Changelog¶
5.1.1 (2024-08-23)¶
Fixes
Updated editor inspector for lines used as directions to update parent and rotation of the end point when the corresponding start point property is updated. The most notable example of this is when specifying a cutting direction for a shovel. Prior to this patch, manually changing the parent of the direction would cause the other end of the line to remain as a child to the original parent, causing the direction to change as the parents move relative on another. (55c552b)
Updated many of the scripts to add initial support for Unity 6.0 and removed much of the Unity version specific code for Unity versions older than Unity 2020.1. (7e0df63)
Lifted the requirement of using a specific .NET compatibility Level. Either .NET Standard 2.1 or .NET Framework can now be used. (9db6539)
Fixed an issue causing the Deformable Terrain Pager cache directory to be non-optional. (1bbe54c)
The License Manager now properly displays whether licenses include the AgX-Control module. (e24cfc7)
The plugin now reports an error and cancels the build if an invalid Scripting Backend is used when building a project. (9db6539)
AGX Dynamics
Version 2.38.0.1 (AGX Dynamics Changelog)
5.1.0 (2024-07-03)¶
Note
Since AGX Dynamics will drop support for CentOS 7 in the next major release, this is likely the final version (excluding patches) of AGXUnity to support CentOS 7 as well and the support for the platform should be considered deprecated as of this version.
Features
Added advanced Deformable Terrain Pager options, including option to store compaction when paging out as well as an option to change the cache directory of paged out tiles. (a9f6c12)
Fixes
Fix materials not being added to prefabs correctly, causing invalid materials in prefab stage. (2b4b26c)
Fixed an issue where Deformable Terrain Pager did not synchronize the heightmaps for all unity terrain tiles used. (a9f6c12)
AGX Dynamics
Version 2.38.0.0 (AGX Dynamics Changelog)
5.0.3 (2024-05-29)¶
Features
Added a utility to initialize all children in a GameObject immediately. (1e8bb6c)
5.0.2 (2024-04-23)¶
Features
Added an option to display simulation statistics as a moving average instead of a single frame value. (91abbe2)
Added an option to Shovel to add shovel to all Deformable Terrain instances. (edfbe79)
Fixes
Fixed an issue in the URDF Import <urdf-import-ref> which would cause errors when importing files with a joint of type “floating”. Additionally made the world link static and increased the compliance of imported joints. (8d14dad)
AGX Dynamics
Version 2.37.3.2 (AGX Dynamics Changelog)
5.0.1 (2024-03-18)¶
Fixes
Fixed an issue where the Check for updates… window could not properly read the platform. (1af217f)
5.0.0 (2024-03-15)¶
Warning
This version of AGXUnity moves all of the default materials to an in memory representation. As a result of this, any projects using the default materials previously provided in AGXUnity might run into their visuals having missing materials. For AGX components these missing materials are handled automatically but it is recommended to backup projects before updating the plugin.
Note
Since AGX Dynamics will drop support for Ubuntu 18 in the next major release, this is likely the final version (excluding patches) of AGXUnity to support Ubuntu 18 as well and the support for the platform should be considered deprecated as of this version.
