Merge from 'develop' into 'main' for CLOiSim-4.9.5 (#333)

Assets/Resources/RenderPipelines/UniversalRenderPipelineAsset.asset

@@ -26,7 +26,7 @@ MonoBehaviour:
   m_SupportsTerrainHoles: 0
   m_SupportsHDR: 1
   m_HDRColorBufferPrecision: 0
-  m_MSAA: 4
+  m_MSAA: 1
   m_RenderScale: 1
   m_UpscalingFilter: 0
   m_FsrOverrideSharpness: 0
@@ -84,7 +84,7 @@ MonoBehaviour:
     blueNoise64LTex: {fileID: 2800000, guid: e3d24661c1e055f45a7560c033dbb837, type: 3}
     bayerMatrixTex: {fileID: 2800000, guid: f9ee4ed84c1d10c49aabb9b210b0fc44, type: 3}
   m_PrefilteringModeMainLightShadows: 3
-  m_PrefilteringModeAdditionalLight: 0
+  m_PrefilteringModeAdditionalLight: 4
   m_PrefilteringModeAdditionalLightShadows: 2
   m_PrefilterXRKeywords: 1
   m_PrefilteringModeForwardPlus: 1

Assets/Resources/Shader/UnlitVideoTexture.shader

@@ -0,0 +1,147 @@
+// Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)'
+
+Shader "Custom/Unlit/VideoTexture"
+{
+    Properties
+    {
+        _MainTex ("Texture", 2D) = "white" {}
+    }
+    SubShader
+    {
+        Tags { "RenderType"="Opaque" }
+        LOD 100
+
+        Pass
+        {
+            CGPROGRAM
+            #pragma vertex vert
+            #pragma fragment frag
+            // make fog work
+            #pragma multi_compile_fog
+
+            #include "UnityCG.cginc"
+
+            struct appdata
+            {
+                float4 vertex : POSITION;
+                float2 uv : TEXCOORD0;
+            };
+
+            struct v2f
+            {
+                float2 uv : TEXCOORD0;
+                UNITY_FOG_COORDS(1)
+                float4 vertex : SV_POSITION;
+            };
+
+            sampler2D _MainTex;
+            float4 _MainTex_ST;
+
+            v2f vert (appdata v)
+            {
+                v2f o;
+
+				o.vertex = UnityObjectToClipPos(v.vertex);
+
+                // rotating UV
+                const float Deg2Rad = (UNITY_PI * 2.0) / 360.0;
+				const float Rotation = 90.0;
+
+                float rotationRadians = Rotation * Deg2Rad; // convert degrees to radians
+                float s = sin(rotationRadians); // sin and cos take radians, not degrees
+                float c = cos(rotationRadians);
+
+                float2x2 rotationMatrix = float2x2( c, -s, s, c); // construct simple rotation matrix
+                v.uv -= 0.5; // offset UV so we rotate around 0.5 and not 0.0
+                v.uv = mul(rotationMatrix, v.uv); // apply rotation matrix
+                v.uv += 0.5; // offset UV again so UVs are in the correct location
+
+                o.uv = TRANSFORM_TEX(v.uv, _MainTex);
+                UNITY_TRANSFER_FOG(o,o.vertex);
+                return o;
+            }
+
+            fixed4 frag (v2f i) : SV_Target
+            {
+                // sample the texture
+                fixed4 col = tex2D(_MainTex, i.uv);
+                // apply fog
+                UNITY_APPLY_FOG(i.fogCoord, col);
+                return col;
+            }
+            ENDCG
+        }
+    }
+}
+
+
+// Shader "Example/URPUnlitShaderTexture"
+// {
+//     // The _BaseMap variable is visible in the Material's Inspector, as a field
+//     // called Base Map.
+//     Properties
+//     {
+//         _BaseMap("Base Map", 2D) = "white"
+//     }
+
+//     SubShader
+//     {
+//         Tags { "RenderType" = "Opaque" "RenderPipeline" = "UniversalRenderPipeline" }
+
+//         Pass
+//         {
+//             HLSLPROGRAM
+//             #pragma vertex vert
+//             #pragma fragment frag
+
+//             #include "Packages/com.unity.render-pipelines.universal/ShaderLibrary/Core.hlsl"
+
+//             struct Attributes
+//             {
+//                 float4 positionOS   : POSITION;
+//                 // The uv variable contains the UV coordinate on the texture for the
+//                 // given vertex.
+//                 float2 uv           : TEXCOORD0;
+//             };
+
+//             struct Varyings
+//             {
+//                 float4 positionHCS  : SV_POSITION;
+//                 // The uv variable contains the UV coordinate on the texture for the
+//                 // given vertex.
+//                 float2 uv           : TEXCOORD0;
+//             };
+
+//             // This macro declares _BaseMap as a Texture2D object.
+//             TEXTURE2D(_BaseMap);
+//             // This macro declares the sampler for the _BaseMap texture.
+//             SAMPLER(sampler_BaseMap);
+
+//             CBUFFER_START(UnityPerMaterial)
+//                 // The following line declares the _BaseMap_ST variable, so that you
+//                 // can use the _BaseMap variable in the fragment shader. The _ST
+//                 // suffix is necessary for the tiling and offset function to work.
+//                 float4 _BaseMap_ST;
+//             CBUFFER_END
+
+//             Varyings vert(Attributes IN)
+//             {
+//                 Varyings OUT;
+//                 OUT.positionHCS = TransformObjectToHClip(IN.positionOS.xyz);
+//                 // The TRANSFORM_TEX macro performs the tiling and offset
+//                 // transformation.
+//                 OUT.uv = TRANSFORM_TEX(IN.uv, _BaseMap);
+//                 return OUT;
+//             }
+
+//             half4 frag(Varyings IN) : SV_Target
+//             {
+//                 // The SAMPLE_TEXTURE2D marco samples the texture with the given
+//                 // sampler.
+//                 half4 color = SAMPLE_TEXTURE2D(_BaseMap, sampler_BaseMap, IN.uv);
+//                 return color;
+//             }
+//             ENDHLSL
+//         }
+//     }
+// }

