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fileFormatVersion: 2 -guid: 952fb3f4d2890f76cbde27399f68475c +guid: b1b7a12a7713fdb088a92a7be5327669 TextScriptImporter: externalObjects: {} userData: diff --git a/Assets/Plugins/Newtonsoft.Json.13.0.3/Newtonsoft.Json.13.0.3.nupkg b/Assets/Plugins/Newtonsoft.Json.13.0.3/Newtonsoft.Json.13.0.3.nupkg new file mode 100755 index 00000000..5829e3da Binary files /dev/null and b/Assets/Plugins/Newtonsoft.Json.13.0.3/Newtonsoft.Json.13.0.3.nupkg differ diff --git a/Assets/Plugins/Newtonsoft.Json.13.0.3/Newtonsoft.Json.13.0.3.nupkg.meta b/Assets/Plugins/Newtonsoft.Json.13.0.3/Newtonsoft.Json.13.0.3.nupkg.meta new file mode 100644 index 00000000..bc2b9f39 --- /dev/null +++ b/Assets/Plugins/Newtonsoft.Json.13.0.3/Newtonsoft.Json.13.0.3.nupkg.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: a2054d7ee219275129d35a6bbc587791 +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Plugins/Newtonsoft.Json.13.0.3/README.md b/Assets/Plugins/Newtonsoft.Json.13.0.3/README.md new file mode 100755 index 00000000..c17a272b --- /dev/null +++ b/Assets/Plugins/Newtonsoft.Json.13.0.3/README.md @@ -0,0 +1,71 @@ +# ![Logo](https://raw.githubusercontent.com/JamesNK/Newtonsoft.Json/master/Doc/icons/logo.jpg) Json.NET + +[![NuGet version (Newtonsoft.Json)](https://img.shields.io/nuget/v/Newtonsoft.Json.svg?style=flat-square)](https://www.nuget.org/packages/Newtonsoft.Json/) +[![Build status](https://dev.azure.com/jamesnk/Public/_apis/build/status/JamesNK.Newtonsoft.Json?branchName=master)](https://dev.azure.com/jamesnk/Public/_build/latest?definitionId=8) + +Json.NET is a popular high-performance JSON framework for .NET + +## Serialize JSON + +```csharp +Product product = new Product(); +product.Name = "Apple"; +product.Expiry = new DateTime(2008, 12, 28); +product.Sizes = new string[] { "Small" }; + +string json = JsonConvert.SerializeObject(product); +// { +// "Name": "Apple", +// "Expiry": "2008-12-28T00:00:00", +// "Sizes": [ +// "Small" +// ] +// } +``` + +## Deserialize JSON + +```csharp +string json = @"{ + 'Name': 'Bad Boys', + 'ReleaseDate': '1995-4-7T00:00:00', + 'Genres': [ + 'Action', + 'Comedy' + ] +}"; + +Movie m = JsonConvert.DeserializeObject(json); + +string name = m.Name; +// Bad Boys +``` + +## LINQ to JSON + +```csharp +JArray array = new JArray(); +array.Add("Manual text"); +array.Add(new DateTime(2000, 5, 23)); + +JObject o = new JObject(); +o["MyArray"] = array; + +string json = o.ToString(); +// { +// "MyArray": [ +// "Manual text", +// "2000-05-23T00:00:00" +// ] +// } +``` + +## Links + +- [Homepage](https://www.newtonsoft.com/json) +- [Documentation](https://www.newtonsoft.com/json/help) +- [NuGet Package](https://www.nuget.org/packages/Newtonsoft.Json) +- [Release Notes](https://github.com/JamesNK/Newtonsoft.Json/releases) +- [Contributing Guidelines](https://github.com/JamesNK/Newtonsoft.Json/blob/master/CONTRIBUTING.md) +- [License](https://github.com/JamesNK/Newtonsoft.Json/blob/master/LICENSE.md) +- [Stack Overflow](https://stackoverflow.com/questions/tagged/json.net) diff --git a/Assets/Plugins/Newtonsoft.Json.13.0.1/lib.meta b/Assets/Plugins/Newtonsoft.Json.13.0.3/lib.meta similarity index 77% rename from Assets/Plugins/Newtonsoft.Json.13.0.1/lib.meta rename to Assets/Plugins/Newtonsoft.Json.13.0.3/lib.meta index ab522b79..b39af457 100644 --- a/Assets/Plugins/Newtonsoft.Json.13.0.1/lib.meta +++ b/Assets/Plugins/Newtonsoft.Json.13.0.3/lib.