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--- a/Assets/UnitySensors/Runtime/Scripts/DataType/Geometry/Vector3D.cs +++ b/Assets/UnitySensors/Runtime/Scripts/DataType/Geometry/Vector3D.cs @@ -1,5 +1,3 @@ -using System.Collections; -using System.Collections.Generic; using UnityEngine; namespace UnitySensors.DataType.Geometry diff --git a/Assets/UnitySensors/Runtime/Scripts/DataType/Sensor/PointCloud/PointXYZRGB.cs b/Assets/UnitySensors/Runtime/Scripts/DataType/Sensor/PointCloud/PointXYZRGB.cs index 0673875e..d735ff4e 100644 --- a/Assets/UnitySensors/Runtime/Scripts/DataType/Sensor/PointCloud/PointXYZRGB.cs +++ b/Assets/UnitySensors/Runtime/Scripts/DataType/Sensor/PointCloud/PointXYZRGB.cs @@ -1,5 +1,3 @@ -using System; -using Unity.Collections; using Unity.Mathematics; using UnitySensors.Interface.Sensor.PointCloud; diff --git a/Assets/UnitySensors/Runtime/Scripts/Interfaces/Sensor/IImuDataInterface.cs b/Assets/UnitySensors/Runtime/Scripts/Interfaces/Sensor/IImuDataInterface.cs index 88a64af2..b590c24e 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Interfaces/Sensor/IImuDataInterface.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Interfaces/Sensor/IImuDataInterface.cs @@ -1,5 +1,3 @@ -using System.Collections; -using System.Collections.Generic; using UnityEngine; namespace UnitySensors.Interface.Sensor diff --git a/Assets/UnitySensors/Runtime/Scripts/Interfaces/Sensor/ITextureInterface.cs b/Assets/UnitySensors/Runtime/Scripts/Interfaces/Sensor/ITextureInterface.cs index 28e76f3f..0e8c0b5f 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Interfaces/Sensor/ITextureInterface.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Interfaces/Sensor/ITextureInterface.cs @@ -6,5 +6,11 @@ public interface ITextureInterface { public Texture2D texture0 { get; } public Texture2D texture1 { get; } + public float texture0FarClipPlane { get; } + + // public byte[] data { get; } + // public int width { get; } + // public int height { get; } + // public string encoding { get; } } } diff --git a/Assets/UnitySensors/Runtime/Scripts/Interfaces/Sensor/PointCloud/IPointInterface.cs b/Assets/UnitySensors/Runtime/Scripts/Interfaces/Sensor/PointCloud/IPointInterface.cs index 55918a8c..654f7fc1 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Interfaces/Sensor/PointCloud/IPointInterface.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Interfaces/Sensor/PointCloud/IPointInterface.cs @@ -1,4 +1,3 @@ -using Unity.Collections; using Unity.Mathematics; namespace UnitySensors.Interface.Sensor.PointCloud diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/CameraSensor.cs b/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/CameraSensor.cs index b3b93986..baace630 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/CameraSensor.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/CameraSensor.cs @@ -1,5 +1,4 @@ using UnityEngine; -using UnityEngine.Rendering; using UnitySensors.Interface.Sensor; diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/DepthCamera/DepthCameraSensor.cs b/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/DepthCamera/DepthCameraSensor.cs index bc55695b..0bc18cee 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/DepthCamera/DepthCameraSensor.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/DepthCamera/DepthCameraSensor.cs @@ -23,13 +23,13 @@ public class DepthCameraSensor : CameraSensor, ITextureInterface, IPointCloudInt protected float _maxRange = 100.0f; [SerializeField] private float _gaussianNoiseSigma = 0.0f; + [SerializeField] + private Material _depthCameraMat; private UnityEngine.Camera _camera; private RenderTexture _rt = null; private Texture2D _texture; - private Material _mat; - private JobHandle _jobHandle; private IUpdateGaussianNoisesJob _updateGaussianNoisesJob; @@ -47,6 +47,8 @@ public class DepthCameraSensor : CameraSensor, ITextureInterface, IPointCloudInt public PointCloud pointCloud { get => _pointCloud; } public int pointsNum { get => _pointsNum; } + public float texture0FarClipPlane { get => _camera.farClipPlane; } + protected override void Init() { _camera = GetComponent(); @@ -59,10 +61,6 @@ protected override void Init() _texture = new Texture2D(_resolution.x, _resolution.y, TextureFormat.RGBAFloat, false); - _mat = new Material(Shader.Find("UnitySensors/Color2Depth")); - float f = m_camera.farClipPlane; - _mat.SetFloat("_F", f); - SetupDirections(); SetupJob(); } @@ -102,7 +100,7 @@ private void SetupJob() _textureToPointsJob = new ITextureToPointsJob() { - near= m_camera.nearClipPlane, + near = m_camera.nearClipPlane, far = m_camera.farClipPlane, directions = _directions, depthPixels = _texture.GetPixelData(0), @@ -115,8 +113,8 @@ protected override void UpdateSensor() { if (!LoadTexture()) return; - JobHandle updateGaussianNoisesJobHandle = _updateGaussianNoisesJob.Schedule(_pointsNum, 1); - _jobHandle = _textureToPointsJob.Schedule(_pointsNum, 1, updateGaussianNoisesJobHandle); + JobHandle updateGaussianNoisesJobHandle = _updateGaussianNoisesJob.Schedule(_pointsNum, 1024); + _jobHandle = _textureToPointsJob.Schedule(_pointsNum, 1024, updateGaussianNoisesJobHandle); JobHandle.ScheduleBatchedJobs(); _jobHandle.Complete(); @@ -127,9 +125,11 @@ protected override void UpdateSensor() private bool LoadTexture() { bool result = false; - AsyncGPUReadback.Request(_rt, 0, request => { + AsyncGPUReadback.Request(_rt, 0, request => + { if (request.hasError) { + Debug.LogError("GPU readback error detected."); } else { @@ -139,6 +139,7 @@ private bool LoadTexture() result = true; } }); + // TODO: Use coroutine to wait for the request AsyncGPUReadback.WaitAllRequests(); return result; } @@ -154,7 +155,7 @@ protected override void OnSensorDestroy() private void OnRenderImage(RenderTexture source, RenderTexture dest) { - Graphics.Blit(source, dest, _mat); + Graphics.Blit(null, dest, _depthCameraMat); } } } diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/DepthCamera/ITextureToPointsJob.cs b/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/DepthCamera/ITextureToPointsJob.cs index 31bdb2d0..f03908a2 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/DepthCamera/ITextureToPointsJob.