Features
Added support for installing AGX Unity through the UPM. See Installing the plugin as an UPM package for more information. (cdd1e8d)
Added new type of terrain particle renderer which upsamples the simulated particles to yield a more fine grained visual result. (8800901)
Updated the cable rendering shaders to allow for higher visual fidelity and reworked them to work with wire rendering as well. (1e8e37a)
Update default AGXUnity rendering materials to be stored completely in-memory. (1e8e37a)
Added implicit material mappings for rendering Terrain material patches and added a help box to add a renderer if it is missing from the parent terrain. (336a220)
Added an option to filter the particles rendered by DeformableTerrainParticleRenderer based on particle material (b58b9b2)
Added
DeformToInitialState
option for using the initial route of a Cable as the rested state. (ceaeb54)Added a flag to force Collision groups to update on every contact event. (56383a3)
Fixes
Fixed an issue where the
AGXUnity.Rendering.TerrainPatchRenderer
would not set the initial Unity terrain layer properly. (8daecfa)Fixed an issue where Terrain material patches would fail to initialize when assigned a null shape material. (fcbf16b)
Removed old assets and made Cable and Wire rendering more consistent. (e3b0c58)
Implemented a more general fix for preventing reverts of edited properties on prefab components. (2b0b216)
Homogenized the content in the hierarchy context menu and the AGXUnity top menu. (336a220)
Updated default values for the Movable Terrain max depth and depth inversion properties. (336a220)
Fixed multi-edit for Contact Material “fix” buttons. (466c701)
Fixed an issue causing transparent agx render materials to not be imported properly when importing a .agx file. (1324779)
Fixed undo support for the Render Material field on shape components. (7984686)
Added tooltips to all AGXUnity asset types. (e4190e2)
Fixed an issue causing intialization error when applying Merge Split Properties to a constraint attached to the world frame (
null
) (e4190e2)All components are now documented and linked to from the Unity editor. (a606e23)
Added handling of Contact Material in nested prefabs. (786396b)
Fixed an issue with the package update window for editor version 2021.2. (4a5ff8c)
Optimized the initialization procedure of the Deformable Terrain when using larger resolution heightmaps. (ba03ae3)
Examples
Added Cable Damage rendering to the Twisted cables.
Added a Sample Asset Package which contains a set of assets which can be used as a starting point when getting started with AGXUnity.
Fixed orientation of Contact Material in the E85 excavator example.
AGX Dynamics
Version 2.37.3.0 (AGX Dynamics Changelog)
Known Issues
We are aware of an issue causing the “Check for Updates…” window to fail when installing new AGXUnity versions in the 2021.2 editor versions. A fix for this has been added in this version however to circumvent this issue in previous versions it is recommended that any scenes containing AGXUnity components are closed prior to installing the update.
4.7.0 (2023-12-21)¶
Features
Added an extension to ScriptComponent to make GetInitialized more concise. (e5a90b0)
Added better HDRP and URP support for Cable Rendering and merged component with fallback. (07d97ef)
Added a Movable Terrain which allows for deformable terrains that are not linked to an underlying Unity terrain, enabling them to be moved and rotated. (7974f06)
Fixes
Fixed an issue where Constraint attachment pairs would sometimes reset after changes. (f1c1803)
Updated Deformable Terrain initialization to perform better for large resolution terrains. (da19121)
Fixed an issue that caused Deformable Terrain with large resolution to incur a performance loss even when there was no interaction with the terrain.
Added a log callback method to catch AGX Exceptions. (7ca5f73)
Created
AGXUnity.Utils.RenderingUtils
and moved pipeline detection there. Also added early-out for per-camera rendering to avoid things like terrain particles being rendered in all prefab stages. (5972e5c)
Examples
Added Bed Truck example.
AGX Dynamics
Version 2.37.1.0 (AGX Dynamics Changelog)
4.6.0 (2023-11-22)¶
Note
As of 4.6.0, Unity 2021.2.19f1 is the oldest editor version which is officially supported.
Warning
The new Cable renderer does not yet support URP or HDRP. If you are using the Cable Renderer
component in a URP or HDRP project, please swap to the Fallback Cable Renderer
instead. For more info
see Cable Rendering.
Features
Added Plotting and data acquisition via Visual Scripting which can be used to generate webplots or write simulation data to .csv files. (f91d82b)
Added wire damping properties to Shape Material. (f68c249)
Updated the default rendering for the Cable component to use instancing. (3437f84)
Added support for using different terrain materials when creating a Deformable Terrain and added events to the terrain for picking up on terrain modifications when running the simulation. (ca5ad8f)
Fixes
Fix Shape given visual tool creating empty Mesh objects when source mesh is read/write disabled. (79fb95b)
Added a workaround for Unity not handling setting hideFlags in custom inspectors. (22f570e)
Remove restriction that Deformable Terrain Pager resolution has to be odd. (a648721)
Using Constraint with ball joint type no longer causes exceptions due to unrecognized ConeLimit constraint. (d1aa497)
Fixed an issue causing the DebugRenderManager to not render bodies or contacts. (5c5b8a9)
Added fix for prefab instances sometimes resetting component properties on play. (13e8d70)
Fixed an issue where applying Merge Split Properties to a body with a Tire component caused contacts to be ignored. (a07856b)
Fixed Constraint controllers not handling multiple controllers of same type properly. (893d38c)
Fixed an issue that would cause the application to freeze if a Contact Callbacks threw an exception. (a2f962d)
Custom Contact Callbacks registered with
agxSDK.ContactEventListener.ActivationMask.IMPACT
now properly gets called even if no other activation mask is specified. (04734fa)
Examples
Added E85 excavator example.
