Changelog

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

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.

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

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