2.3.0

Features

• Added support for URDF import (Unified Robot Description Format) into an AGXUnity.IO.URDF.Model (robot). (f363a1f)

  • All elements and attributes are parsed for link.

  • All elements and attributes are parsed for joint.

• Added support for instantiating an URDF model into a scene with AGX Dynamics for Unity bodies and constraints. (f363a1f)

  • Supported 3D model formats are the ones supported by Unity (.fbx, .dae, .3ds, .dxf, .obj, .skp) and AGX Dynamics for Unity has a STL (.stl) importer used in the default pipeline.

  • All read URDF data is accessible (immutable) in the Inspector of the model.

• Added support for STL import (.stl) - binary or ASCII. (f363a1f)

  • STL triangle normals are converted to Unity vertex normals given a smooth surface angle threshold.

• AGXUnity.GearConstraint component added (used in URDF joint mimic), which describes how the controlled movements of a constraint relates to another constraint given a gear ratio. This feature is currently experimental and is verified to work with Hinge and Prismatic in any combination for begin/end actuators. (f363a1f)

• Custom Inspector GUI for Vector2, Vector3 and Vector4 with support for arbitrary sub-labels, e.g., RPY instead of XYZ. (f363a1f)

Fixes

• Fixed so that a modified UnityEngine.Time.fixedDeltaTime is properly propagated to the simulation when AutoSteppingMode is FixedUpdate. (bee1018)

• Changed default value of AGXUnity.Simulation.FixedUpdateRealTimeFactor to 0.0 (disabled), so that the simulation time by default matches UnityEngine.Time.fixedTime. (5adc807)

• Exposed number of Parallel Projected Gauss Seidel (PPGS) resting iterations in AGXUnity.SolverSettings, enabling balancing computational performance vs. accuracy of the granulars in AGXUnity.Model.DeformableTerrain. The default value is 25 iterations but can, in many cases be reduced to, e.g., 10. (2edd7b0)

• Fixed Asset context menu with separators and added Import with supported file imports. (f363a1f)

• Renamed asset context menu Import AGX file as prefab to Import AGX Dynamics file [prefab] and this context is also available under AGXUnity -> Import -> AGX Dynamics file [prefab]. (f363a1f)

• Fixed bug, introduced with ArticulatedRoot, where non-instantiated RigidBody prefabs didn't find any shapes since shape.GetComponentInParent<RigidBody>() always returns null (not the case for instances). This behavior has only been reproduced when a rigid body is selected (or traversed) in the Project tab. (f363a1f)

• Improved synchronization of properties/settings values to native instances of AGXUnity.Model.DeformableTerrain, AGXUnity.Model.DeformableTerrainShovel, AGXUnity.Model.Track and AGXUnity.Model.TwoBodyTire. (f363a1f)

Known issues

• Unity 2019.4 and newer: Installing or updating AGX Dynamics for Unity may result in an assert in the Unity Editor and the Toolbar to be blank. To recover the Toolbar, it's often enough to either restart Unity or trigger a compilation by editing a script. Unity has been contacted and we'll hopefully resolve this issue as soon as possible.

2.2.1

2.2.1

Fixes

• Added support for Unicode characters in collision group names. (18f9db4)
• Improved re-import of models to support change of shape type with preserved UUID. (b734616)
• Fix so that Hierarchy context menu Create Shape Visual in children always validates to true for Unity versions 2019.4 and newer. This selection was always inactive in earlier versions of AGX Dynamics for Unity (inside Unity 2019.4 and newer). (cd2a38d)
• Improved raycasts (used by Tools) of shapes and meshes with scales in their hierarchy. (55085fa)

Examples

• Articulated Robot has been fixed and now works properly in Unity 2019.4 and newer.

2.2.0

2.2.0

Features

• Added support for articulated bodies, AGXUnity.ArticulatedRoot, making it easier to model articulated
  systems such as cranes and robots. (d38df53)
• Added property Center of mass offset to Mass Properties of a rigid body, enabling manual changes
  to the center of mass of a rigid body, e.g., when the center of mass is know and the default isn't correctly
  represented by the transforms and densities of the shapes. (bf818b0)
• Improved support for asset types UnityEngine.Material, AGXUnity.ShapeMaterial, AGXUnity.FrictionModel and
  AGXUnity.CableProperties. (dbb05e5)
  • UnityEngine.Material are batched together, reflecting native agxCollide.RenderMaterial
    instances, reducing the number of UnityEngine.Material assets created during import.
  • When an already existing prefab has been modified, referencing assets outside of the import data directory,
    the references are preserved, enabling additional (physics or visual) modelling in the editor when a model
    is re-imported with other updates.

Fixes

• Possible to add AGXUnity.ScriptAssetManager to a scene (from the main menu) which previously was the
  missing manager to successfully run AGX Dynamics for Unity without domain reloading. (fe13b8e)
• Improved find point and edge tools to raycast all objects part of a rigid body when a rigid body was selected
  as parent/reference object. (a12e41d)

Examples

• Added ML-Agents Wheel Loader Way Point Controller. A wheel loader trained to follow a way point path
  on a terrain.
• Added Articulated Robot. This example currently doesn't work in Unity versions 2019.4.X and 2020.1.X
  due to unknown changes in Unity where components (rigid bodies, shapes etc.) added to the FBX (robot) model aren't loaded
  with the scene.