Added Ocean simulation example.
Added Car drivetrain example.
Added Polybag demo.
AGX Dynamics
Version 2.37.0.1 (AGX Dynamics Changelog)
4.5.0 (2023-09-01)¶
Features
Added “Merge Nearby Vertices” option to Collision Mesh Options. (be5c52a)
Added height getters and setters to the Deformable Terrain API which mimic the Unity terrain API. (47a5170)
Added option to pass native AGX logs to the unity console. See Logging for more information. (423b218)
Add BottomContactThreshold option in Deformable Terrain Shovel Settings. (ad95b31)
Fixes
Cable resolution below minimum is set to minimum during initialization. (aae2961)
Rendering the particles and Rigid Body Emitter now properly renders when using
Draw Mesh Instanced
render mode in Scriptable Render Pipelines. (b7226b1)Added recalculation of intertia tensor on off-diagonal change in Mass properties. (822a188)
Fixed flip direction button not working in the Line tool for lines representing directions. (9ef62d0)
Geometry data is now properly set in the OnSeparation callback data, Separation Data. (36bf044)
4.4.0 (2023-06-02)¶
Features
Added editor icons for most script components and assets and updated UI-icons. (2c73cf0)
Added method to synchronize shape cache in Rigid Body when adding Shapes manually. (3d70c0b)
Added toggle for excluding Shapes from Mass properties calculation. (5028775)
Fixes
Fixed an issue causing crashes when starting a simulation with a disabled Shovel. (3daf9ec)
Component help links now properly link to the relevant documentation page. (1f8492b)
Fixed an issue where contact callbacks for a Deformable Terrain would not be called after calling the
ResetHeights
method on the terrain. (35b63e2)Added information about copying license file to License Manager window. (59d24f1)
Updated Two Body Tire Properties default values to be more generally applicable. (d3d4875)
Fixed invalid scaling when creating oriented collision shapes from visuals using the Shape given visual tool. (0dca3b7)
AGX Dynamics
Version 2.36.1.0 (AGX Dynamics Changelog)
4.3.0 (2023-05-04)¶
Features
Added quick-fix buttons to change to AGXUnity recommended project settings in the AGXUnity project settings tab. (f624a6a)
Added Soil failure volumes component which triggers failures in the deformable terrain upon contact. (34fc3bd)
Added instanced rendering mode to Rigid Body Emitter component. (7f1c377)
Fixes
Updated default values in Contact Material. (8f071ef)
Fixed issue causing multiple imports of a Constraint to leave unused Controller components on the constraint GameObject. (699aea7)
Fixed imported constraint’s attachment pairs always being synchronized causing inconsistent behavior. (1927c5a)
Fixed an issue causing the editor to sometimes freeze when editing cables. (816fd38)
Added time reported under “Last Update” is now included in total time under the simulation statistics. (5133008)
Terrain soil granules are now rendered even when the application is paused. (038d0a9)
Iterating over AGX Native vectors using enumerators now causes less overhead and garbage.
Examples
Updated the shovel models in the examples to better interact with the terrain.
AGX Dynamics
Version 2.36.0.0 (AGX Dynamics Changelog)
The native combustion engine component has been updated with breaking changes. The old component is available under
agxDriveTrain.deprecatedCombustionEngine
. Code using the combustion engine before 4.3.0 (such as the Wheel Loader examples) can use the deprecated version as a replacement.
