Changelog

3.0.1

Fixes

  • Using Toggle instead of Button with inverted button styles, which hasn’t worked since Unity 2019.2. (f876e02)

  • Fixed bug where the collision state of constraints and collision groups propagated too far in articulated systems. (0a0d02e)

  • Avoiding unnecessary calls to UnityEditor.SceneView.RepaintAll resolving high CPU usage of the Editor. (dfd63da)

3.0.0

This major 3 release doesn’t affect backward compatibility. The major is bumped due to the introduction of License Manager, supporting new license types that enables more control and license management to you as a user. As of the release of 3.0.0, the frontend license portal hasn’t been fully deployed, but we’re continuously adding features and our sales team can issue new licenses without the overhead of you sending us information about the target hardware id.

Attention

If you’re updating from a version 2.4.2 or earlier, please read the remarks under 2.4.3 before updating.

Features

  • Added License Manager and License Manager Window where AGX Dynamics licenses are activated, handled and managed.

  • Added options to have collision meshes different from the source UnityEngine.Mesh. Collision meshes can be a trimesh, a convex or many convexes as a result of convex decomposition. As an additional post-processing step on any collision mesh type, vertex reduction can be applied. The generation of the collision meshes takes arbitrary time to perform, depending on options, number of vertices and operation performed. It’s therefore only support for pre-computed collision meshes when the AGXUnity.Collide.Mesh is initialized. I.e., during initialization, the parameters in AGXUnity.Collide.CollisionMeshOptions is ignored and PrecomputedCollisionMeshes of the mesh is used if non-empty. If PrecomputedCollisionMeshes is empty, the previous approach of using the source UnityEngine.Mesh as a trimesh is used. See Mesh and Collision Mesh Options for more information. (f89f8e1)

Fixes

  • Moving game objects, created from an AGXUnity menu, to the current stage (e.g., prefab stage while editing a prefab). (c4c15bd)

  • Preventing AGXUnity.UniqueGameObject from being instantiated while editing a prefab. (c4c15bd)

  • Improved AGXUnity.Rendering.CableRenderer to render from the previous segment end position to the current segment end position, resolving gaps previously visible when the cable was stretched. (6a966c7)

  • Using Gizmos rendering of wires and cables while editing a prefab. (6a966c7)

  • Using Gizmos rendering of tracks while editing a prefab. (96aaa07)

  • Fixed rendering from tools while editing a prefab. (b89a255)

  • Exposed AGXUnity.Wire and AGXUnity.Cable components under the Add Component menu in the Inspector. (2c9f0ba)

  • Propagating a newly assigned material to created instances of wire and cable renderers. (d62ef1c)

  • AGXUnity.Constraint game objects are by default added as child to the context when using the Create constraint tool. It’s possible to recover the previous behavior by un-checking the “Create as child” checkbox in the Inspector. (bbe31ba)

  • Fixed usage of EditorGUI.MultiFloatField, with or without label, to work in wide and narrow mode of the Inspector. (a1b090a)

AGX Dynamics

2.4.3

Attention

This update is very important because it secures future updates of AGX Dynamics for Unity in Unity versions 2019.4 and newer. Download and manually import AGXUnityUpdateHandler containing the complete changeset between 2.4.2 and this 2.4.3.

The AGXUnityUpdateHandler package can be imported into any version of AGX Dynamics for Unity and updates to 2.4.3 and later should work. See Update from 2.4.2 and earlier to 2.4.3 and later for a step by step guide.

Fixes

  • Read the Attention above and manually import: AGXUnityUpdateHandler, if you’re using Unity 2019.4 and newer BEFORE updating to avoid errors during the update. See Update from 2.4.2 and earlier to 2.4.3 and later for a step by step guide.

