Merge from 'develop' into 'main' for CLOiSim-4.9.2 (#326)

Assets/Resources/RenderPipelines/UniversalRenderPipelineAsset.asset

@@ -36,8 +36,8 @@ MonoBehaviour:
   m_ShEvalMode: 0
   m_MainLightRenderingMode: 1
   m_MainLightShadowsSupported: 1
-  m_MainLightShadowmapResolution: 2048
-  m_AdditionalLightsRenderingMode: 0
+  m_MainLightShadowmapResolution: 1024
+  m_AdditionalLightsRenderingMode: 1
   m_AdditionalLightsPerObjectLimit: 4
   m_AdditionalLightShadowsSupported: 1
   m_AdditionalLightsShadowmapResolution: 256
@@ -59,8 +59,8 @@ MonoBehaviour:
   m_ConservativeEnclosingSphere: 0
   m_NumIterationsEnclosingSphere: 64
   m_SoftShadowQuality: 2
-  m_AdditionalLightsCookieResolution: 1024
-  m_AdditionalLightsCookieFormat: 3
+  m_AdditionalLightsCookieResolution: 512
+  m_AdditionalLightsCookieFormat: 2
   m_UseSRPBatcher: 1
   m_SupportsDynamicBatching: 1
   m_MixedLightingSupported: 1

Assets/Scenes/MainScene.unity

@@ -1850,17 +1850,20 @@ MonoBehaviour:
   - ../world_resources/app.gazebosim.org
   - ../world_resources/logistics_center/models
   - ../world_resources/smallhouse/models
+  - ../world_resources/meta-home/models
   _worldRootDirectories:
   - ../sample_resources/worlds/
   - ../world_resources/bluepearl/worlds
   - ../world_resources/lawn_ground/worlds
   - ../world_resources/seocho_tower/worlds
   - ../world_resources/logistics_center/worlds
   - ../world_resources/smallhouse/worlds
+  - ../world_resources/meta-home/worlds
   _fileRootDirectories:
   - ../sample_resources/media/
   - ../world_resources/bluepearl/media
   - ../world_resources/lawn_ground
+  - ../world_resources/smallhouse
 --- !u!1 &314493398
 GameObject:
   m_ObjectHideFlags: 0

Assets/Scripts/Devices/Modules/Base/DeviceHelper.cs

@@ -42,31 +42,32 @@ public static string GetModelName(in GameObject targetObject, in bool searchOnly
 	{
 		try
 		{
-			var nextObject = targetObject.GetComponentInParent<SDF.Helper.Model>() as SDF.Helper.Base;
+			SDF.Helper.Base nextObject = targetObject.GetComponentInParent<SDF.Helper.Model>();
 
 			if (nextObject == null)
 			{
-				nextObject = targetObject.GetComponentInParent<SDF.Helper.Actor>() as SDF.Helper.Base;
+				nextObject = targetObject.GetComponentInParent<SDF.Helper.Actor>();
 			}
 
-			if (nextObject == null)
-			{
-				return string.Empty;
-			}
-
-			if (searchOnlyOneDepth == false)
+			if (searchOnlyOneDepth == false && nextObject != null &&
+				!nextObject.CompareTag("Actor"))
 			{
 				while (!SDF2Unity.IsRootModel(nextObject.transform))
 				{
 					nextObject = nextObject.transform.parent.GetComponentInParent<SDF.Helper.Base>();
 
 					if (nextObject == null)
 					{
-						return string.Empty;
+						break;
 					}
 				}
 			}
 
+			if (nextObject == null)
+			{
+				return string.Empty;
+			}
+
 			return nextObject.name;
 		}
 		catch

Assets/Scripts/Devices/Sonar.cs

@@ -210,7 +210,7 @@ void OnTriggerStay(Collider other)
 			var sonar = sonarStamped.Sonar;
 			sonar.Range = detectedRange;
 			sonar.Contact.Set(contactPoint);
-			// Debug.Log(deviceName + ": " + other.name + " |Stay| " + detectedRange.ToString("F5") + " | " + contactPoint);
+			// Debug.Log(DeviceName + ": " + other.name + " |Stay| " + detectedRange.ToString("F5") + " | " + contactPoint);
 
 			pingpongindex++;
 			pingpongindex %= 2;

Assets/Scripts/Tools/Mesh/Assimp.Mesh.cs

@@ -368,6 +368,11 @@ private static MeshMaterialList LoadMeshes(in List<Assimp.Mesh> sceneMeshes)
 		return meshMatList;
 	}
 
+	private static Vector3 ToUnityScale(in Vector3 value)
+	{
+		return new Vector3(value.z,	value.x, value.y);
+	}
+
 	private static GameObject ToUnityMeshObject(
 		this Assimp.Node node,
 		in MeshMaterialList meshMatList,
@@ -400,9 +405,14 @@ private static GameObject ToUnityMeshObject(
 