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 7586c7f7da7ffbbc68851cbdfbd26488 +guid: 2f4ac9f00c7b53491abb3ab43056fe49 folderAsset: yes DefaultImporter: externalObjects: {} diff --git a/Assets/Plugins/Newtonsoft.Json.13.0.1/lib/net45.meta b/Assets/Plugins/Newtonsoft.Json.13.0.3/lib/net45.meta similarity index 77% rename from Assets/Plugins/Newtonsoft.Json.13.0.1/lib/net45.meta rename to Assets/Plugins/Newtonsoft.Json.13.0.3/lib/net45.meta index 251349f7..79a5c3fe 100644 --- a/Assets/Plugins/Newtonsoft.Json.13.0.1/lib/net45.meta +++ b/Assets/Plugins/Newtonsoft.Json.13.0.3/lib/net45.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: ba95d194921b81bf094f9631d686415c +guid: 858febe78fbcc074b8802211190ba0ef folderAsset: yes DefaultImporter: externalObjects: {} diff --git a/Assets/Plugins/Newtonsoft.Json.13.0.3/lib/net45/Newtonsoft.Json.dll b/Assets/Plugins/Newtonsoft.Json.13.0.3/lib/net45/Newtonsoft.Json.dll new file mode 100755 index 00000000..341d08fc Binary files /dev/null and b/Assets/Plugins/Newtonsoft.Json.13.0.3/lib/net45/Newtonsoft.Json.dll differ diff --git a/Assets/Plugins/Newtonsoft.Json.13.0.1/lib/net45/Newtonsoft.Json.dll.meta b/Assets/Plugins/Newtonsoft.Json.13.0.3/lib/net45/Newtonsoft.Json.dll.meta similarity index 93% rename from Assets/Plugins/Newtonsoft.Json.13.0.1/lib/net45/Newtonsoft.Json.dll.meta rename to Assets/Plugins/Newtonsoft.Json.13.0.3/lib/net45/Newtonsoft.Json.dll.meta index 9e6ed284..f85a2a1d 100644 --- a/Assets/Plugins/Newtonsoft.Json.13.0.1/lib/net45/Newtonsoft.Json.dll.meta +++ b/Assets/Plugins/Newtonsoft.Json.13.0.3/lib/net45/Newtonsoft.Json.dll.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 561a7666975c8c854837d5402e42c626 +guid: 03beff77c3dbd8656b388e7522f3dccf PluginImporter: externalObjects: {} serializedVersion: 2 diff --git a/Assets/Plugins/Newtonsoft.Json.13.0.1/lib/net45/Newtonsoft.Json.xml b/Assets/Plugins/Newtonsoft.Json.13.0.3/lib/net45/Newtonsoft.Json.xml similarity index 97% rename from Assets/Plugins/Newtonsoft.Json.13.0.1/lib/net45/Newtonsoft.Json.xml rename to Assets/Plugins/Newtonsoft.Json.13.0.3/lib/net45/Newtonsoft.Json.xml index 955e6857..80cb43cb 100755 --- a/Assets/Plugins/Newtonsoft.Json.13.0.1/lib/net45/Newtonsoft.Json.xml +++ b/Assets/Plugins/Newtonsoft.Json.13.0.3/lib/net45/Newtonsoft.Json.xml @@ -865,6 +865,32 @@ Converts a to and from Unix epoch time + + + Gets or sets a value indicating whether the dates before Unix epoch + should converted to and from JSON. + + + true to allow converting dates before Unix epoch to and from JSON; + false to throw an exception when a date being converted to or from JSON + occurred before Unix epoch. The default value is false. + + + + + Initializes a new instance of the class. + + + + + Initializes a new instance of the class. + + + true to allow converting dates before Unix epoch to and from JSON; + false to throw an exception when a date being converted to or