AGX Dynamics

• Version 2.29.1.0 or later due to minor API changes.

2.1.0

Features

• New version of the AGX File Importer. (a51a606)

  • Keeping track of created assets and removes any unused assets in the import data directory.
  • Reusing collision meshes for rendering if they are interpreted to be identical - reducing file sizes in the import data directory.
  • Support for recreating missing assets.
  • Added AGXUnity.IO.RestoredAssetsRoot which serves as main object for grouped assets and lists all children in the Inspector when selected in the project view.
  • Support for updating previous imports without destroying references.

• Removed AGXUnity.Model.DeformableTerrainMaterial.PresetLibrary enum and added AGXUnity/Plugins/x86_64/agx/data/TerrainMaterials containing json files defining the Deformable Terrain Material. Previous versions of Deformable Terrain Material assets are automatically updated to the new version, without changing any values. Read Deformable Terrain Material Library for further information about the material library. (d361355)

• Added functionality to toggle AGX Dynamics log file via AGXUnity -> Settings -> AGX Dynamics log. Disabled by default. (cf64712)

• Added support for ObserverFrame in oriented friction models. (97e9ac7)

• Added link to changelog when a new version of AGX Dynamics for Unity is available. (6b06bf8)

Fixes

• Fixed bug where data wasn't propagated correctly, resulting in disabled collisions to be missed against Deformable Terrain. (a7506ba)
• API changes for AGX Dynamics 2.29.0.0. (1478931, 897aab8, 3a408c0)

AGX Dynamics

• Version 2.29.0.0 or later.

2.0.1

The AGXUnity source code is from this version included in AGX Dynamics for Unity. AGX Dynamics for Unity is distributed as a package including AGX Dynamics native library (Windows x64). See AGX Dynamics for Unity documentation for further information.

Features

• Deformable Terrain
• Tracks
• One body tire
• Two body tire
• Improved Inspector interface
• Deformable terrain material presets
• Quadratic colliders

Fixes

• Changed all use of UnityEngine.Mathf.Approximately to AGXUnity.Utils.Math.Approximately since the Unity version always returns false in built applications.
• Improved PickHandler to support picking of any visual object with a RigidBody in the hierarchy.
• Fixed build for Unity versions 2017.x and 2018.x.
• Transform synchronization ignored for disabled rigid bodies.
• Fixed Inspector GUI to display errors in a Wire route.
• Fixed Inspector GUI to properly handle UnityEngine.InputSystem.InputActionAsset and UnityEngine.InputSystem.InputActionMap.
• Fixed previous limitation where game objects weren't deleted when re-importing .agx files.

AGX Dynamics

• Version 2.28.1.0 or later.

Release prior to major update

• Performance improvement: Caching transforms for bodies and shapes. Thanks @MenschMitHut, #41!
• Changed name and namespace of AGXUnityEditor.SceneViewWindow to AGXUnity.Utils.GUIWindowHandler. Use AGXUnityEditor.Manager.SceneViewGUIWindowHandler instance to recover old functionality.
• Added functionality to copy loaded AGX Dynamics binaries and dependencies in a post-build event. #40
• Improved editor performance with cached editors.
• Improved editor raycasts and removed MeshUtils.
• Changed shape resize tool, symmetric resize: alt + shift to ctrl + shift.

Bug fixes:

• Improved error handling when saving native file to disk. #43
• Fixed bug where removed RigidBody component would leave the MassProperties component. #44

Release for AGX Dynamics 2.26.0.0

• Added ToolManager which handles multiple custom tools enabled at once (e.g., RigidBody and Shape components on same game object).
• Removed BaseEditor for the more lightweight version InspectorEditor which uses InspectorGUI for default GUI drawers.
• Added support for methods as inspector GUI drawers.
• Added support for multi-editing of InspectorEditor handled objects. Closes #19.
• Fixed bug where new assets (ShapeMaterial, ContactMaterial, FrictionModel etc.) couldn't be created via the inspector if the folder contained spaces.
• Added functionality to "Create Shape Visual" for multiple selected objects from the hierarchy.
• Fixed bug where ShapeVisual wasn't properly updated during undo/redo.

Release for AGX Dynamics 2.25.0.0

• Loading time improved
• Fix for RangeReal not propagated
• Added option for how and when to step the simulation forward

Release compatible with AGX Dynamics 2.24.0.2 and earlier

This release doesn't require .NET Runtime version 4.x.

Package export from 2017.4.10 and tested on 2018.2.14.

Note: This version works with AGX Dynamics 2.24.1.0 and later.

Release for AGX Dynamics 2.24.0.0

This release is compatible with AGX Dynamics 2.24.0.0 with the new native Math class library.