 		// Convert Assimp transfrom into Unity transform
 		var nodeTransformMatrix = node.Transform.ToUnity();
+
 		nodeObject.transform.localPosition = nodeTransformMatrix.GetPosition();
 		nodeObject.transform.localRotation = nodeTransformMatrix.rotation;
-		nodeObject.transform.localScale = nodeTransformMatrix.lossyScale;
+		nodeObject.transform.localScale = ToUnityScale(nodeTransformMatrix.lossyScale);
+
+		// Debug.Log("ToUnityMeshObject : " + node.Name + ", " + nodeTransformMatrix.GetPosition() );
+		// Debug.Log("ToUnityMeshObject : " + node.Name + ", " + nodeTransformMatrix.rotation );
+		// Debug.Log("ToUnityMeshObject : " + node.Name + ", " + nodeTransformMatrix.lossyScale );
 
 		doFlip = (nodeObject.transform.localScale.x < 0 ||
 				  nodeObject.transform.localScale.y < 0 ||

Assets/Scripts/Tools/SDF/Helper/Base.cs

@@ -53,8 +53,10 @@ public void Reset()
 			private void UpdateRootModel()
 			{
 				var modelHelpers = GetComponentsInParent(typeof(Model));
-				_rootModelInScopre = (Model)modelHelpers[modelHelpers.Length - 1];
-				// UE.Debug.Log($"{name}: BaseHelper _rootModel={_rootModel}");
+				if (modelHelpers.Length > 0)
+				{
+					_rootModelInScopre = (Model)modelHelpers[modelHelpers.Length - 1];
+				}
 			}
 
 			public void ClearPose()

Assets/Scripts/Tools/SDF/Import/Import.Base.cs

@@ -68,6 +68,8 @@ protected void ImportLinks(IReadOnlyList<Link> items, in Object parentObject)
 
 					ImportSensors(item.GetSensors(), createdObject);
 
+					ImportLights(item.GetLights());
+
 					AfterImportLink(item, createdObject);
 				}
 			}

Assets/Scripts/Tools/SDF/Import/Import.Light.cs

@@ -13,8 +13,6 @@ namespace Import
 	{
 		public partial class Loader : Base
 		{
-			private const float DefaultLightIntensity = 50;
-
 			protected override void ImportLight(in Light light)
 			{
 				if (light == null)
@@ -41,36 +39,43 @@ protected override void ImportLight(in Light light)
 
 				var direction = SDF2Unity.Direction(light.direction);
 
+				var defaultLightDirection = UE.Quaternion.identity;
+				var defaultIntensity = 1f;
+				const float rangeIntensityRatio = 0.3f;
 				switch (light.Type)
 				{
 					case "directional":
 						lightComponent.type = UE.LightType.Directional;
 						lightComponent.transform.localRotation = UE.Quaternion.LookRotation(UE.Vector3.down, direction);
-
 						break;
 
 					case "spot":
 						lightComponent.type = UE.LightType.Spot;
 						lightComponent.spotAngle = (float)light.spot.outer_angle * Mathf.Rad2Deg;
 						lightComponent.innerSpotAngle = (float)light.spot.inner_angle * Mathf.Rad2Deg;
 						lightComponent.range = (float)light.attenuation.range;
-						lightComponent.intensity = (light.intensity.Equals(1)) ? DefaultLightIntensity : (float)light.intensity;
+						defaultIntensity = lightComponent.range * rangeIntensityRatio;
+						defaultLightDirection = UE.Quaternion.Euler(90, 0, 0);
 						break;
 
 					case "point":
 					default:
 						lightComponent.type = UE.LightType.Point;
 						lightComponent.range = (float)light.attenuation.range;
 						lightComponent.transform.localRotation = UE.Quaternion.LookRotation(UE.Vector3.down, direction);
-						lightComponent.intensity = (light.intensity.Equals(1)) ? DefaultLightIntensity : (float)light.intensity;
+						defaultIntensity = lightComponent.range * rangeIntensityRatio;
 						break;
 				}
 
+				// TODO: Since <intensity> element was introdueced from SDF 1.7, the intensity may not exist.
+				// As a workaround code, set half of range value for intensity.
+				lightComponent.intensity = (light.intensity.Equals(1)) ? defaultIntensity : (float)light.intensity;
+
 				var localPosition = SDF2Unity.Position(light.Pose?.Pos);
 				var localRotation = SDF2Unity.Rotation(light.Pose?.Rot);
 
 				newLightObject.transform.localPosition = localPosition;
-				newLightObject.transform.localRotation *= localRotation;
+				newLightObject.transform.localRotation *= (localRotation * defaultLightDirection);
 			}
 		}
 	}

Assets/Scripts/Tools/SDF/Import/Import.Link.cs

@@ -80,11 +80,27 @@ protected override void AfterImportLink(in SDF.Link link, in System.Object targe
 					return;
 				}
 
