CookingOptions;
+					currentMeshCollider.hideFlags |= HideFlags.NotEditable;
 				}
-				else
-				{
-					var meshCollider = targetMeshObject.AddComponent<MeshCollider>();
-					meshCollider.sharedMesh = meshFilter.sharedMesh;
-					meshCollider.convex = false;
-					meshCollider.cookingOptions = SDF.Implement.Collision.CookingOptions;
-					meshCollider.hideFlags |= HideFlags.NotEditable;
-				}
-				GameObject.Destroy(meshFilter.gameObject);
 			}
-
-			Component.Destroy(decomposer);
+			else
+			{
+				var meshCollider = meshFilter.gameObject.AddComponent<MeshCollider>();
+				meshCollider.sharedMesh = meshFilter.sharedMesh;
+				meshCollider.convex = false;
+				meshCollider.cookingOptions = SDF.Implement.Collision.CookingOptions;
+				meshCollider.hideFlags |= HideFlags.NotEditable;
+			}
 		}
 	}
 }

Assets/Scripts/Tools/SDF/Implement/Implement.Collision.cs

@@ -70,17 +70,17 @@ public static void Make(UE.GameObject targetObject)
 				var modelHelper = targetObject.GetComponentInParent<SDF.Helper.Model>();
 				// UE.Debug.Log(modelHelper);
 
+				var meshFilters = targetObject.GetComponentsInChildren<UE.MeshFilter>();
+
 				// Skip for Primitive Mesh or static model
 				if (UseVHACD &&
 					targetObject.name != "Primitive Mesh" &&
 					modelHelper.isStatic == false)
 				{
-					VHACD.Apply(targetObject);
+					VHACD.Apply(meshFilters);
 				}
 				else
 				{
-					var meshFilters = targetObject.GetComponentsInChildren<UE.MeshFilter>();
-
 					if (targetObject.GetComponent<UE.Collider>() == null)
 					{
 						KeepUnmergedMeshes(meshFilters);
@@ -89,9 +89,9 @@ public static void Make(UE.GameObject targetObject)
 						MergeCollider(targetObject);
 #endif
 					}
-
-					RemoveRenderers(meshFilters);
 				}
+
+				RemoveRenderers(meshFilters);
 			}
 
 			private static void RemoveRenderers(UE.MeshFilter[] meshFilters)

Assets/Scripts/Tools/SDF/Implement/Implement.Road.cs

@@ -33,10 +33,7 @@ public static UE.GameObject Generate(in SDF.World.Road road)
 				foreach (var point in road.points)
 				{
 					var offset = point - centerPosOfRoad;
-					var knotPos = SDF2Unity.Position(offset);
-					var knot = new Splines.BezierKnot();
-					knot.Position = knotPos;
-					splineContainer.Spline.Add(knot, Splines.TangentMode.AutoSmooth);
+					splineContainer.Spline.Add(SDF2Unity.Position(offset), Splines.TangentMode.AutoSmooth);
 				}
 
 				splineContainer.Spline.SetTangentMode(0, Splines.TangentMode.Linear);

Assets/Scripts/UI/FollowingTargetList.cs

@@ -36,7 +36,7 @@ void Start()
 		{
 			dropdown.onValueChanged.AddListener(OnDropDownValueChanged);
 
-			_emptyOption = new TMP_Dropdown.OptionData("- unfollowing -");
+			_emptyOption = new TMP_Dropdown.OptionData("UNFOLLOWING");
 			dropdown.options.Add(_emptyOption);
 			SelectItem(0);
 		}

Assets/Scripts/UI/InfoDisplay.FPS.cs

@@ -8,15 +8,15 @@
 
 public partial class InfoDisplay : MonoBehaviour
 {
-	private const float fpsUpdatePeriod = 0.25f;
+	private const float fpsUpdatePeriod = 1f;
 	private int frameCount = 0;
 	private float dT = 0.0F;
 	private float fps = 0.0F;
 
 	private void CalculateFPS()
 	{
 		frameCount++;
-		dT += Time.unscaledDeltaTime;
+		dT += Time.deltaTime;
 		if (dT > fpsUpdatePeriod)
 		{
 			fps = Mathf.Round(frameCount / dT);
@@ -27,8 +27,6 @@ private void CalculateFPS()
 
 	private void UpdateFPS()
 	{
-		CalculateFPS();
-
 		if (_inputFieldFPS != null)
 		{
 			_inputFieldFPS.text = fps.ToString();

Assets/Scripts/UI/InfoDisplay.cs

@@ -51,6 +51,11 @@ void Awake()
 		}
 	}
 
+	void Update()
+	{
+		CalculateFPS();
+	}
+
 	void LateUpdate()
 	{
 		UpdateFPS();

Assets/Scripts/UI/SimulationDisplay.Help.cs

@@ -65,7 +65,7 @@ private void UpdateHelpContents()
 		sb.AppendLine(" - Camera following mode");
 		sb.AppendLine(string.Empty);
 		sb.AppendLine("    <b>Choose one object from the list</b> on the bottom right corner.");
-		sb.AppendLine("    if you want cancel the following mode, choose '--unfollowing--' menu from the list.");
+		sb.AppendLine("    if you want cancel the following mode, choose 'UNFOLLOWING' menu from the list.");
 		sb.AppendLine("    Select object and <b>Left Ctrl + F</b>: Follow the object");
 		sb.AppendLine("    <b>Left Ctrl + Left Shift + F</b>: Unfollow");
 		sb.AppendLine(string.Empty);

Packages/manifest.json

@@ -7,9 +7,9 @@
     "com.unity.render-pipelines.universal": "14.0.11",
     "com.unity.robotics.vhacd": "https://github.com/Unity-Technologies/VHACD.git?path=/com.unity.robotics.vhacd",
     "com.unity.searcher": "4.9.2",
-    "com.unity.splines": "2.6.0",
+    "com.unity.splines": "2.6.1",
     "com.unity.terrain-tools": "5.0.4",
-    "com.unity.textmeshpro": "3.0.8",
+    "com.unity.textmeshpro": "3.0.9",
     "com.unity.toolchain.linux-x86_64": "2.0.9",
     "com.unity.ugui": "1.0.0",
     "com.unity.modules.ai": "1.0.0",

Packages/packages-lock.json

@@ -102,7 +102,7 @@
       }
     },
     "com.unity.splines": {
-      "version": "2.6.0",
+      "version": "2.6.1",
       "depth": 0,
       "source": "registry",
       "dependencies": {
@@ -139,7 +139,7 @@
       "url": "https://packages.unity.com"
     },
     "com.unity.textmeshpro": {
-      "version": "3.0.8",
+      "version": "3.0.9",
       "depth": 0,
       "source": "registry",
       "dependencies": {

ProjectSettings/ProjectSettings.asset

@@ -139,7 +139,7 @@ PlayerSettings:
   loadStoreDebugModeEnabled: 0
   visionOSBundleVersion: 1.0
   tvOSBundleVersion: 1.0
-  bundleVersion: 4.5.4
+  bundleVersion: 4.5.5
   preloadedAssets: []
   metroInputSource: 0
   wsaTransparentSwapchain: 0

ProjectSettings/ProjectVersion.txt

@@ -1,2 +1,2 @@
-m_EditorVersion: 2022.3.28f1
-m_EditorVersionWithRevision: 2022.3.28f1 (6bae5ce6b222)
+m_EditorVersion: 2022.3.30f1
+m_EditorVersionWithRevision: 2022.3.30f1 (70558241b701)