Assets/Scripts/CLOiSimPlugins/ActorControlPlugin.cs

@@ -21,7 +21,8 @@ public class ActorControlPlugin : CLOiSimPlugin
 	protected override void OnAwake()
 	{
 		type = ICLOiSimPlugin.Type.ACTOR;
-		partsName = "ActorControlPlugin";
+		_modelName = "World";
+		_partsName = this.GetType().Name;
 
 		UpdateActorList();
 	}

Assets/Scripts/CLOiSimPlugins/ActorPlugin.cs

@@ -12,7 +12,8 @@ public class ActorPlugin : CLOiSimPlugin
 	protected override void OnAwake()
 	{
 		type = ICLOiSimPlugin.Type.ACTOR;
-		partsName = "actorplugin";
+		_modelName = "World";
+		_partsName = this.GetType().Name;
 	}
 
 	protected override void OnStart()

Assets/Scripts/CLOiSimPlugins/CameraPlugin.cs

@@ -29,9 +29,9 @@ protected override void OnAwake()
 		}
 
 		if (!string.IsNullOrEmpty(deviceName))
+		{
 			attachedDevices.Add(deviceName, _cam);
-
-		partsName = DeviceHelper.GetPartName(gameObject);
+		}
 	}
 
 	protected override void OnStart()

Assets/Scripts/CLOiSimPlugins/ElevatorSystem.cs

@@ -53,7 +53,8 @@ public ElevatorTask(in string index = "")
 	protected override void OnAwake()
 	{
 		type = ICLOiSimPlugin.Type.ELEVATOR;
-		partsName = "elevator_system";
+		_modelName = "World";
+		_partsName = this.GetType().Name;
 	}
 
 	protected override void OnStart()

Assets/Scripts/CLOiSimPlugins/GpsPlugin.cs

@@ -13,9 +13,9 @@ public class GpsPlugin : CLOiSimPlugin
 	protected override void OnAwake()
 	{
 		type = ICLOiSimPlugin.Type.GPS;
+
 		gps = gameObject.GetComponent<SensorDevices.GPS>();
 		attachedDevices.Add("GPS", gps);
-		partsName = DeviceHelper.GetPartName(gameObject);
 	}
 
 	protected override void OnStart()

Assets/Scripts/CLOiSimPlugins/GroundTruthPlugin.cs

@@ -105,9 +105,8 @@ private UE.GameObject GetTrackingObject(in string modelName)
 	protected override void OnAwake()
 	{
 		type = ICLOiSimPlugin.Type.GROUNDTRUTH;
-
-		modelName = "GroundTruth";
-		partsName = "tracking";
+		_modelName = "World";
+		_partsName = this.GetType().Name;
 
 		var worldRoot = Main.WorldRoot;
 		foreach (var model in worldRoot.GetComponentsInChildren<SDF.Helper.Model>())

Assets/Scripts/CLOiSimPlugins/ImuPlugin.cs

@@ -13,9 +13,9 @@ public class ImuPlugin : CLOiSimPlugin
 	protected override void OnAwake()
 	{
 		type = ICLOiSimPlugin.Type.IMU;
+
 		imu = gameObject.GetComponent<SensorDevices.IMU>();
 		attachedDevices.Add("IMU", imu);
-		partsName = DeviceHelper.GetPartName(gameObject);
 	}
 
 	protected override void OnStart()

Assets/Scripts/CLOiSimPlugins/JointControlPlugin.cs

@@ -18,6 +18,7 @@ public class JointControlPlugin : CLOiSimPlugin
 	protected override void OnAwake()
 	{
 		type = ICLOiSimPlugin.Type.JOINTCONTROL;
+
 		jointState = gameObject.AddComponent<SensorDevices.JointState>();
 		jointCommand = gameObject.AddComponent<SensorDevices.JointCommand>();
 		jointCommand.SetJointState(jointState);

Assets/Scripts/CLOiSimPlugins/LaserPlugin.cs

@@ -14,7 +14,6 @@ public class LaserPlugin : CLOiSimPlugin
 	protected override void OnAwake()
 	{
 		type = ICLOiSimPlugin.Type.LASER;
-		partsName = DeviceHelper.GetPartName(gameObject);
 
 		lidar = GetComponent<SensorDevices.Lidar>();
 		attachedDevices.Add("LIDAR", lidar);