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/DepthCamera/ITextureToPointsJob.cs @@ -27,13 +27,14 @@ public struct ITextureToPointsJob : IJobParallelFor public void Execute(int index) { - float distance = (1.0f - Mathf.Clamp01(depthPixels.AsReadOnly()[index].r)) * far; + float distance = depthPixels.AsReadOnly()[index].r * far; float distance_noised = distance + noises[index]; distance = (near < distance && distance < far && near < distance_noised && distance_noised < far) ? distance_noised : 0; + float radius = distance / directions[index].z; PointXYZ point = new PointXYZ() { - position = directions[index] * distance + position = directions[index] * radius }; points[index] = point; } diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/RGBCamera/RGBCameraSensor.cs b/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/RGBCamera/RGBCameraSensor.cs index 0281f3e4..26011262 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/RGBCamera/RGBCameraSensor.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/RGBCamera/RGBCameraSensor.cs @@ -15,15 +15,17 @@ public class RGBCameraSensor : CameraSensor, ITextureInterface public Texture2D texture0 { get => _texture; } public Texture2D texture1 { get => _texture; } + public float texture0FarClipPlane { get => _camera.farClipPlane; } + protected override void Init() { _camera = GetComponent(); _camera.fieldOfView = _fov; - _rt = new RenderTexture(_resolution.x, _resolution.y, 32, RenderTextureFormat.ARGBFloat); + _rt = new RenderTexture(_resolution.x, _resolution.y, 32, RenderTextureFormat.ARGB32); _camera.targetTexture = _rt; - _texture = new Texture2D(_resolution.x, _resolution.y, TextureFormat.RGBAFloat, false); + _texture = new Texture2D(_resolution.x, _resolution.y, TextureFormat.RGBA32, false); } protected override void UpdateSensor() @@ -37,9 +39,11 @@ protected override void UpdateSensor() protected bool LoadTexture() { bool result = false; - AsyncGPUReadback.Request(_rt, 0, request => { + AsyncGPUReadback.Request(_rt, 0, request => + { if (request.hasError) { + Debug.LogError("GPU readback error detected."); } else { diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/RGBDCamera/ITextureToColorPointsJob.cs b/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/RGBDCamera/ITextureToColorPointsJob.cs index 60d5c695..d0005a68 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/RGBDCamera/ITextureToColorPointsJob.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/RGBDCamera/ITextureToColorPointsJob.cs @@ -29,13 +29,14 @@ public struct ITextureToColorPointsJob : IJobParallelFor public void Execute(int index) { - float distance = (1.0f - Mathf.Clamp01(depthPixels.AsReadOnly()[index].r)) * far; + float distance = depthPixels.AsReadOnly()[index].r * far; float distance_noised = distance + noises[index]; distance = (near < distance && distance < far && near < distance_noised && distance_noised < far) ? distance_noised : 0; - + + float radius = distance / directions[index].z; PointXYZRGB point = new PointXYZRGB() { - position = directions[index] * distance, + position = directions[index] * radius, r = colorPixels[index].r, g = colorPixels[index].g, b = colorPixels[index].b, diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/RGBDCamera/RGBDCameraSensor.cs b/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/RGBDCamera/RGBDCameraSensor.cs index bcf026f2..d94ad85d 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/RGBDCamera/RGBDCameraSensor.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/Camera/RGBDCamera/RGBDCameraSensor.cs @@ -23,6 +23,8 @@ public class RGBDCameraSensor : CameraSensor, ITextureInterface, IPointCloudInte protected float _maxRange = 100.0f; [SerializeField] private float _gaussianNoiseSigma = 0.0f; + [SerializeField] + private Material _depthCameraMat; private UnityEngine.Camera _depthCamera; private RenderTexture _depthRt = null; @@ -32,7 +34,6 @@ public class RGBDCameraSensor : CameraSensor, ITextureInterface, IPointCloudInte private RenderTexture _colorRt = null; private Texture2D _colorTexture; - private Material _mat; private JobHandle _jobHandle; @@ -50,6 +51,7 @@ public class RGBDCameraSensor : CameraSensor, ITextureInterface, IPointCloudInte public Texture2D texture1 { get => _colorTexture; } public PointCloud pointCloud { get => _pointCloud; } public int pointsNum { get => _pointsNum; } + public float texture0FarClipPlane { get => _depthCamera.farClipPlane; } protected override void Init() { @@ -74,9 +76,6 @@ protected override void Init() _depthTexture = new Texture2D(_resolution.x, _resolution.y, TextureFormat.RGBAFloat, false); _colorTexture = new Texture2D(_resolution.x, _resolution.y, TextureFormat.BGRA32, false); - _mat = new Material(Shader.Find("UnitySensors/Color2Depth")); - float f = m_camera.farClipPlane; - _mat.SetFloat("_F", f); SetupDirections(); SetupJob(); @@ -131,8 +130,8 @@ protected override void UpdateSensor() { if (!LoadDepthTexture() || !LoadColorTexture()) return; - JobHandle updateGaussianNoisesJobHandle = _updateGaussianNoisesJob.Schedule(_pointsNum, 1); - _jobHandle = _textureToPointsJob.Schedule(_pointsNum, 1, updateGaussianNoisesJobHandle); + JobHandle updateGaussianNoisesJobHandle = _updateGaussianNoisesJob.Schedule(_pointsNum, 1024); + _jobHandle = _textureToPointsJob.Schedule(_pointsNum, 1024, updateGaussianNoisesJobHandle); JobHandle.ScheduleBatchedJobs(); _jobHandle.Complete(); @@ -143,9 +142,11 @@ protected override void UpdateSensor() private bool LoadDepthTexture() { bool result = false; - AsyncGPUReadback.Request(_depthRt, 0, request => { + AsyncGPUReadback.Request(_depthRt, 0, request => + { if (request.hasError) { + Debug.LogError("GPU readback error detected."); } else { @@ -162,9 +163,11 @@ private bool LoadDepthTexture() private bool LoadColorTexture() { bool result = false; - AsyncGPUReadback.Request(_colorRt, 0, request => { + AsyncGPUReadback.Request(_colorRt, 0, request => + { if (request.hasError) { + Debug.LogError("GPU readback error detected."); } else { @@ -190,7 +193,7 @@ protected override void OnSensorDestroy() private void OnRenderImage(RenderTexture source, RenderTexture dest) { - Graphics.Blit(source, dest, _mat); + Graphics.Blit(null, dest, _depthCameraMat); } } } diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/DepthBufferLiDAR/DepthBufferLiDARSensor.cs b/Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/DepthBufferLiDAR/DepthBufferLiDARSensor.cs index 85e6cc77..46092a91 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/DepthBufferLiDAR/DepthBufferLiDARSensor.