from JSON + occurred before Unix epoch. The default value is false. + + Writes the JSON representation of the object. @@ -2554,7 +2580,7 @@ Gets or sets the maximum depth allowed when reading JSON. Reading past this depth will throw a . A null value means there is no maximum. - The default value is 128. + The default value is 64. @@ -3014,7 +3040,7 @@ Gets or sets the maximum depth allowed when reading JSON. Reading past this depth will throw a . A null value means there is no maximum. - The default value is 128. + The default value is 64. @@ -3330,7 +3356,7 @@ Gets or sets the maximum depth allowed when reading JSON. Reading past this depth will throw a . A null value means there is no maximum. - The default value is 128. + The default value is 64. @@ -3397,6 +3423,12 @@ Initializes a new instance of the class. + + + Initializes a new instance of the class + using values copied from the passed in . + + Represents a reader that provides fast, non-cached, forward-only access to JSON text data. @@ -7031,6 +7063,25 @@ The reader. An instance of with the content of the reader's current token. + + + Specifies the settings used when cloning JSON. + + + + + Initializes a new instance of the class. + + + + + Gets or sets a flag that indicates whether to copy annotations when cloning a . + The default value is true. + + + A flag that indicates whether to copy annotations when cloning a . + + Specifies the settings used when loading JSON. @@ -8071,6 +8122,13 @@ A new instance of the . + + + Creates a new instance of the . All child tokens are recursively cloned. + + A object to configure cloning settings. + A new instance of the . + Adds an object to the annotation list of this . diff --git a/Assets/Plugins/Newtonsoft.Json.13.0.1/lib/net45/Newtonsoft.Json.xml.meta b/Assets/Plugins/Newtonsoft.Json.13.0.3/lib/net45/Newtonsoft.Json.xml.meta similarity index 75% rename from Assets/Plugins/Newtonsoft.Json.13.0.1/lib/net45/Newtonsoft.Json.xml.meta rename to Assets/Plugins/Newtonsoft.Json.13.0.3/lib/net45/Newtonsoft.Json.xml.meta index 37591c02..ec88e4d5 100644 --- a/Assets/Plugins/Newtonsoft.Json.13.0.1/lib/net45/Newtonsoft.Json.xml.meta +++ b/Assets/Plugins/Newtonsoft.Json.13.0.3/lib/net45/Newtonsoft.Json.xml.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 34dcb593c1426a72fb6bc88c870d4cbc +guid: 0ede3e47d1adcbf4fa31c5c59230df9c TextScriptImporter: externalObjects: {} userData: diff --git a/Assets/Plugins/Newtonsoft.Json.13.0.3/packageIcon.png b/Assets/Plugins/Newtonsoft.Json.13.0.3/packageIcon.png new file mode 100755 index 00000000..10c06a5c Binary files /dev/null and b/Assets/Plugins/Newtonsoft.Json.13.0.3/packageIcon.png differ diff --git a/Assets/Plugins/Newtonsoft.Json.13.0.3/packageIcon.png.meta b/Assets/Plugins/Newtonsoft.Json.13.0.3/packageIcon.png.meta new file mode 100644 index 00000000..224bcc2f --- /dev/null +++ b/Assets/Plugins/Newtonsoft.Json.13.0.3/packageIcon.png.meta @@ -0,0 +1,123 @@ +fileFormatVersion: 2 +guid: fc3d76c5c82cd1dd09d3bc24f51b737e +TextureImporter: + internalIDToNameTable: [] + externalObjects: {} + serializedVersion: 12 + mipmaps: + mipMapMode: 0 + enableMipMap: 1 + sRGBTexture: 1 + linearTexture: 0 + fadeOut: 