4.2.0 (2023-04-11)¶
Features
Added buttons to the Contact Material inspector to add Contact Material Manager to scene and to add the material to manager. (a29d077)
Moved AGX Editor settings to a custom Project Settings tab. These can be accessed by going to Edit -> Project Settings… -> AGX Settings (8172bf1)
Added option to render accumulated cable damage and moved rendering options to Cable Damage Properties. (71df90c)
Fixes
Fixed import of embedded materials in .agx and .aagx files when using HDRP or URP. (a2c1e1a)
Fixed an issue causing Unity crashes when more than 1023 soil granulars are spawned during a single timestep. (50b3f7c)
Fixed a null reference error in the DeformableTerrainParticleRenderer when using custom stepping of the simulation. (6a5c28a)
Examples
Added an additional excavation example scene to the AGXUnity_Excavation example, showcasing how to make measurements on the DeformableTerrain.
Added AGX resources such as contact materials and terrain properties to the AGXUnity_WheelLoader example.
Moved Example Window into the standard AGXUnity package, no longer requiring a separate download. (4a7bb76)
Added Plotting Utility, Conveyor belt, and Twisted cables to the Example Window.
AGX Dynamics
Version 2.35.0.3 (AGX Dynamics Changelog)
4.1.0 (2023-01-30)¶
Features
Added Shape given visual tool, a utility tool to create collision primitives given visual meshes. (212fc29)
Added Cable Damage that calculates, aggregates and visualizes forces and stress in cables. (146745a)
Added
OnSeparation
to Contact Callbacks. (c8d56f7)Added toggle to enable/disable deformations of Deformable Terrain in Deformable Terrain Properties. (75e33cb)
Added possibility to assign particle material (Shape Material) to Deformable Terrain, enabling explicit Contact Material between objects and the particles created by a terrain. (11cbe82)
Fixes
Eliminated overhead synchronizing deformable terrain particle transforms in Rendering the particles. (4eae957)
AGX Dynamics
Version 2.35.0.2 (AGX Dynamics Changelog)
4.0.2 (2022-12-22)¶
AGX Dynamics
Version 2.35.0.0 (AGX Dynamics Changelog)
4.0.1 (2022-11-25)¶
Fixes
Fixed Rigid Body Emitter which didn’t work in 4.0.0 (2022-11-16). (f77553a)
Fixed issues when AGX Dynamics Import prefabs was dragged from the project view and dropped directly into the Scene View. (e89f1f3, 1198d4f)
Fixed Shape resize tool so that the shape doesn’t move when its size reached minimum value during asymmetric resize. (4d33c60)
AGX Dynamics
Version 2.34.0.3 (AGX Dynamics Changelog)
4.0.0 (2022-11-16)¶
Features
Support for Ubuntu 18.04, Ubuntu 20.04, Ubuntu 22.04 and CentOS 7. (ada93aa)
Added feature Deformable Terrain Pager which enables indefinite sized Deformable Terrain to be simulated by adaptively loading and unloading tiles (patches of Deformable Terrain instances) during runtime. (920c546)
Added support for Offline license activation using CLI or
AGXUnity.LicenseManager
. (786aabd)Added support for 32-bit vertex index format in
AGXUnity.Utils.MeshSplitter
which automatically changes the index format if the vertex count exceeds 65535. This means AGX Dynamics Import of large meshes won’t split unless the vertex count exceeds 4 billion. (affb542)Added distinct warning in the Inspector of Collision Mesh Options when the selection includes a prefab instance. Collision mesh creations/modifications should be applied to the actual prefab in the Prefab Stage to avoid extensive Prefab Overrides. (bd52e02)
Gizmo rendering of observer frames. (12cef4c)
Fixes
Fixed issue where Inspector Editors broke (Unity 2022.1 and later) when the
HideInInspector
attribute was set a class. Unity 2022.1 and later no long supports changinghideFlags
from within a custom editor. (f8b4807)Improved support for changing enable/disable state (component enabled state or game object active state) during runtime of Shapes (all), Deformable Terrain, Cable, Wire and Rigid Body. (7167e7f)
Fixed issue in re-import of
.agx
files where new render materials should be created. (affb542)Fixed deprecated warnings in Unity 2022.x. (a63ec4c, 5bef842)
Added Wire Friction Coefficients to Contact Material. (2ac22f3)
Fixed key bindings so
a
is left andd
is right in examples usingAGXUnityInputControls
. (4fb814b)
Examples
Added example Twisted cables, demonstrating the use of Cables in a scenario where they will collide and interact due to twisting and bending.