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/DepthBufferLiDAR/DepthBufferLiDARSensor.cs @@ -18,6 +18,7 @@ public class DepthBufferLiDARSensor : LiDARSensor private int _texturePixelsNum = 1; [SerializeField, Attribute.ReadOnly] private Vector2Int _textureSizePerCamera; + [SerializeField] Material _depthBufferLidarMat; private Transform _transform; @@ -48,7 +49,7 @@ private void SetupCamera() { float azimuthAngleRange = scanPattern.maxAzimuthAngle - scanPattern.minAzimuthAngle; _camerasNum = azimuthAngleRange > 0.0f ? Mathf.CeilToInt(azimuthAngleRange / 60.0f) : 1; - + _horizontalFOV = azimuthAngleRange / _camerasNum; float verticalFOV = Mathf.Max(1.0f, 2.0f * Mathf.Max(Mathf.Abs(scanPattern.maxZenithAngle), Mathf.Abs(scanPattern.minZenithAngle))); @@ -64,7 +65,7 @@ private void SetupCamera() { GameObject camera_obj = new GameObject(); camera_obj.name = "Camera " + i.ToString(); - + Transform camera_tf = camera_obj.transform; camera_tf.parent = _transform; camera_tf.localPosition = Vector3.zero; @@ -82,6 +83,7 @@ private void SetupCamera() camera.rect = rect; Color2Depth converter = camera_obj.AddComponent(); + converter.mat_source = _depthBufferLidarMat; converter.y_min = (float)i / _camerasNum; converter.y_max = (float)(i + 1.0f) / _camerasNum; converter.y_coef = _camerasNum; @@ -135,7 +137,7 @@ private void SetupJobs() indexOffset = 0, directions = _directions, pixelIndices = _pixelIndices, - noises =_noises, + noises = _noises, pixels = _pixels, points = pointCloud.points }; @@ -145,8 +147,8 @@ protected override void UpdateSensor() { if (!LoadTexture()) return; - JobHandle updateGaussianNoisesJobHandle = _updateGaussianNoisesJob.Schedule(pointsNum, 1); - _jobHandle = _textureToPointsJob.Schedule(pointsNum, 1, updateGaussianNoisesJobHandle); + JobHandle updateGaussianNoisesJobHandle = _updateGaussianNoisesJob.Schedule(pointsNum, 1024); + _jobHandle = _textureToPointsJob.Schedule(pointsNum, 1024, updateGaussianNoisesJobHandle); JobHandle.ScheduleBatchedJobs(); _jobHandle.Complete(); @@ -164,6 +166,7 @@ private bool LoadTexture() { if (request.hasError) { + Debug.LogError("GPU readback error detected."); } else { diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/DepthBufferLiDAR/ITextureToPointsJob.cs b/Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/DepthBufferLiDAR/ITextureToPointsJob.cs index b495455f..97a0abcc 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/DepthBufferLiDAR/ITextureToPointsJob.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/DepthBufferLiDAR/ITextureToPointsJob.cs @@ -34,7 +34,7 @@ public struct ITextureToPointsJob : IJobParallelFor public void Execute(int index) { int pixelIndex = pixelIndices[index + indexOffset]; - float distance = (1.0f - Mathf.Clamp01(pixels.AsReadOnly()[pixelIndex].r)) * far; + float distance = pixels.AsReadOnly()[pixelIndex].r * far; float distance_noised = distance + noises[index]; distance = (near < distance && distance < far && near < distance_noised && distance_noised < far) ? distance_noised : 0; PointXYZI point = new PointXYZI() @@ -42,7 +42,7 @@ public void Execute(int index) position = directions[index + indexOffset] * distance, intensity = (distance != 0) ? maxIntensity * sqrNear / (distance * distance) : 0 }; - + points[index] = point; } } diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/RaycastLiDAR/IUpdateRaycastCommandsJob.cs b/Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/RaycastLiDAR/IUpdateRaycastCommandsJob.cs index ec541883..870cecca 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/RaycastLiDAR/IUpdateRaycastCommandsJob.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/RaycastLiDAR/IUpdateRaycastCommandsJob.cs @@ -16,15 +16,18 @@ public struct IUpdateRaycastCommandsJob : IJobParallelFor public Matrix4x4 localToWorldMatrix; [ReadOnly] public float maxRange; - [ReadOnly, NativeDisableParallelForRestriction] + [ReadOnly] + public QueryParameters queryParameters; + [ReadOnly] public NativeArray directions; [ReadOnly] public int indexOffset; + [WriteOnly] public NativeArray raycastCommands; public void Execute(int index) { - raycastCommands[index] = new RaycastCommand(origin, localToWorldMatrix * (Vector3)directions[index + indexOffset], maxRange); + raycastCommands[index] = new(origin, localToWorldMatrix * (Vector3)directions[index + indexOffset], queryParameters, maxRange); } } } \ No newline at end of file diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/RaycastLiDAR/RaycastLiDARSensor.cs b/Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/RaycastLiDAR/RaycastLiDARSensor.cs index 18c53cae..eee45f04 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/RaycastLiDAR/RaycastLiDARSensor.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/RaycastLiDAR/RaycastLiDARSensor.cs @@ -13,6 +13,7 @@ namespace UnitySensors.Sensor.LiDAR { public class RaycastLiDARSensor : LiDARSensor { + [SerializeField] private LayerMask _raycastLayerMask = 1; private Transform _transform; private JobHandle _jobHandle; @@ -24,7 +25,7 @@ public class RaycastLiDARSensor : LiDARSensor private NativeArray _directions; private NativeArray _raycastCommands; private NativeArray _raycastHits; - + private NativeArray _noises; protected override void Init() @@ -40,7 +41,7 @@ protected override void Init() private void LoadScanData() { _directions = new NativeArray(scanPattern.size * 2, Allocator.Persistent); - for(int i = 0; i < scanPattern.size; i++) + for (int i = 0; i < scanPattern.size; i++) { _directions[i] = _directions[i + scanPattern.size] = scanPattern.scans[i]; } @@ -57,9 +58,11 @@ private void SetupJobs() origin = _transform.position, localToWorldMatrix = _transform.localToWorldMatrix, maxRange = maxRange, + queryParameters = new() { layerMask = _raycastLayerMask }, directions = _directions, indexOffset = 0, - raycastCommands = _raycastCommands + raycastCommands = _raycastCommands, + }; _updateGaussianNoisesJob = new IUpdateGaussianNoisesJob() @@ -88,10 +91,10 @@ protected override void UpdateSensor() _updateRaycastCommandsJob.origin = _transform.position; _updateRaycastCommandsJob.localToWorldMatrix = _transform.localToWorldMatrix; - JobHandle updateRaycastCommandsJobHandle = _updateRaycastCommandsJob.Schedule(pointsNum, 1); + JobHandle updateRaycastCommandsJobHandle = _updateRaycastCommandsJob.Schedule(pointsNum, 1024); JobHandle updateGaussianNoisesJobHandle = _updateGaussianNoisesJob.Schedule(pointsNum, 1, updateRaycastCommandsJobHandle); - JobHandle raycastJobHandle = RaycastCommand.ScheduleBatch(_raycastCommands, _raycastHits, 256, updateGaussianNoisesJobHandle); - _jobHandle = _raycastHitsToPointsJob.Schedule(pointsNum, 1, raycastJobHandle); + JobHandle raycastJobHandle = RaycastCommand.ScheduleBatch(_raycastCommands, _raycastHits, 1024, updateGaussianNoisesJobHandle); + _jobHandle = _raycastHitsToPointsJob.Schedule(pointsNum, 1024, raycastJobHandle); JobHandle.ScheduleBatchedJobs(); _jobHandle.Complete(); diff --git a/Assets/UnitySensors/Runtime/Scripts/Utils/Camera/Color2Depth.cs b/Assets/UnitySensors/Runtime/Scripts/Utils/Camera/Color2Depth.cs index 782d16e9..d327f8a3 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Utils/Camera/Color2Depth.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Utils/Camera/Color2Depth.cs @@ -5,7 +5,8 @@ namespace UnitySensors.Utils.Camera [RequireComponent(typeof(UnityEngine.Camera))] public class Color2Depth : MonoBehaviour { - private Material _mat; + [System.NonSerialized] + public Material mat_source; [System.NonSerialized] public float y_min = 0.0f; @@ -13,10 +14,11 @@ public class Color2Depth : MonoBehaviour public float y_max = 1.0f; [System.NonSerialized] public float y_coef = 1.0f; + private Material _mat; private void Start() { - _mat = new Material(Shader.Find("UnitySensors/Color2Depth")); + _mat = new(mat_source); _mat.SetFloat("_F", GetComponent().farClipPlane); _mat.SetFloat("_Y_MIN", y_min); _mat.SetFloat("_Y_MAX", y_max); @@ -25,7 +27,7 @@ private void Start() private void OnRenderImage(RenderTexture source, RenderTexture dest) { - Graphics.Blit(source, dest, _mat); + Graphics.Blit(null, dest, _mat); } } } diff --git a/Assets/UnitySensors/Runtime/Scripts/Utils/Geometry/GeoCoordinateConverter.cs b/Assets/UnitySensors/Runtime/Scripts/Utils/Geometry/GeoCoordinateConverter.cs index d3a20861..cd122994 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Utils/Geometry/GeoCoordinateConverter.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Utils/Geometry/GeoCoordinateConverter.cs @@ -1,19 +1,18 @@ using System; -using UnityEngine; using UnitySensors.DataType.Geometry; namespace UnitySensors.Utils.Geometry { /// - /// ʒpWnƈܓxox̑ݕϊ - /// QƁFyn@́uʌvZTCgv + /// ���ʒ��p���W�n�ƈܓx�o�x�̑��ݕϊ� + /// �Q�ƁF���y�n���@�́u���ʌv�Z�T�C�g�v /// http://vldb.gsi.go.jp/sokuchi/surveycalc/main.html /// public class GeoCoordinateConverter { - const double daa = 6378137; //a - const double dF = 298.257222101d; //tG - const double dM0 = 0.9999; //ʒpWnYɂkڌW(UTMWn̏ꍇ0.9996) + const double daa = 6378137; //�����a + const double dF = 298.257222101d; //�t�G���� + const double dM0 = 0.9999; //���ʒ��p���W�n��Y����ɂ�����k�ڌW��(UTM���W�n�̏ꍇ��0.9996) private GeoCoordinate _origin; @@ -26,7 +25,7 @@ public Vector3D Convert(GeoCoordinate coordinate) { double dn = 1d / (2 * dF - 1); - //WAPʂ + //���W�A���P�ʂ� double Lat = Deg2Rad(coordinate.latitude); double Lon = Deg2Rad(coordinate.longitude); double Lat0 = Deg2Rad(_origin.latitude); @@ -39,7 +38,7 @@ public Vector3D Convert(GeoCoordinate coordinate) double dXi = Math.Atan(dt / dLmc); double dEt = Atanh(dLms / dtb); - //10`54 + //��1��0�`��5��4 double[] dal = new double[6]; dal[0] = 0; dal[1] = 1d / 2d * dn - 2d / 3d * Math.Pow(dn, 2) + 5d / 16d * Math.Pow(dn, 3) + 41d / 180d * Math.Pow(dn, 4) - 127d / 288d * Math.Pow(dn, 5); @@ -85,11 +84,11 @@ public GeoCoordinate Convert(Vector3D coordinate) { double dn = 1d / (2 * dF - 1); - //WAPʂ + //���W�A���P�ʂ� double Lat0 = Deg2Rad(_origin.latitude); double Lon0 = Deg2Rad(_origin.longitude); - //S0AA + //S��0�AA double[] dA = new double[6]; dA[0] = 1 + Math.Pow(dn, 2) / 4 + Math.Pow(dn, 4) / 64; dA[1] = -3d / 2d * (dn - Math.Pow(dn, 3) / 8 - Math.Pow(dn, 5) / 64); @@ -105,11 +104,11 @@ public GeoCoordinate Convert(Vector3D coordinate) } dSb = dM0 * daa / (1 + dn) * (dA[0] * Lat0 + dSb); - //́E + //�́E�� double dXi = (coordinate.z + dSb) / dAb; double dEt = coordinate.x / dAb; - // + //�� double[] dBt = new double[6]; dBt[1] = 1d / 2d * dn - 2d / 3d * Math.Pow(dn, 2) + 37d / 96d * Math.Pow(dn, 3) - 1d / 360d * Math.Pow(dn, 4) - 81d / 512d * Math.Pow(dn, 5); dBt[2] = 1d / 48d * Math.Pow(dn, 2) + 1d / 15d * Math.Pow(dn, 3) - 437d / 1440d * Math.Pow(dn, 4) + 46d / 105d * Math.Pow(dn, 5); @@ -117,7 +116,7 @@ public GeoCoordinate Convert(Vector3D coordinate) dBt[4] = 4397d / 161280d * Math.Pow(dn, 4) - 11d / 504d * Math.Pow(dn, 5); dBt[5] = 4583d / 161280d * Math.Pow(dn, 5); - //́fE'E'E'E + //�́f�E��'�E��'�E��'�E�� double dXi2 = 0; double dEt2 = 0; double dSg2 = 0; @@ -134,7 +133,7 @@ public GeoCoordinate Convert(Vector3D coordinate) dSg2 = 1 - dSg2; double dCi = Math.Asin(Math.Sin(dXi2) / Math.Cosh(dEt2)); - // + //�� double[] dDt = new double[7]; dDt[1] = 2 * dn - 2d / 3d * Math.Pow(dn, 2) - 2 * Math.Pow(dn, 3) + 116d / 45d * Math.Pow(dn, 4) + 26d / 45d * Math.Pow(dn, 5) - 2854d / 675d * Math.Pow(dn, 6); dDt[2] = 7d / 3d * Math.Pow(dn, 2) - 8d / 5d * Math.Pow(dn, 3) - 227d / 45d * Math.Pow(dn, 4) + 2704d / 315d * Math.Pow(dn, 5) + 2323d / 945d * Math.Pow(dn, 6); @@ -143,7 +142,7 @@ public GeoCoordinate Convert(Vector3D coordinate) dDt[5] = 4174d / 315d * Math.Pow(dn, 5) - 144838d / 6237d * Math.Pow(dn, 6); dDt[6] = 601676d / 22275d * Math.Pow(dn, 6); - //WAPʂ̈ܓxox + //���W�A���P�ʂ̈ܓx�o�x double Lat = dCi; double Lon = Lon0 + Math.Atan(Math.Sinh(dEt2) / Math.Cos(dXi2)); for (int j = 1; j <= 6; j++) @@ -153,7 +152,7 @@ public GeoCoordinate Convert(Vector3D coordinate) return new GeoCoordinate(Rad2Deg(Lat), Rad2Deg(Lon), coordinate.y + _origin.altitude); } - //oȐڊ֐̋t֐ + //�o�Ȑ����ڊ֐��̋t�֐� private static double Atanh(double x) => (1d / 2d * Math.Log((1 + x) / (1 - x), Math.E)); private static double Deg2Rad(double Deg) => (Math.PI * Deg / 180d); private static double Rad2Deg(double Rad) => (180d * Rad / Math.PI); diff --git a/Assets/UnitySensors/Runtime/Scripts/Utils/Noise/IUpdateGaussianNoisesJob.cs b/Assets/UnitySensors/Runtime/Scripts/Utils/Noise/IUpdateGaussianNoisesJob.cs index 8e4f5a1e..3d19f10c 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Utils/Noise/IUpdateGaussianNoisesJob.