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)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 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
Articulated Robot has been fixed and now works properly in Unity 2019.4 and newer.
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
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.
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 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
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
Grasping Robot input action map added.
Fixes
Fixed Inspector GUI to display errors in a Wire route.
Fixed Inspector GUI to properly handle
UnityEngine.InputSystem.InputActionAsset
andUnityEngine.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 aRigidBody
in the hierarchy.
AGX Dynamics
Version 2.28.1.0
2.0.0-beta.6¶
Fixes
Changed all use of
UnityEngine.Mathf.Approximately
toAGXUnity.Utils.Math.Approximately
since the Unity version always returnsfalse
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
Countless fixes and improvements.
AGX Dynamics
Version 2.28.1.0