Added example Plotting Utility, demonstrating a straight forward way of plotting from Unity via a network connection to a Python based plot server.
Added example Conveyor belt, demonstrating how to use the surface velocity feature of Shapes.
Updated Excavator on terrain:
Introduced maximum acceleration for actuators.
“Speed Smoothing” removed.
Assigned terrain materials and properties.
Removed usage of Lock at zero speed to avoid large accelerations.
AGX Dynamics
Version 2.34.0.3 (AGX Dynamics Changelog)
Known issues
The Rigid Body Emitter doesn’t work in this version but is fixed in 4.0.1 (2022-11-25).
3.2.0 (2022-06-17)¶
This new version is mainly an AGX Dynamics update, where version 2.33.0.0 is used, containing many new features and fixes. Previous version of AGX Dynamics was 2.31.1.0.
Notable feature update in AGX Dynamics 2.33.0.0 is the friction model improvements, where the Iterative Projected Friction model now recovers the friction cone with Direct as solve type. See the AGX Dynamics Changelog for more information about this update.
Fixes
Fixed issue when an AGX Dynamics license is loaded manually from a script, before AGX Dynamics has been initialized. Before, the initialization of AGX Dynamics cleared the license, but this has now been fixed. (22a6c0c)
Clarified error message on screen when AGX Dynamics is initialized but the license isn’t valid. (cba67c0)
Throwing error from post process build when the .NET API compatibility level is set wrong in the player settings. (c997b4e)
AGX Dynamics
Version 2.33.0.0 (AGX Dynamics Changelog)
3.1.4 (2022-03-04)¶
Fixes
Fixed load (from resources) of default wire rendering material. (e91d82e)
Fixed activation of encrypted runtime licenses which may have been broken from version 3.1.3 (2022-02-15). (fa90f82)
Fixed so that the generated license of an encrypted runtime license activation, using license content string in a script, are properly saved to the default directory in a build/application. (fa90f82)
Fixed so that it’s possible to refresh an invalid license, for updated license information, in the License Manager Window. (38968cb)
AGX Dynamics
Version 2.31.1.0 (AGX Dynamics Changelog)
3.1.3 (2022-02-15)¶
Fixes
Fixed URDF importer loading Collada resources when the Unity URDF importer package is installed. The Unity URDF importer has a custom Collada
AssetPostprocessor
which applies additional transforms to the Collada models in the project. This fix is reverting these additional transforms on instances used in our imported models. Both URDF importer plugins should work as expected when both are installed. (c626af3)Improved missing license module information for otherwise valid licenses. (e1de704)
Improved license activation/loading from scripts in projects without license files. (c6a60d2)
Fixed
AGXUnity.UniqueGameObject<T>.Instance
to properly handle the case when the object has been deleted. (346e802)Improved undo/redo performance by avoiding calculations of mass properties of rigid bodies if the selection includes many shapes. (d60abb6)
Improved undo/redo when imported prefabs are dragged and dropped into scenes. (d60abb6, 1f8be95)
AGX Dynamics
Version 2.31.1.0 (AGX Dynamics Changelog)
Known issues
Encrypted runtime license activation from file in builds may not work in this version. Fixed in 3.1.4 (2022-03-04).