  • Added separate editor assembly AGXUnityUpdateHandler, post-processing imports of official AGX Dynamics for Unity release packages when errors may occur depending on version of Unity. The AGXUnityUpdateHandler resolves errors during updates to new versions of AGX Dynamics for Unity as well as the known issue of the missing toolbar after initial import. (4ab816a)

  • Blocking deletes of any content under AGXUnity/AGXUnityUpdateHandler during imports of other versions. (4ab816a)

2.4.2

Fixes

  • Default damping in constraints (including controllers) is changed from 0.0333 (AGX Dynamics) to 0.04. The new default damping is more suitable for 50 Hz simulations (Unity default) versus 0.0333 for 60 Hz (AGX Dynamics default). (cae213b)

  • Fixed bug in the URDF reader transforming the inertia to the rigid body frame. (84af16e)

  • Creating an Rigid Body for all declared links in an URDF model. Empty links will get a dynamic rigid body with default mass and inertia (1 kg and diagonal inertia [1, 1, 1]). (84af16e)

  • Fixed URDF joint dynamics friction. (75469ac)

  • Propagating lossy scale of the visuals used by the rigid body emitter. (c23df33)

  • Fixed re-import of an .agx file where the Shape Material has been changed on the platform exporting the simulation. Previously the importer prioritized already assigned materials so it didn’t support changes. Now it does work in most cases but it’s important that the material names in the .agx file is more or less unique. (1e59d60)

  • Fixed exception during re-import of an .agx file where there are unreferenced shape materials in a contact material. (ccd09c7)

AGX Dynamics

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.

2.4.1

Fixes

  • Fixed URDF import bug where some visual and collision elements ended up with the wrong transform. (21629f8)

  • Removed assumption that Collada resources in an URDF model has up axis z. Up axis y and z tested. (35b4178)

  • Fixed bug where Collada collision meshes didn’t scale with the unit specified in the Collada model. (35b4178)

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.

2.4.0

Features

  • Added Rigid Body Emitter which emits clones of prefab template rigid bodies at a given distribution within a sensor shape. (7ba69d5)

  • Added Sink which destroys everything or a subset of what has been created by the Rigid Body Emitter. (72257c2)

  • Added support to change constraint type of already created (not initialized) constraints. (e90d16f)

  • New default render method for the granular bodies in an AGUnity.Model.DeformableTerrain using UnityEngine.Graphics.DrawMeshInstanced instead of spawning and synchronizing game object instances. (f8bafa5)

  • Initial Source of an AGXUnity.Collide.Mesh is set given UnityEngine.MeshFilter on the Game Object. (633eaf4)

  • Creating visuals by default on new primitive instances created from the main or context menus. (0f11b91)

Fixes

  • Fixed bug where a constraint that had been restored to default (component Reset), resulted in an invalid state of the constraint. (e90d16f)

  • Fixed bug where shape visuals didn’t update its size after shapes had been restored to default. (5176cf4)

  • Fixed issue where the terrain data (of an AGXUnity.Model.DeformableTerrain) could become corrupted if the editor was closed while in play mode. (31566e1)

  • Fixed AGXUnity.Model.TrackWheel to support any frame with a rigid body in its parent hierarchy. This fix enables multiple track wheels per rigid body. (d9e5713)

  • Removed false warning regarding collision groups not being applied. (92cd9b7)

  • Fixed import of .agx files when the render material of a shape is null - using the default render material instead and issue a console warning. (1ddee99)

  • New default value of SoilMergeSpeedThreshold in AGXUnity.Model.DeformableTerrainProperties. Changed from 0.05 m/s to 4.0 m/s, adopting to the new terrain feature in AGX Dynamics with gradual merge of soil bodies into the terrain. (5d0d9a0)

  • Added SoilParticleMergeRate to AGXUnity.Model.DeformableTerrainProperties controlling the fraction of the granulars being gradually merged with the terrain per second. (5d0d9a0)

  • Fixed transforms of Collada resources in the URDF loader, reverting the transform applied by Unity (default) when a Collada model is imported into a project. Opt-out this feature by performing AGXUnity.IO.URDF.Options.TransformCollada = false before reading/instantiating a model. (0251f65)

  • Made URDF mesh scale optional without default value. Only assigning transform.localScale when attribute “scale” is given in the URDF document. (0251f65)

  • Fixed so that it’s possible to set Source of an AGXUnity.Collide.Mesh to null from the Inspector. (d2dcb88)

  • Fixed load/unload of scenes where managers (AGXUnity.UniqueGameObject) has been instantiated but aren’t part of the scene. It’s no longer required to add all required managers to a scene that’s dynamically loaded/unloaded. (d9634a3)

  • Fixed multi-float fields to not overlap the next property when the Inspector is in narrow mode. (446e3e1)

  • Clearing Wire and Cable routes in Reset. (597b78b)

Examples

Due to changes to the torque converter and combustion engine models in AGX Dynamics 2.30.0.0, it’s recommended to remove examples installed prior to this release and import the current example packages.

