CLOiSim-3.1.0

[Major Changes]
- Upgrade Unity editor version: 2021.3.17f1 (LTS)
- Device: Modify destination format for AsyncGpuReadback in DepthCamera/Camera 

[Minor Changes]
- Device.Sensor: Separate LaserData.DepthCamBuffer into DepthData.CamBuffer
- Device.Sensor: Set dithering true for camera sensor in Lidar/Camera/DepthCamera 
- UI: Modify properties for RuntimeGizmo 
- UI: Modify multiplying handle length in RuntimeGizmo
- General: Modify parameter in UniversalRenderPipelineGlobalSettings

[Bug fix]
- Device: Modify Camera(Depth) sensor device to fix wrong depth information with L16
- Device: Modify LiftControl::DoLifting() to prevent shaking object during lifting
- UI: Prevent bouncing from floor during tranforming target

Assets/Resources/RenderPipelines/UniversalRenderPipelineGlobalSettings.asset

@@ -22,6 +22,6 @@ MonoBehaviour:
   lightLayerName6: Light Layer 6
   lightLayerName7: Light Layer 7
   m_StripDebugVariants: 1
-  m_StripUnusedPostProcessingVariants: 0
+  m_StripUnusedPostProcessingVariants: 1
   m_StripUnusedVariants: 1
   supportRuntimeDebugDisplay: 0

Assets/Resources/Shader/DepthBufferScaling.compute

@@ -1,35 +1,45 @@
-// Each #kernel tells which function to compile; you can have many kernels
-#pragma kernel CSDepthBufferScaling
+#pragma kernel CSScaleDepthBuffer
 
-#define MaxValue16Bits 65535.0f;
-#define THREADS 8
-#define GROUPS 4
+#define THREADS 32
+#define GROUPS 32
 
-RWByteAddressBuffer _Buffer;
+#define MAX_RANGE_16BITS 65535.0
+#define MAX_RANGE_8BITS 255.0
+
+StructuredBuffer<float> _Input;
+RWStructuredBuffer<uint> _Output;
 
-float _inverseMaxValue16Bits = 1 / MaxValue16Bits;
-float _DepthMin;
 float _DepthMax;
 float _DepthScale;
-
-uint getDepthDataIn16BitsScaled(uint depthData)
-{
-	float depthDataRatio = (float)depthData * _inverseMaxValue16Bits;
-
-	uint scaledDepthData = (uint)(depthDataRatio * _DepthMax * _DepthScale);
-	uint finalData = ((scaledDepthData & 0xff) << 8) | (scaledDepthData >> 8);
-	return finalData;
-}
+uint _Width;
+int _UnitSize;
 
 [numthreads(THREADS, GROUPS, 1)]
-void CSDepthBufferScaling(uint3 id : SV_DispatchThreadID)
+void CSScaleDepthBuffer(uint3 id : SV_DispatchThreadID)
 {
-	uint index = id.x + id.y;
-	uint data = _Buffer.Load(index);
-
-	uint part1 = getDepthDataIn16BitsScaled(data & 0xffff);
-	uint part2 = getDepthDataIn16BitsScaled(data >> 16);
-
-	uint finalData = (part2 << 16) | (part1 & 0xffff);
-	_Buffer.Store(index, finalData);
+  const uint bufIndex = id.y *_Width + id.x;
+  const float data = _Input.Load(bufIndex);
+  const float rangedData = data * _DepthMax;
+
+  if (_UnitSize == 4)
+  {
+    _Output[bufIndex] = asuint(rangedData);
+  }
+  else
+  {
+    uint finalData;
+    if (_UnitSize == 2)
+    {
+      const float max_scaled_range = MAX_RANGE_16BITS / _DepthScale;
+      const float scaledData = ((rangedData > max_scaled_range)? max_scaled_range : rangedData) * _DepthScale;
+      finalData = asuint((uint)scaledData) & 0xFFFF;
+    }
+    else // 1
+    {
+      // const float max_scaled_range = MAX_RANGE_8BITS;
+      const float scaledData = rangedData / _DepthMax * MAX_RANGE_8BITS;//((rangedData > max_scaled_range)? max_scaled_range : rangedData) * _DepthScale;
+      finalData = asuint((uint)scaledData) & 0xFF;
+    }
+    _Output[bufIndex] = finalData;
+  }
 }