3.1.2 (2022-01-31)¶
Fixes
Improved wire rendering performance using
UnityEngine.Graphics.DrawMeshInstanced
instead of spawning and synchronizing game object instances. (7302a2f)Loading first valid license file instead of first license found. (ee612f1)
Improved error messages and visualization of an invalid license. (f92abae, e3d0d4e)
Fixed URDF import of Collada collision meshes where the Collada resource contains children. (6cc7026)
Fixed license info to have license end date at the end of the day of the given end date. (8b50be9)
Renamed directory
AGXUnity/Editor/AGXUnityEditor/Build
toBuildTools
so that the directory isn’t a match in the default Unity.gitignore
. (3b87390c)
AGX Dynamics
Version 2.31.1.0 (AGX Dynamics Changelog)
3.1.1 (2021-10-29)¶
Fixes
Fixed performance degradation (in some scenes), introduced in 3.1.0 (2021-10-18), during scene unload. (85c1e64)
Fixed bug in
AGXUnity.Collide.Plane
where any initial rotation of the plane was applied twice. (257ada4)Exposing Poisson’s ratio in the Inspector under the “Twist” direction of cable properties. (2e72ee7)
Fixed crash in builds when
AGXUnity.PickHandler
manager was enabled. It’s now safe for anAGXUnity.ScriptComponent
to call AGX Dynamics inOnAwake
andOnEnable
. (676d3ea)Fixed potential crash in
AGXUnity.PickHandler
manager when line/ray collision detection resulted in contacts with zero contact points. (2b89c28)Fixed bug where
System.IO.DirectoryInfo.Exists
could return true even though the directory was deleted while updating to a new version. (9942438)
AGX Dynamics
Version 2.31.0.1 (AGX Dynamics Changelog)
3.1.0 (2021-10-18)¶
Features
Added support for Contact Callbacks enabling contact data monitoring/manipulation when AGX Dynamics for Unity components, such as Shapes, Rigid Body, Wire, Cable, Track etc., interacts. It also features listening to contact force data. (b6f1763)
Added feature to save an URDF model’s all generated instances (URDF elements, STL collision and render meshes, render materials) as assets in the project. This can be done by clicking
AGXUnity -> Save -> URDF Model(s) assets...
in the game object context menu (in Hierarchy), button in the Inspector of the URDF model or by callingAGXUnityEditor.IO.URDF.Prefab.CreateAssets
. See Saving an URDF as prefab. (827e142)Added feature to save an URDF model as prefab, with all generated instances. This can be done by clicking
AGXUnity -> Save -> URDF Model(s) as prefab(s)...
in the game object context menu (in Hierarchy), button in the Inspector of the URDF model or by callingAGXUnityEditor.IO.URDF.Prefab.Create
. See Saving an URDF as prefab. (827e142)Added option to import selected URDF file(s) as prefab(s),
AGXUnity -> Import -> Selected URDF [prefab]...
. (3ae33a9)
Fixes
Fixed so that the mass properties of a rigid body is updated when one or more of its shapes may have changed size after undo/redo. (74e81a8)
Fixed so that the Shape resize tool is active when its tool button is active. I.e., it’s no longer required to hold left ctrl to activate the resize handles. Hold left shift for symmetric resizing. (195a149)
Fixed synchronization of mass properties when a shape is resized with the Shape resize tool. (195a149)
Fixed bug where the shapes of a rigid body wasn’t accessible. (6a81140)
Improved drag-drop of
AGXUnity.ShapeMaterial
into Scene View and Hierarchy. (476bc3e)Fixed bug where URDF resource filenames containing “..” wasn’t found by Unity. (d0a0833)
Fixed bug in
AGXUnity.Rendering.DeformableTerrainParticleRenderer
when there were more than 1024 active granulars. Added option to synchronize transforms either when the transforms has been updated in the simulation (default) or inUpdate
when/if the simulation has stepped. (123f7bb)
Documentation
Added section Scripting focusing on functionality and features related to scripts, e.g., Simulation Callbacks.