AGX Dynamics

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.

  • Some instantiated URDF models may receive wrong visuals and collisions transforms.

2.3.1

Fixes

  • Fixed build with Unity versions 2019.3.1 to 2019.3.8 where there were inconsistencies where native libraries ended up. AGX Dynamics is now placed in <project-name>_Data/Plugins/x86_64 for Unity 2019.3 and later, otherwise <project-name>_Data/Plugins. (e64245b)

  • Fixed import where children of a destroyed parent were referenced during cleanup. (fea9626)

  • Issuing warning when heights of a terrain is clamped due to AGXUnity.Model.DeformableTerrain.MaximumDepth in the initialization. The terrain transform is moved -MaximumDepth (down) and +MaximumDepth is added to all heights in order to be able to dig down into the terrain. UnityEngine.TerrainData doesn’t support heights < 0. (853ea04)

  • Fixed so that the transforms of included prefabs aligns with the origin. (06376c4)

AGX Dynamics

  • Version 2.29.4.4

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.

2.3.0

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 rigid 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)

Examples

Known issues

  • Unity 2019.3, 2019.3.8 and earlier: Building standalone applications (from within the Editor) could result in AGX Dynamics binaries to end up in the wrong folder. The issue has been fixed in Unity 2019.3.9. 2.3.1 handles this by moving the AGX Dynamics binaries to the correct folder for the affected Unity versions.

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

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.

2.2.0

Features

  • Added support for articulated bodies, Articulated Root, 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

AGX Dynamics

  • Version 2.29.1.0 or later due to minor API changes.

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.

2.1.0

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 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

Examples

AGX Dynamics

  • Version 2.29.0.0

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.

2.0.1

Fixes

  • Fixed bug in VersionInfo comparing versions.

AGX Dynamics

  • Version 2.28.1.0

2.0.0

Fixes

  • Fixed the line tool to properly invert Shovel edges and direction.

  • Increased Terrain Height for Deformable Terrain created from the main menu.

  • Deformable Terrain Inspector cleanup.

  • Fixed previous limitation where game objects weren’t deleted when re-importing .agx files.

  • Simulation (Manager) Inspector cleanup.

AGX Dynamics

  • Version 2.28.1.0

2.0.0-beta.10

Features

Fixes

  • Fixed Inspector GUI to display errors in a Wire route.

  • Fixed Inspector GUI to properly handle UnityEngine.InputSystem.InputActionAsset and UnityEngine.InputSystem.InputActionMap.

AGX Dynamics

  • Version 2.28.1.0

2.0.0-beta.9

Features

  • AGX Dynamics license information in the About AGX Dynamics for Unity window.

  • Added the possibility to update AGX Dynamics for Unity manually given local package on disc.

Fixes

  • Transform synchronization ignored for disabled rigid bodies.

  • Updated AGX Dynamics for Unity logo.

AGX Dynamics

  • Version 2.28.1.0

2.0.0-beta.8

Features

  • Check for updates… window from main menu with download and install of new versions.

Fixes

  • Fixed build for Unity versions 2017.x and 2018.x.

AGX Dynamics

  • Version 2.28.1.0

2.0.0-beta.7

Features

  • Deformable terrain material presets

  • Quadratic colliders

Fixes

  • Improved PickHandler to support picking of any visual object with a RigidBody in the hierarchy.

AGX Dynamics

  • Version 2.28.1.0

2.0.0-beta.6

Fixes

  • Changed all use of UnityEngine.Mathf.Approximately to AGXUnity.Utils.Math.Approximately since the Unity version always returns false in built applications.

AGX Dynamics

  • Version 2.28.1.0

2.0.0-beta.5

Features

  • Deformable Terrain

  • Tracks

  • One body tire

  • Two body tire

  • Improved Inspector interface

Fixes

AGX Dynamics

  • Version 2.28.1.0