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Utils/Noise/IUpdateGaussianNoisesJob.cs @@ -1,5 +1,4 @@ using System; -using UnityEngine; using Unity.Burst; using Unity.Collections; diff --git a/Assets/UnitySensors/Runtime/Scripts/Utils/PointCloud/PointUtilities.cs b/Assets/UnitySensors/Runtime/Scripts/Utils/PointCloud/PointUtilities.cs deleted file mode 100644 index d2dee496..00000000 --- a/Assets/UnitySensors/Runtime/Scripts/Utils/PointCloud/PointUtilities.cs +++ /dev/null @@ -1,25 +0,0 @@ -using System; -using System.Collections.Generic; -using System.Collections.ObjectModel; - -using UnitySensors.DataType.Sensor.PointCloud; - -namespace UnitySensors.Utils.PointCloud -{ - public static class PointUtilities - { - public readonly static ReadOnlyDictionary pointDataSizes = new ReadOnlyDictionary(new Dictionary - { - { typeof(PointXYZ), 12 }, - { typeof(PointXYZI), 16 }, - { typeof(PointXYZRGB), 16 } - }); - - public readonly static ReadOnlyDictionary shaderNames = new ReadOnlyDictionary(new Dictionary - { - { typeof(PointXYZ), "UnitySensors/PointCloudXYZ" }, - { typeof(PointXYZI), "UnitySensors/PointCloudXYZI" }, - { typeof(PointXYZRGB), "UnitySensors/PointCloudXYZRGB" } - }); - } -} diff --git a/Assets/UnitySensors/Runtime/Scripts/Utils/PointCloud/PointUtilities.cs.meta b/Assets/UnitySensors/Runtime/Scripts/Utils/PointCloud/PointUtilities.cs.meta deleted file mode 100644 index e59c4b4a..00000000 --- a/Assets/UnitySensors/Runtime/Scripts/Utils/PointCloud/PointUtilities.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 5a30cb1240907864cb62e781c6cdcf3f -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Assets/UnitySensors/Runtime/Scripts/Utils/PointCloud/PointUtilitiessSO.cs b/Assets/UnitySensors/Runtime/Scripts/Utils/PointCloud/PointUtilitiessSO.cs new file mode 100644 index 00000000..352d363a --- /dev/null +++ b/Assets/UnitySensors/Runtime/Scripts/Utils/PointCloud/PointUtilitiessSO.cs @@ -0,0 +1,45 @@ + +using System; +using System.Collections.Generic; +using System.Collections.ObjectModel; +using UnityEngine; +using UnitySensors.DataType.Sensor.PointCloud; +namespace UnitySensors.Utils.PointCloud +{ + [CreateAssetMenu(fileName = "PointUtilitiesSO", menuName = "UnitySensors/PointUtilitiesSO", order = 1)] + public class PointUtilitiesSO : ScriptableObject + { + + // TODO: There should be a better way to handle this + [SerializeField] private Material _pointCloudXYZMaterial; + [SerializeField] private Material _pointCloudXYZIMaterial; + [SerializeField] private Material _pointCloudXYZRGBMaterial; + + public readonly static ReadOnlyDictionary pointDataSizes = new ReadOnlyDictionary(new Dictionary + { + { typeof(PointXYZ), 12 }, + { typeof(PointXYZI), 16 }, + { typeof(PointXYZRGB), 16 } + }); + + public Material GetPointMaterialTemplate(Type type) + { + if (type == typeof(PointXYZ)) + { + return _pointCloudXYZMaterial; + } + else if (type == typeof(PointXYZI)) + { + return _pointCloudXYZIMaterial; + } + else if (type == typeof(PointXYZRGB)) + { + return _pointCloudXYZRGBMaterial; + } + else + { + throw new ArgumentException("Unsupported point type"); + } + } + } +} \ No newline at end of file diff --git a/Assets/UnitySensors/Runtime/Scripts/Utils/PointCloud/PointUtilitiessSO.cs.meta b/Assets/UnitySensors/Runtime/Scripts/Utils/PointCloud/PointUtilitiessSO.cs.meta new file mode 100644 index 00000000..cc5eee44 --- /dev/null +++ b/Assets/UnitySensors/Runtime/Scripts/Utils/PointCloud/PointUtilitiessSO.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: b5c47f036001d1040be206ca55838d54 \ No newline at end of file diff --git a/Assets/UnitySensors/Runtime/Scripts/Visualizers/Sensor/PointCloudVisualizer.cs b/Assets/UnitySensors/Runtime/Scripts/Visualizers/Sensor/PointCloudVisualizer.cs index 9f25a97f..31da3471 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Visualizers/Sensor/PointCloudVisualizer.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Visualizers/Sensor/PointCloudVisualizer.cs @@ -1,14 +1,13 @@ using UnityEngine; -using UnitySensors.Attribute; using UnitySensors.Interface.Sensor; using UnitySensors.Interface.Sensor.PointCloud; -using UnitySensors.Sensor; using UnitySensors.Utils.PointCloud; namespace UnitySensors.Visualization.Sensor { public class PointCloudVisualizer : Visualizer where T : struct, IPointInterface { + [SerializeField] private PointUtilitiesSO _pointUtilitiesSO; private IPointCloudInterface _sourceInterface; private Transform _transform; @@ -28,9 +27,11 @@ public void SetSource(IPointCloudInterface sourceInterface) protected virtual void Start() { + + _transform = this.transform; - _bufferSize = PointUtilities.pointDataSizes[typeof(T)]; - _mat = new Material(Shader.Find(PointUtilities.shaderNames[typeof(T)])); + _bufferSize = PointUtilitiesSO.pointDataSizes[typeof(T)]; + _mat = new Material(_pointUtilitiesSO.GetPointMaterialTemplate(typeof(T))); _mat.renderQueue = 3000; _mesh = new Mesh(); _mesh.vertices = new Vector3[1] { Vector3.zero }; diff --git a/Assets/UnitySensors/Runtime/Scripts/Visualizers/Visualizer.cs b/Assets/UnitySensors/Runtime/Scripts/Visualizers/Visualizer.cs index bab5d64f..11b2fd67 100644 --- a/Assets/UnitySensors/Runtime/Scripts/Visualizers/Visualizer.cs +++ b/Assets/UnitySensors/Runtime/Scripts/Visualizers/Visualizer.cs @@ -1,6 +1,4 @@ using UnityEngine; -using UnitySensors.Attribute; -using UnitySensors.Sensor; namespace UnitySensors.Visualization { diff --git a/Assets/UnitySensors/Runtime/Shaders/Color2Depth.shader b/Assets/UnitySensors/Runtime/Shaders/DepthBufferLidar.shader similarity index 90% rename from Assets/UnitySensors/Runtime/Shaders/Color2Depth.shader rename to Assets/UnitySensors/Runtime/Shaders/DepthBufferLidar.shader index e9675741..0a027ce1 100644 --- a/Assets/UnitySensors/Runtime/Shaders/Color2Depth.shader +++ b/Assets/UnitySensors/Runtime/Shaders/DepthBufferLidar.shader @@ -1,5 +1,6 @@ -Shader "UnitySensors/Color2Depth" +Shader "UnitySensors/DepthBufferLidar" { + // TODO: rewrite it in shader graph to support URP/HDRP Properties { _F("_F", float) = 0.0 @@ -20,7 +21,6 @@ Shader "UnitySensors/Color2Depth" #include "UnityCG.cginc" sampler2D _CameraDepthTexture; - float4 _CameraDepthTexture_ST; float _F; float _Y_MIN; float _Y_MAX; @@ -54,7 +54,8 @@ Shader "UnitySensors/Color2Depth" clip(_Y_MAX - i.uv.y); float depth01 = Linear01Depth(tex2D(_CameraDepthTexture, float2 (i.uv.x, (i.uv.y - _Y_MIN) * _Y_COEF)).r); float3 viewPos = (i.viewDir.xyz / i.viewDir.w) * depth01; - float distance = 1.0f - length(viewPos) / _F; + + float distance = length(viewPos) / _F; return float4(distance, distance, distance, 1.0f); } ENDCG diff --git a/Assets/UnitySensors/Runtime/Shaders/Color2Depth.shader.meta b/Assets/UnitySensors/Runtime/Shaders/DepthBufferLidar.shader.meta similarity index 71% rename from Assets/UnitySensors/Runtime/Shaders/Color2Depth.shader.meta rename to Assets/UnitySensors/Runtime/Shaders/DepthBufferLidar.shader.meta index 872d74f8..d569162e 100644 --- a/Assets/UnitySensors/Runtime/Shaders/Color2Depth.shader.meta +++ b/Assets/UnitySensors/Runtime/Shaders/DepthBufferLidar.shader.meta @@ -1,10 +1,9 @@ fileFormatVersion: 2 -guid: f4a211a4cf34db84a8d57a3e8d7a3413 +guid: 9f39b9c496a4e9f489f510e6d57c5126 ShaderImporter: externalObjects: {} defaultTextures: [] nonModifiableTextures: [] - preprocessorOverride: 0 userData: assetBundleName: assetBundleVariant: diff --git a/Assets/UnitySensors/Runtime/Shaders/DepthCamera.shadergraph b/Assets/UnitySensors/Runtime/Shaders/DepthCamera.shadergraph new file mode 100644 index 00000000..ce66e6ed --- /dev/null +++ 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diff --git a/Assets/UnitySensorsROS/Runtime/Prefabs/LiDAR/Velodyne/VLS-128_with_DepthBuffer_ros.prefab.meta b/Assets/UnitySensorsROS/Runtime/Prefabs/LiDAR/Velodyne/VLS-128_with_DepthBuffer_ros.prefab.meta new file mode 100644 index 00000000..b25c5a12 --- /dev/null +++ b/Assets/UnitySensorsROS/Runtime/Prefabs/LiDAR/Velodyne/VLS-128_with_DepthBuffer_ros.prefab.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: d237c97cfa12ceb429f32c6afa7cbff2 +PrefabImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Publishers/SensorMsgs/ImageMsgPublisher.cs b/Assets/UnitySensorsROS/Runtime/Scripts/Publishers/SensorMsgs/ImageMsgPublisher.cs new file mode 100644 index 00000000..b2eb8bc7 --- /dev/null +++ b/Assets/UnitySensorsROS/Runtime/Scripts/Publishers/SensorMsgs/ImageMsgPublisher.cs @@ -0,0 +1,9 @@ +using RosMessageTypes.Sensor; +using UnitySensors.ROS.Serializer.Sensor; + +namespace UnitySensors.ROS.Publisher.Sensor +{ + public class ImageMsgPublisher : RosMsgPublisher + { + } +} diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Publishers/SensorMsgs/ImageMsgPublisher.cs.meta b/Assets/UnitySensorsROS/Runtime/Scripts/Publishers/SensorMsgs/ImageMsgPublisher.cs.meta new file mode 100644 index 00000000..fc933ff2 --- /dev/null +++ b/Assets/UnitySensorsROS/Runtime/Scripts/Publishers/SensorMsgs/ImageMsgPublisher.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: e226440246ae84f438f484a93cb23d7c \ No newline at end of file diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/IImageEncodeJobs.cs b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/IImageEncodeJobs.cs new file mode 100644 index 00000000..60c61408 --- /dev/null +++ b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/IImageEncodeJobs.cs @@ -0,0 +1,77 @@ + +using Unity.Burst; +using Unity.Collections; +using Unity.Jobs; +using UnityEngine; + +namespace UnitySensors.ROS.Serializer.Image +{ + [BurstCompile] + struct ImageEncodeJob : IJobParallelFor + { + [ReadOnly] + public NativeArray sourceTextureRawData; + [WriteOnly] + public NativeArray targetTextureRawData; + [ReadOnly] + public int width; + [ReadOnly] + public int height; + [ReadOnly] + public float distanceFactor; + [ReadOnly] + public Encoding encoding; + [ReadOnly] + public int bytesPerPixel; + public void Execute(int index) + { + int i = index % width; + int j = index / width; + int targetIndex = index * bytesPerPixel; + + var sourceColor = sourceTextureRawData[(height - j - 1) * width + i]; + + switch (encoding) + { + case Encoding._32FC1: + var targetColor32FC1 = new Color32FC1(); + targetColor32FC1.r = sourceColor.r * distanceFactor; + targetTextureRawData.ReinterpretStore(targetIndex, targetColor32FC1); + break; + case Encoding._16UC1: + var targetColor16UC1 = new Color16UC1(); + targetColor16UC1.r = (ushort)(sourceColor.r * distanceFactor); + targetTextureRawData.ReinterpretStore(targetIndex, targetColor16UC1); + break; + case Encoding._RGB8: + default: + var targetColorRGB8 = new ColorRGB8(); + targetColorRGB8.r = (byte)(sourceColor.r * 255); + targetColorRGB8.g = (byte)(sourceColor.g * 255); + targetColorRGB8.b = (byte)(sourceColor.b * 255); + targetTextureRawData.ReinterpretStore(targetIndex, targetColorRGB8); + break; + } + } + } + struct Color32FC1 + { + public float r; + } + struct Color16UC1 + { + public ushort r; + } + struct ColorRGB8 + { + public byte r; + public byte g; + public byte b; + } + enum Encoding + { + _RGB8, + _32FC1, + _16UC1 + } +} \ No newline at end of file diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/IImageEncodeJobs.cs.meta b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/IImageEncodeJobs.cs.meta new file mode 100644 index 00000000..a2ad74b2 --- /dev/null +++ b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/IImageEncodeJobs.