0 + borderMipMap: 0 + mipMapsPreserveCoverage: 0 + alphaTestReferenceValue: 0.5 + mipMapFadeDistanceStart: 1 + mipMapFadeDistanceEnd: 3 + bumpmap: + convertToNormalMap: 0 + externalNormalMap: 0 + heightScale: 0.25 + normalMapFilter: 0 + isReadable: 0 + streamingMipmaps: 0 + streamingMipmapsPriority: 0 + vTOnly: 0 + ignoreMasterTextureLimit: 0 + grayScaleToAlpha: 0 + generateCubemap: 6 + cubemapConvolution: 0 + seamlessCubemap: 0 + textureFormat: 1 + maxTextureSize: 2048 + textureSettings: + serializedVersion: 2 + filterMode: 1 + aniso: 1 + mipBias: 0 + wrapU: 0 + wrapV: 0 + wrapW: 0 + nPOTScale: 1 + lightmap: 0 + compressionQuality: 50 + spriteMode: 0 + spriteExtrude: 1 + spriteMeshType: 1 + alignment: 0 + spritePivot: {x: 0.5, y: 0.5} + spritePixelsToUnits: 100 + spriteBorder: {x: 0, y: 0, z: 0, w: 0} + spriteGenerateFallbackPhysicsShape: 1 + alphaUsage: 1 + alphaIsTransparency: 0 + spriteTessellationDetail: -1 + textureType: 0 + textureShape: 1 + singleChannelComponent: 0 + flipbookRows: 1 + flipbookColumns: 1 + maxTextureSizeSet: 0 + compressionQualitySet: 0 + textureFormatSet: 0 + ignorePngGamma: 0 + applyGammaDecoding: 0 + cookieLightType: 0 + platformSettings: + - serializedVersion: 3 + buildTarget: DefaultTexturePlatform + maxTextureSize: 2048 + resizeAlgorithm: 0 + textureFormat: -1 + textureCompression: 1 + compressionQuality: 50 + crunchedCompression: 0 + allowsAlphaSplitting: 0 + overridden: 0 + androidETC2FallbackOverride: 0 + forceMaximumCompressionQuality_BC6H_BC7: 0 + - serializedVersion: 3 + buildTarget: Standalone + maxTextureSize: 2048 + resizeAlgorithm: 0 + textureFormat: -1 + textureCompression: 1 + compressionQuality: 50 + crunchedCompression: 0 + allowsAlphaSplitting: 0 + overridden: 0 + androidETC2FallbackOverride: 0 + forceMaximumCompressionQuality_BC6H_BC7: 0 + - serializedVersion: 3 + buildTarget: Server + maxTextureSize: 2048 + resizeAlgorithm: 0 + textureFormat: -1 + textureCompression: 1 + compressionQuality: 50 + crunchedCompression: 0 + allowsAlphaSplitting: 0 + overridden: 0 + androidETC2FallbackOverride: 0 + forceMaximumCompressionQuality_BC6H_BC7: 0 + spriteSheet: + serializedVersion: 2 + sprites: [] + outline: [] + physicsShape: [] + bones: [] + spriteID: + internalID: 0 + vertices: [] + indices: + edges: [] + weights: [] + secondaryTextures: [] + nameFileIdTable: {} + spritePackingTag: + pSDRemoveMatte: 0 + pSDShowRemoveMatteOption: 0 + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/CLOiSimPlugins/Modules/Base/CLOiSimPlugin.CommonMethod.cs b/Assets/Scripts/CLOiSimPlugins/Modules/Base/CLOiSimPlugin.CommonMethod.cs index d3cad821..f87e0488 100644 --- a/Assets/Scripts/CLOiSimPlugins/Modules/Base/CLOiSimPlugin.CommonMethod.cs +++ b/Assets/Scripts/CLOiSimPlugins/Modules/Base/CLOiSimPlugin.CommonMethod.cs @@ -51,7 +51,7 @@ protected void PublishTfThread(System.Object threadObject) // Debug.Log(tfMessage.Header.Stamp.Sec + "." + tfMessage.Header.Stamp.Nsec + ": " + tfMessage.Header.StrId + ", " + tfMessage.Transform.Name) ; if (publisher.Publish(deviceMessage) == false) { - Debug.Log(tfMessage.Header.StrId + ", " + tfMessage.Transform.Name + " error to send TF!!"); + Debug.Log(tfMessage.Header.StrId + ", " + tfMessage.Transform.Name + " error to send TF!!"); } CLOiSimPluginThread.Sleep(updatePeriodPerEachTf); } diff --git a/Assets/Scripts/CLOiSimPlugins/Modules/Base/CLOiSimPlugin.cs b/Assets/Scripts/CLOiSimPlugins/Modules/Base/CLOiSimPlugin.cs index ffda09ab..3f7a9ba5 100644 --- a/Assets/Scripts/CLOiSimPlugins/Modules/Base/CLOiSimPlugin.cs +++ b/Assets/Scripts/CLOiSimPlugins/Modules/Base/CLOiSimPlugin.cs @@ -9,7 +9,7 @@ public interface ICLOiSimPlugin { - enum Type { WORLD, GROUNDTRUTH, ELEVATOR, ACTOR, MICOM, JOINTCONTROL, GPS, IMU, LASER, CAMERA, DEPTHCAMERA, MULTICAMERA, REALSENSE }; + enum Type { WORLD, GROUNDTRUTH, ELEVATOR, ACTOR, MICOM, JOINTCONTROL, GPS, IMU, SONAR, LASER, CAMERA, DEPTHCAMERA, MULTICAMERA, REALSENSE }; void SetPluginParameters(in SDF.Plugin node); SDF.Plugin GetPluginParameters(); void Reset(); @@ -43,7 +43,7 @@ protected void OnDestroy() thread.Dispose(); transport.Dispose(); - Debug.Log(name + ", CLOiSimPlugin destroyed !!!!!!!!!!!"); + Debug.LogFormat("({0}){0}, CLOiSimPlugin destroyed.", type.ToString(), name); } public void ChangePluginType(in ICLOiSimPlugin.Type targetType) diff --git a/Assets/Scripts/CLOiSimPlugins/SonarPlugin.cs b/Assets/Scripts/CLOiSimPlugins/SonarPlugin.cs new file mode 100644 index 00000000..20673226 --- /dev/null +++ b/Assets/Scripts/CLOiSimPlugins/SonarPlugin.cs @@ -0,0 +1,49 @@ +/* + * Copyright (c) 2020 LG Electronics Inc. + * + * SPDX-License-Identifier: MIT + */ + +// using UnityEngine; +using Any = cloisim.msgs.Any; + +public class SonarPlugin : CLOiSimPlugin +{ + private SensorDevices.Sonar sonar = null; + + protected override void OnAwake() + { + type = ICLOiSimPlugin.Type.SONAR; + sonar = gameObject.GetComponent(); + attachedDevices.Add("SONAR", sonar); + partsName = DeviceHelper.GetPartName(gameObject); + } + + protected override void OnStart() + { + if (RegisterServiceDevice(out var portService, "Info")) + { + AddThread(portService, ServiceThread); + } + + if (RegisterTxDevice(out var portTx, "Data")) + { + AddThread(portTx, SenderThread, sonar); + } + } + + protected override void HandleCustomRequestMessage(in string requestType, in Any requestValue, ref DeviceMessage response) + { + switch (requestType) + { + case "request_transform": + var devicePose = sonar.GetPose(); + var deviceName = sonar.DeviceName; + SetTransformInfoResponse(ref response, deviceName, devicePose); + break; + + default: + break; + } + } +} \ No newline at end of file diff --git a/Assets/Scripts/CLOiSimPlugins/SonarPlugin.cs.meta b/Assets/Scripts/CLOiSimPlugins/SonarPlugin.cs.meta new file mode 100644 index 00000000..eaed5b85 --- /dev/null +++ b/Assets/Scripts/CLOiSimPlugins/SonarPlugin.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 88ea9292768211241a0c1cbe08db45b7 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Scripts/Devices/MicomSensor.cs b/Assets/Scripts/Devices/MicomSensor.cs index 52b89b38..9fcf8360 100644 --- a/Assets/Scripts/Devices/MicomSensor.cs +++ b/Assets/Scripts/Devices/MicomSensor.cs @@ -65,7 +65,7 @@ public void SetWheel(in string wheelNameLeft, in string wheelNameRight) if (!wheelLocation.Equals(MotorControl.WheelLocation.NONE)) { - var motorObject = (link.gameObject != null)? link.gameObject : link.Model.gameObject; + var motorObject = (link.gameObject != null) ? link.gameObject : link.Model.gameObject; motorControl.AddWheelInfo(wheelLocation, motorObject); } } @@ -96,7 +96,7 @@ public void SetWheel(in string frontWheelLeftName, in string frontWheelRightName if (!wheelLocation.Equals(MotorControl.WheelLocation.NONE)) { - var motorObject = (link.gameObject != null)? link.gameObject : link.Model.gameObject; + var motorObject = (link.gameObject != null) ? link.gameObject : link.Model.gameObject; motorControl.AddWheelInfo(wheelLocation, motorObject); } } diff --git a/Assets/Scripts/Devices/MultiCamera.cs b/Assets/Scripts/Devices/MultiCamera.cs index c2c27a56..2a98938f 100644 --- a/Assets/Scripts/Devices/MultiCamera.cs +++ b/Assets/Scripts/Devices/MultiCamera.cs @@ -62,8 +62,8 @@ public void AddCamera(in SensorDevices.Camera newCam) public SensorDevices.Camera GetCamera(in string cameraName) { - var target = "MultiCamera::" + cameraName; - return cameras.Find(x => x.DeviceName.Equals(target)); + var target = "::" + cameraName; + return cameras.Find(x => x.DeviceName.EndsWith(target)); } public SensorDevices.Camera GetCamera(in int cameraIndex) diff --git a/Assets/Scripts/Devices/Sonar.cs b/Assets/Scripts/Devices/Sonar.cs index f9f0be51..7eb36878 100644 --- a/Assets/Scripts/Devices/Sonar.cs +++ b/Assets/Scripts/Devices/Sonar.cs @@ -7,7 +7,6 @@ using System.Collections; using System.Collections.Generic; using UnityEngine; -using Stopwatch = System.Diagnostics.Stopwatch; using messages = cloisim.msgs; namespace SensorDevices @@ -61,8 +60,8 @@ protected override void OnStart() } else { - mesh = ProceduralMesh.CreateCone((float)radius, 0, (float)rangeMax, 10); - sensorMeshOffset = (float)rangeMax/2; + mesh = ProceduralMesh.CreateCone((float)radius, 0, (float)rangeMax, 14); + sensorMeshOffset = (float)rangeMax / 2; } TranslateDetectionArea(mesh, 0.0001f + sensorStartOffset + sensorMeshOffset + (float)rangeMin); @@ -115,11 +114,12 @@ protected override void GenerateMessage() var sonarPosition = sonarLink.position; var sonarRotation = sonarLink.rotation; + DeviceHelper.SetCurrentTime(sonarStamped.Time); + var sonar = sonarStamped.Sonar; sonar.Frame = DeviceName; DeviceHelper.SetVector3d(sonar.WorldPose.Position, sonarPosition); DeviceHelper.SetQuaternion(sonar.WorldPose.Orientation, sonarRotation); - DeviceHelper.SetCurrentTime(sonarStamped.Time); PushDeviceMessage(sonarStamped); } @@ -182,17 +182,24 @@ void OnTriggerStay(Collider other) var targetPoint = localToWorld.MultiplyPoint3x4(meshSensorRegionVertices[i]); var direction = (targetPoint - sensorStartPoint); - if (Physics.Raycast(sensorStartPoint, direction, out var hitInfo)) + if (Physics.Raycast(sensorStartPoint, direction, out var hitInfo, (float)rangeMax)) { // Debug.DrawRay(sensorStartPoint, direction, Color.magenta, 0.01f); - // Debug.Log("Hit Point of contact: " + hitInfo.point + " | " + sensorStartPoint.ToString("F4")); var hitPoint = hitInfo.point; var hitDistance = Vector3.Distance(sensorStartPoint, hitPoint); + var hitCollider = hitInfo.collider; + + // Debug.Log(hitCollider.name + " <=> " + name + "," + DeviceName); + // Debug.Log(hitCollider.transform.parent.name + " <=> " + sonarLink.name + "," + DeviceName); + + // ignore itself + if (hitCollider.name.CompareTo(name) == 0 && hitCollider.transform.parent.name.CompareTo(sonarLink.name) == 0) + continue; if ((hitDistance < detectedRange) && (hitDistance > (float)rangeMin)) { - // Debug.Log("Hit Point " + i + " of contact: " + hitInfo.point + "|" + hitDistance.ToString("F4")); + // Debug.Log("Hit Point " + i + " of contacts: " + hitCollider.name + "," + hitInfo.point + "|" + hitDistance.ToString("F4")); detectedRange = hitDistance; contactDirection = direction; contactPoint = hitPoint; diff --git a/Assets/Scripts/Tools/SDF/Implement/Implement.Sensor.cs b/Assets/Scripts/Tools/SDF/Implement/Implement.Sensor.cs index b4047fad..fc6c57f0 100644 --- a/Assets/Scripts/Tools/SDF/Implement/Implement.Sensor.cs +++ b/Assets/Scripts/Tools/SDF/Implement/Implement.Sensor.cs @@ -60,7 +60,6 @@ public static Device AddLidar(in SDF.Lidar element, in GameObject targetObject) AttachSensor(newSensorObject, targetObject); var lidar = newSensorObject.AddComponent(); - lidar.DeviceName = GetFrameName(newSensorObject); lidar.range = new SensorDevices.LaserData.MinMax(element.range.min, element.range.max); var horizontal = element.horizontal; @@ -86,6 +85,7 @@ public static Device AddCamera(in SDF.Camera element, in GameObject targetObject AttachSensor(newSensorObject, targetObject, element.Pose); var camera = newSensorObject.AddComponent(); + camera.tag = "Sensor"; camera.DeviceName = GetFrameName(newSensorObject); camera.SetCamParameter(element); @@ -146,13 +146,12 @@ public static Device AddMultiCamera(in SDF.Cameras element, in GameObject target var multicamera = newSensorObject.AddComponent(); multicamera.DeviceName = GetFrameName(newSensorObject); - foreach (var camParam in element.cameras) { var newCam = AddCamera(camParam, newSensorObject); + newCam.name = camParam.name; newCam.Mode = Device.ModeType.NONE; - newCam.DeviceName = element.name + "::" + newCam.DeviceName; - + newCam.DeviceName = multicamera.DeviceName + "::" + element.name + "::" + newCam.name; multicamera.AddCamera((SensorDevices.Camera)newCam); } diff --git a/Assets/Scripts/Tools/SDF/Import/Import.Plugin.cs b/Assets/Scripts/Tools/SDF/Import/Import.Plugin.cs index 09d653c6..c2878bcc 100644 --- a/Assets/Scripts/Tools/SDF/Import/Import.Plugin.cs +++ b/Assets/Scripts/Tools/SDF/Import/Import.Plugin.cs @@ -20,7 +20,7 @@ protected override void ImportPlugin(in SDF.Plugin plugin, in System.Object pare // filtering plugin name var pluginLibraryName = plugin.LibraryName(); - // Debug.Log("plugin name = " + pluginName); + // Debug.Log("plugin name = " + pluginLibraryName); var pluginType = Type.GetType(pluginLibraryName); if (pluginType != null) diff --git a/Packages/manifest.json b/Packages/manifest.json index d05f7f85..93ac72dd 100644 --- a/Packages/manifest.json +++ b/Packages/manifest.json @@ -7,7 +7,7 @@ "com.unity.render-pipelines.universal": "12.1.11", "com.unity.searcher": "4.9.2", "com.unity.textmeshpro": "3.0.6", - "com.unity.toolchain.linux-x86_64": "2.0.4", + "com.unity.toolchain.linux-x86_64": "2.0.5", "com.unity.ugui": "1.0.0", "com.unity.modules.ai": "1.0.0", "com.unity.modules.animation": "1.0.0", diff --git a/Packages/packages-lock.json b/Packages/packages-lock.json index 13ed6314..764e3bb4 100644 --- a/Packages/packages-lock.json +++ b/Packages/packages-lock.json @@ -10,7 +10,7 @@ "hash": "0fc6f532e4f47d66d173314efcb906bc7cf0d00f" }, "com.unity.burst": { - "version": "1.8.2", + "version": "1.8.4", "depth": 1, "source": "registry", "dependencies": { @@ -55,7 +55,7 @@ "source": "builtin", "dependencies": { "com.unity.mathematics": "1.2.1", - "com.unity.burst": "1.8.2", + "com.unity.burst": "1.8.4", "com.unity.render-pipelines.core": "12.1.11", "com.unity.shadergraph": "12.1.11" } @@ -77,18 +77,18 @@ } }, "com.unity.sysroot": { - "version": "2.0.5", + "version": "2.0.6", "depth": 1, "source": "registry", "dependencies": {}, "url": "https://packages.unity.com" }, "com.unity.sysroot.linux-x86_64": { - "version": "2.0.4", + "version": "2.0.5", "depth": 1, "source": "registry", "dependencies": { - "com.unity.sysroot": "2.0.5" + "com.unity.sysroot": "2.0.6" }, "url": "https://packages.unity.com" }, @@ -102,12 +102,12 @@ "url": "https://packages.unity.com" }, "com.unity.toolchain.linux-x86_64": { - "version": "2.0.4", + "version": "2.0.5", "depth": 0, "source": "registry", "dependencies": { - "com.unity.sysroot": "2.0.5", - "com.unity.sysroot.linux-x86_64": "2.0.4" + "com.unity.sysroot": "2.0.6", + "com.unity.sysroot.linux-x86_64": "2.0.5" }, "url": "https://packages.unity.com" }, diff --git a/ProjectSettings/ProjectSettings.asset b/ProjectSettings/ProjectSettings.asset index a81d1a51..ca6b67ea 100644 --- a/ProjectSettings/ProjectSettings.asset +++ b/ProjectSettings/ProjectSettings.asset @@ -134,7 +134,7 @@ PlayerSettings: 16:10: 1 16:9: 1 Others: 1 - bundleVersion: 3.1.2 + bundleVersion: 3.2.0 preloadedAssets: [] metroInputSource: 0 wsaTransparentSwapchain: 0 @@ -177,10 +177,10 @@ PlayerSettings: StripUnusedMeshComponents: 1 VertexChannelCompressionMask: -1 iPhoneSdkVersion: 988 - iOSTargetOSVersionString: 11.0 + iOSTargetOSVersionString: 12.0 tvOSSdkVersion: 0 tvOSRequireExtendedGameController: 0 - tvOSTargetOSVersionString: 11.0 + tvOSTargetOSVersionString: 12.0 uIPrerenderedIcon: 0 uIRequiresPersistentWiFi: 0 uIRequiresFullScreen: 1 diff --git a/ProjectSettings/ProjectVersion.txt b/ProjectSettings/ProjectVersion.txt index 7597e240..7b416d5c 100644 --- a/ProjectSettings/ProjectVersion.txt +++ b/ProjectSettings/ProjectVersion.txt @@ -1,2 +1,2 @@ -m_EditorVersion: 2021.3.23f1 -m_EditorVersionWithRevision: 2021.3.23f1 (213b516bf396) +m_EditorVersion: 2021.3.25f1 +m_EditorVersionWithRevision: 2021.3.25f1 (68ef2c4f8861) diff --git a/README.md b/README.md index 6e43d210..674ddc9c 100644 --- a/README.md +++ b/README.md @@ -58,7 +58,7 @@ Here are the list of items that is implemented(marked) or planned to be implemen - [ ] supporting ``, ``, ``, ``, `` - [X] Spherical Coordinates -Plus, [SDF](http://sdformat.org/spec?ver=1.6) works on the essential elements such as ``, ``, ``, ``, ``, etc. +Plus, [SDF](http://sdformat.org/spec?ver=1.6) file basically targeting and supporting version 1.6 and works on the essential elements such as ``, ``, ``, ``, ``, etc. It does not support optional elmenets like ``, `