-				var linkHelper = linkObject.GetComponent<Helper.Link>();
-
 				// skip to create articulation body when inertial element is null
+				var modelHelpers = linkObject.GetComponentsInParent<Helper.Model>();
+
+				var hasStaticModel = false;
+				for (var i = 0; i < modelHelpers.Length; i++)
+				{
+					var modelHelper = modelHelpers[i];
+					// Debug.LogWarning($"AfterImportLink: {linkObject.name} {modelHelper.name} {link.Name} {modelHelper.isStatic} {modelHelper.gameObject.isStatic}");
+					if (modelHelper.isStatic)
+					{
+						hasStaticModel = true;
+					}
+
+					if (modelHelper.IsFirstChild || hasStaticModel)
+					{
+						break;
+					}
+				}
+
 				var inertial = link.Inertial;
-				if (!linkHelper.Model.isStatic && inertial != null)
+				if (!hasStaticModel && inertial != null)
 				{
 					Loader.CreateArticulationBody(linkObject, inertial);
 				}

Assets/Scripts/Tools/SDF/Parser/Color.cs

@@ -53,5 +53,10 @@ public void FromString(string value)
 
 			A = (double)Convert.ChangeType(tmp[3], TypeCode.Double);
 		}
+
+		public override string ToString()
+		{
+			return $"{base.ToString()} R={R:f5} G={G:f5} B={B:f5} A={A:f5}";
+		}
 	}
 }

Assets/Scripts/Tools/SDF/Parser/Light.cs

@@ -83,7 +83,7 @@ protected override void ParseElements()
 
 			if (IsValidNode("specular"))
 			{
-				diffuse.FromString(GetValue<string>("specular"));
+				specular.FromString(GetValue<string>("specular"));
 			}
 
 			if (IsValidNode("attenuation"))

Assets/Scripts/Tools/SDF/Parser/Link.cs

@@ -65,9 +65,10 @@ public class Link : Entity
 		private VelocityDecay _velocity_decay = null;
 
 		private Inertial _inertial = null;
-		private Collisions collisions = null;
-		private Visuals visuals = null;
-		private Sensors sensors = null;
+		private Collisions _collisions = null;
+		private Visuals _visuals = null;
+		private Sensors _sensors = null;
+		private Lights _lights = null;
 
 		// <projector> : TBD
 		// <audio_sink> : TBD
@@ -96,9 +97,10 @@ public Link(XmlNode _node)
 
 		protected override void ParseElements()
 		{
-			collisions = new Collisions(root);
-			visuals = new Visuals(root);
-			sensors = new Sensors(root);
+			_collisions = new Collisions(root);
+			_visuals = new Visuals(root);
+			_sensors = new Sensors(root);
+			_lights = new Lights(root);
 
 			gravity = GetValue<bool>("gravity", true);
 			enable_wind = GetValue<bool>("enable_wind", false);
@@ -152,17 +154,22 @@ protected override void ParseElements()
 
 		public List<Collision> GetCollisions()
 		{
-			return collisions.GetData();
+			return _collisions.GetData();
 		}
 
 		public List<Visual> GetVisuals()
 		{
-			return visuals.GetData();
+			return _visuals.GetData();
 		}
 
 		public List<Sensor> GetSensors()
 		{
-			return sensors.GetData();
+			return _sensors.GetData();
+		}
+
+		public List<Light> GetLights()
+		{
+			return _lights.GetData();
 		}
 	}
 }

ProjectSettings/GraphicsSettings.asset

@@ -44,16 +44,16 @@ GraphicsSettings:
   m_DefaultRenderingPath: 1
   m_DefaultMobileRenderingPath: 1
   m_TierSettings: []
-  m_LightmapStripping: 0
+  m_LightmapStripping: 1
   m_FogStripping: 0
   m_InstancingStripping: 0
   m_BrgStripping: 0
-  m_LightmapKeepPlain: 1
-  m_LightmapKeepDirCombined: 1
+  m_LightmapKeepPlain: 0
+  m_LightmapKeepDirCombined: 0
   m_LightmapKeepDynamicPlain: 1
   m_LightmapKeepDynamicDirCombined: 1
-  m_LightmapKeepShadowMask: 1
-  m_LightmapKeepSubtractive: 1
+  m_LightmapKeepShadowMask: 0
+  m_LightmapKeepSubtractive: 0
   m_FogKeepLinear: 1
   m_FogKeepExp: 1
   m_FogKeepExp2: 1

ProjectSettings/ProjectSettings.asset

@@ -140,7 +140,7 @@ PlayerSettings:
   loadStoreDebugModeEnabled: 0
   visionOSBundleVersion: 1.0
   tvOSBundleVersion: 1.0
-  bundleVersion: 4.9.1
+  bundleVersion: 4.9.2
   preloadedAssets: []
   metroInputSource: 0
   wsaTransparentSwapchain: 0