AGX Dynamics
Version 2.31.0.0 (AGX Dynamics Changelog)
3.0.1 (2021-08-24)¶
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 (2021-07-01)¶
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 (2021-07-01), 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 (2021-06-03) or earlier, please read the remarks under 2.4.3 (2021-06-17) 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 theAGXUnity.Collide.Mesh
is initialized. I.e., during initialization, the parameters inAGXUnity.Collide.CollisionMeshOptions
is ignored andPrecomputedCollisionMeshes
of the mesh is used if non-empty. IfPrecomputedCollisionMeshes
is empty, the previous approach of using the sourceUnityEngine.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
andAGXUnity.Cable
components under theAdd 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
Version 2.30.4.0 (AGX Dynamics Changelog)
2.4.3 (2021-06-17)¶
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 (2021-06-03) and this 2.4.3 (2021-06-17).
The AGXUnityUpdateHandler
package can be imported into any version of AGX Dynamics for Unity
and updates to 2.4.3 (2021-06-17) 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. TheAGXUnityUpdateHandler
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 (2021-06-03)¶
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
Version 2.30.3.0 (AGX Dynamics Changelog)
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 (2021-05-20)¶
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 (2021-05-12)¶
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
usingUnityEngine.Graphics.DrawMeshInstanced
instead of spawning and synchronizing game object instances. (f8bafa5)Initial
Source
of anAGXUnity.Collide.Mesh
is set givenUnityEngine.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
inAGXUnity.Model.DeformableTerrainProperties
. Changed from0.05
m/s to4.0
m/s, adopting to the new terrain feature in AGX Dynamics with gradual merge of soil bodies into the terrain. (5d0d9a0)Added
SoilParticleMergeRate
toAGXUnity.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 anAGXUnity.Collide.Mesh
tonull
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
Version 2.30.2.0 (AGX Dynamics Changelog)
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 (2021-02-03)¶
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 (2020-12-17)¶
Features
Added support for URDF Import (Unified Robot Description Format) into an
AGXUnity.IO.URDF.Model
(robot). (f363a1f)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 withHinge
andPrismatic
in any combination for begin/end actuators. (f363a1f)Custom Inspector GUI for
Vector2
,Vector3
andVector4
with support for arbitrary sub-labels, e.g.,RPY
instead ofXYZ
. (f363a1f)
Fixes
Fixed so that a modified
UnityEngine.Time.fixedDeltaTime
is properly propagated to the simulation whenAutoSteppingMode
isFixedUpdate
. (bee1018)Changed default value of
AGXUnity.Simulation.FixedUpdateRealTimeFactor
to 0.0 (disabled), so that the simulation time by default matchesUnityEngine.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 inAGXUnity.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
toImport AGX Dynamics file [prefab]
and this context is also available underAGXUnity -> Import -> AGX Dynamics file [prefab]
. (f363a1f)Fixed bug, introduced with
ArticulatedRoot
, where non-instantiatedRigidBody
prefabs didn’t find any shapes sinceshape.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
andAGXUnity.Model.TwoBodyTire
. (f363a1f)
Examples
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.
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 (2021-02-03) handles this by moving the AGX Dynamics binaries to the correct folder for the affected Unity versions.
2.2.1 (2020-10-09)¶
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.
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 (2020-09-23)¶
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
andAGXUnity.CableProperties
. (dbb05e5)UnityEngine.Material
are batched together, reflecting nativeagxCollide.RenderMaterial
instances, reducing the number ofUnityEngine.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 Deformable Terrain.
Added Articulated Robot.
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 (2020-06-26)¶
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 addedAGXUnity/Plugins/x86_64/agx/data/TerrainMaterials
containing json files defining the Deformable Terrain Material. Previous versions ofDeformable 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
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)
Examples
Excavator on terrain added - an excavator with tracks operating on a Deformable Terrain.
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 (2020-04-29)¶
Fixes
Fixed bug in VersionInfo comparing versions.
AGX Dynamics
Version 2.28.1.0
2.0.0 (2020-04-22)¶
Features
Grasping Robot input action map added.
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
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.
Fixed Inspector GUI to display errors in a Wire route.
Fixed Inspector GUI to properly handle
UnityEngine.InputSystem.InputActionAsset
andUnityEngine.InputSystem.InputActionMap
.Transform synchronization ignored for disabled rigid bodies.
Updated AGX Dynamics for Unity logo.
AGX Dynamics
Version 2.28.1.0