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_64for Unity 2019.3 and later, otherwise
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.MaximumDepthin the initialization. The terrain transform is moved
+MaximumDepthis added to all heights in order to be able to dig down into the terrain.
UnityEngine.TerrainDatadoesn’t support heights < 0. (853ea04)
Fixed so that the transforms of included prefabs aligns with the origin. (06376c4)
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.
Supported 3D model formats are the ones supported by Unity (
.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.
STL triangle normals are converted to Unity vertex normals given a smooth surface angle threshold.
AGXUnity.GearConstraintcomponent 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
Prismaticin any combination for begin/end actuators. (f363a1f)
Custom Inspector GUI for
Vector4with support for arbitrary sub-labels, e.g.,
Fixed so that a modified
UnityEngine.Time.fixedDeltaTimeis properly propagated to the simulation when
Changed default value of
AGXUnity.Simulation.FixedUpdateRealTimeFactorto 0.0 (disabled), so that the simulation time by default matches
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 prefabto
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
RigidBodyprefabs 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
Added ML-Agents Robot poking box controller. Agent trained to control an industrial robots torque driven actuators so that its end effector reaches a given target pose.
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.
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 childrenalways 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)
Articulated Robot has been fixed and now works properly in Unity 2019.4 and newer.
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.Materialare batched together, reflecting native
agxCollide.RenderMaterialinstances, reducing the number of
UnityEngine.Materialassets 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.
Possible to add
AGXUnity.ScriptAssetManagerto 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)
Version 184.108.40.206 or later due to minor API changes.
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.
AGXUnity.IO.RestoredAssetsRootwhich 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.
AGXUnity.Model.DeformableTerrainMaterial.PresetLibraryenum and added
AGXUnity/Plugins/x86_64/agx/data/TerrainMaterialscontaining json files defining the Deformable Terrain Material. Previous versions of
Deformable Terrain Materialassets 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
ObserverFramein oriented friction models. (97e9ac7)
Added link to changelog when a new version of AGX Dynamics for Unity is available. (6b06bf8)
Fixed bug in VersionInfo comparing versions.
Fixed the line tool to properly invert Shovel edges and direction.
Terrain Heightfor Deformable Terrain created from the main menu.
Deformable Terrain Inspector cleanup.
Fixed previous limitation where game objects weren’t deleted when re-importing
Simulation (Manager) Inspector cleanup.
Grasping Robot input action map added.
Fixed Inspector GUI to display errors in a Wire route.
Fixed Inspector GUI to properly handle
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.
Transform synchronization ignored for disabled rigid bodies.
Updated AGX Dynamics for Unity logo.
Check for updates… window from main menu with download and install of new versions.
Fixed build for Unity versions 2017.x and 2018.x.
Deformable terrain material presets
PickHandlerto support picking of any visual object with a
RigidBodyin the hierarchy.
Changed all use of
AGXUnity.Utils.Math.Approximatelysince the Unity version always returns
falsein built applications.