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 4374006d20c280c47969bfebc6ec04c5 \ No newline at end of file diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/ImageMsgSerializer.cs b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/ImageMsgSerializer.cs new file mode 100644 index 00000000..afef98e9 --- /dev/null +++ b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/ImageMsgSerializer.cs @@ -0,0 +1,116 @@ +using Unity.Jobs; +using UnityEngine; + +using RosMessageTypes.Sensor; + +using UnitySensors.Attribute; +using UnitySensors.Interface.Sensor; +using UnitySensors.ROS.Serializer.Std; +using UnitySensors.ROS.Serializer.Image; + +namespace UnitySensors.ROS.Serializer.Sensor +{ + [System.Serializable] + public class ImageMsgSerializer : RosMsgSerializer + { + private enum SourceTexture + { + Texture0, + Texture1 + } + + [SerializeField, Interface(typeof(ITextureInterface))] + private Object _source; + [SerializeField] + private SourceTexture _sourceTexture; + [SerializeField] + private Encoding _encoding; + [SerializeField, ReadOnly] + private Texture2D _encodedTexture; + + [SerializeField] + private HeaderSerializer _header; + private int _width; + private int _height; + private ITextureInterface _sourceInterface; + private ImageEncodeJob _imageEncodeJob; + + + public override void Init() + { + base.Init(); + _header.Init(); + _sourceInterface = _source as ITextureInterface; + + var texture = _sourceTexture == SourceTexture.Texture0 ? _sourceInterface.texture0 : _sourceInterface.texture1; + + if (texture.format != TextureFormat.RGBAFloat) + { + Debug.LogError("ImageMsgSerializer: Source texture format must be RGBAFloat"); + return; + } + + _width = texture.width; + _height = texture.height; + + uint bytesPerPixel; + TextureFormat textureFormat; + + _imageEncodeJob = new() + { + width = _width, + height = _height, + encoding = _encoding, + sourceTextureRawData = texture.GetRawTextureData(), + }; + + switch (_encoding) + { + case Encoding._32FC1: + _msg.encoding = "32FC1"; + bytesPerPixel = 1 * 4; + textureFormat = TextureFormat.RFloat; + _imageEncodeJob.distanceFactor = _sourceInterface.texture0FarClipPlane; + + break; + case Encoding._16UC1: + _msg.encoding = "16UC1"; + bytesPerPixel = 1 * 2; + textureFormat = TextureFormat.R16; + _imageEncodeJob.distanceFactor = _sourceInterface.texture0FarClipPlane * 1000; + break; + case Encoding._RGB8: + default: + _msg.encoding = "rgb8"; + bytesPerPixel = 3 * 1; + textureFormat = TextureFormat.RGB24; + _imageEncodeJob.distanceFactor = 1; + break; + } + + _msg.is_bigendian = 0; + _msg.width = (uint)_width; + _msg.height = (uint)_height; + _msg.step = (uint)(bytesPerPixel * _width); + _msg.data = new byte[_msg.step * _height]; + + _imageEncodeJob.bytesPerPixel = (int)bytesPerPixel; + + _encodedTexture = new Texture2D(_width, _height, textureFormat, false); + } + + public override ImageMsg Serialize() + { + _msg.header = _header.Serialize(); + + _imageEncodeJob.targetTextureRawData = _encodedTexture.GetRawTextureData(); + _imageEncodeJob.Schedule(_width * _height, 1024).Complete(); + + _encodedTexture.Apply(); + + // Manually copy the data to the message to avoid GC allocation + _encodedTexture.GetRawTextureData().CopyTo(_msg.data); + return _msg; + } + } +} diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/ImageMsgSerializer.cs.meta b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/ImageMsgSerializer.cs.meta new file mode 100644 index 00000000..b098a65f --- /dev/null +++ b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/ImageMsgSerializer.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 5250b39407b8113499370852efb3d184 \ No newline at end of file diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/PointCloud2MsgSerializer.cs b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/PointCloud2MsgSerializer.cs index fae25d77..fda9be6a 100644 --- a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/PointCloud2MsgSerializer.cs +++ b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/SensorMsgs/PointCloud2MsgSerializer.cs @@ -1,6 +1,5 @@ using UnityEngine; using Unity.Collections; -using Unity.Collections.LowLevel.Unsafe; using Unity.Jobs; using RosMessageTypes.Sensor; @@ -36,7 +35,7 @@ public override void Init() _header.Init(); _pointsNum = _sourceInterface.pointCloud.points.Length; - int sizeOfPoint = PointUtilities.pointDataSizes[typeof(T)]; + int sizeOfPoint = PointUtilitiesSO.pointDataSizes[typeof(T)]; int dataSize = _pointsNum * sizeOfPoint; _msg.height = 1; @@ -60,16 +59,13 @@ public override void Init() public override PointCloud2Msg Serialize() { _msg.header = _header.Serialize(); - - unsafe - { - UnsafeUtility.MemCpy(NativeArrayUnsafeUtility.GetUnsafePtr(_data), NativeArrayUnsafeUtility.GetUnsafePtr(_sourceInterface.pointCloud.points), _data.Length); - } - _jobHandle = _invertXJob.Schedule(_pointsNum, 1); + + _sourceInterface.pointCloud.points.Reinterpret(PointUtilitiesSO.pointDataSizes[typeof(T)]).CopyTo(_data); + _jobHandle = _invertXJob.Schedule(_pointsNum, 1024); _jobHandle.Complete(); _data.CopyTo(_msg.data); - + return _msg; } diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Tf2Msgs/TFMessageMsgSerializer.cs b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Tf2Msgs/TFMessageMsgSerializer.cs index bc1163c6..a894cdbc 100644 --- a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Tf2Msgs/TFMessageMsgSerializer.cs +++ b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Tf2Msgs/TFMessageMsgSerializer.cs @@ -33,10 +33,15 @@ public override TFMessageMsg Serialize() List transforms = new List(); TFData[] tfData = _source.GetTFData(); - foreach(TFData data in tfData) + foreach (TFData data in tfData) { TransformStampedMsg transform = new TransformStampedMsg(); - transform.header = headerMsg; + transform.header = new HeaderMsg(); + transform.header.stamp = headerMsg.stamp; +#if ROS2 +#else + transform.header.seq = headerMsg.seq; +#endif transform.header.frame_id = data.frame_id_parent; transform.child_frame_id = data.frame_id_child; transform.transform.translation = data.position.To(); diff --git a/Assets/UnitySensorsROS/Runtime/UnitySensorsROSRuntime.asmdef b/Assets/UnitySensorsROS/Runtime/UnitySensorsROSRuntime.asmdef index a6c55a8a..addb9f16 100644 --- a/Assets/UnitySensorsROS/Runtime/UnitySensorsROSRuntime.asmdef +++ b/Assets/UnitySensorsROS/Runtime/UnitySensorsROSRuntime.asmdef @@ -11,7 +11,7 @@ ], "includePlatforms": [], "excludePlatforms": [], - "allowUnsafeCode": true, + "allowUnsafeCode": false, "overrideReferences": false, "precompiledReferences": [], "autoReferenced": true, diff --git a/Assets/UnitySensorsROS/Samples/Camera/Demo_RGBDCamera_ros.unity b/Assets/UnitySensorsROS/Samples/Camera/Demo_RGBDCamera_ros.unity new file mode 100644 index 00000000..25172a41 --- /dev/null +++ b/Assets/UnitySensorsROS/Samples/Camera/Demo_RGBDCamera_ros.unity 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mode 100644 index 00000000..5eabf63e --- /dev/null +++ b/MigrateToURP&HDRP.md @@ -0,0 +1,71 @@ +# Migrating To URP/HDRP +Only the sensors or visualizers written with **custom shaders** need to be migrated to URP/HDRP. The rest of them will work without any changes. + +Which means the **Depth Camera**, **RGBD Camera**, **DepthBuffer Lidar** and the **Point Cloud Visualizers** need to be migrated. + +In addition to the shader, the post-processing steps are also different in URP/HDRP. In the built-in pipeline, the post-processing is applied in the `OnRenderImage` method of the script. In URP/HDRP, the post-processing steps are different. + +> \[!NOTE] +> +> Now only support migrating the **Depth Camera** and **RGBD Camera** to URP/HDRP. + +## Migrating to URP + +1. Create the URP project + +2. Install the [ROS-TCP-Connector](https://github.com/Unity-Technologies/ROS-TCP-Connector) package + +3. Copy the `UnitySensors` and `UnitySensorsROS` folders to the project + +4. Update the materials from `Window` -> `Rendering` -> `Render Pipeline Converter`. Tick the `Rendering Settings` and `Material Upgrade` then click `Initialize And Convert` + + + +5. Open `DepthCamera` Shader Graph, change `Active Targets` from `Built-in` to `Univsrsal`, then change the material to `Fullscreen` and click `Save Asset` + + ![](.image/URP_ShaderGraph.png) + +6. Go to the `Settings` folder, create a new `URP Universal Render` asset called `URP-DepthCamera-Renderer`, and add the `Full Screen Pass Renderer Feture` on it + +7. On the `Full Screen Pass Renderer Feture`, select the `DepthCamera` Shader Graph as the `Pass Material`. + + ![](.image/URP_post_process.png) + +8. Add the `URP-DepthCamera-Renderer` to the `Renderer List` of `Default Render Pipeline Asset`, such as the `URP-HighFidelity` asset. And tick the `Depth Texture` selection + + ![](.image/URP_render_list.png) + +9. Select the `DepthCamera` and `RGBDCamera` prefabs, set their renderer to `URP-DepthCamera-Renderer` + + ![](.image/URP_camera_renderer.png) + +10. The **Depth Camera** and **RGBD Camera** should work normally in URP + + ![](.image/URP_final_result.png) + + +## Migrating to HDRP + +Migrating to HDRP is relatively simple. You need to: + +1. Create the HDRP project + +2. Install the [ROS-TCP-Connector](https://github.com/Unity-Technologies/ROS-TCP-Connector) package + +3. Copy the `UnitySensors` and `UnitySensorsROS` folders to the project + +4. Update the materials from `Window` -> `Rendering` -> `HDRP Wizard`. Click `Convert All Built-in Materials to HDRP` + + ![](.image/HDRP_convert_materials.png) + +5. Open `DepthCamera` Shader Graph, change `Active Targets` from `Built-in` to `HDRP`, then change the material to `Fullscreen` and click `Save Asset` + + ![](.image/HDRP_ShaderGraph.png) + +6. Add a custom pass volume in the scene via `Volume` -> `Custom Pass`. Set the `Mode`to `Camera`, drag the **Depth Camera** or **RGBD Camera** in the scene to the `Target Camera`. Add the `Full Screen Custom Pass` in the `Custom Passes` list. Set the `FullScreen Material` to `DepthCamera` Shader Graph. + + ![](.image/HDRP_custom_pass.png) + +7. The **Depth Camera** and **RGBD Camera** should work normally in HDRP + + ![](.image/HDRP_final_result.png) \ No newline at end of file diff --git a/Packages/manifest.json b/Packages/manifest.json index df31cfd0..9fe6e90b 100644 --- a/Packages/manifest.json +++ b/Packages/manifest.json @@ -4,15 +4,13 @@ "com.unity.collab-proxy": "2.5.1", "com.unity.ide.rider": "3.0.31", "com.unity.ide.visualstudio": "2.0.22", - "com.unity.ide.vscode": "1.2.5", "com.unity.robotics.ros-tcp-connector": "https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector", "com.unity.robotics.visualizations": "https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.visualizations", - "com.unity.test-framework": "1.1.33", - "com.unity.textmeshpro": "3.0.7", - "com.unity.timeline": "1.7.6", - "com.unity.toolchain.linux-x86_64": "2.0.4", - "com.unity.toolchain.win-x86_64-linux-x86_64": "2.0.6", - "com.unity.ugui": "1.0.0", + "com.unity.shadergraph": "16.0.6", + "com.unity.test-framework": "1.3.9", + "com.unity.timeline": "1.8.6", + "com.unity.ugui": "2.0.0", + "com.unity.modules.accessibility": "1.0.0", "com.unity.modules.ai": "1.0.0", "com.unity.modules.androidjni": "1.0.0", "com.unity.modules.animation": "1.0.0", diff --git a/Packages/packages-lock.json b/Packages/packages-lock.json index b119b7e8..f0a2dd12 100644 --- a/Packages/packages-lock.json +++ b/Packages/packages-lock.json @@ -8,21 +8,32 @@ "com.unity.mathematics": "1.2.1", "com.unity.modules.jsonserialize": "1.0.0" }, - "url": "https://packages.unity.com" + "url": "https://packages.unity.cn" }, "com.unity.collab-proxy": { "version": "2.5.1", "depth": 0, "source": "registry", "dependencies": {}, - "url": "https://packages.unity.com" + "url": "https://packages.unity.cn" + }, + "com.unity.collections": { + "version": "1.4.0", + "depth": 3, + "source": "registry", + "dependencies": { + "com.unity.burst": "1.6.6", + "com.unity.nuget.mono-cecil": "1.11.4", + "com.unity.test-framework": "1.1.31" + }, + "url": "https://packages.unity.cn" }, "com.unity.ext.nunit": { - "version": "1.0.6", + "version": "2.0.5", "depth": 1, "source": "registry", "dependencies": {}, - "url": "https://packages.unity.com" + "url": "https://packages.unity.cn" }, "com.unity.ide.rider": { "version": "3.0.31", @@ -31,7 +42,7 @@ "dependencies": { "com.unity.ext.nunit": "1.0.6" }, - "url": "https://packages.unity.com" + "url": "https://packages.unity.cn" }, "com.unity.ide.visualstudio": { "version": "2.0.22", @@ -40,21 +51,44 @@ "dependencies": { "com.unity.test-framework": "1.1.9" }, - "url": "https://packages.unity.com" - }, - "com.unity.ide.vscode": { - "version": "1.2.5", - "depth": 0, - "source": "registry", - "dependencies": {}, - "url": "https://packages.unity.com" + "url": "https://packages.unity.cn" }, "com.unity.mathematics": { "version": "1.2.6", "depth": 1, "source": "registry", "dependencies": {}, - "url": "https://packages.unity.com" + "url": "https://packages.unity.cn" + }, + "com.unity.nuget.mono-cecil": { + "version": "1.11.4", + "depth": 4, + "source": "registry", + "dependencies": {}, + "url": "https://packages.unity.cn" + }, + "com.unity.render-pipelines.core": { + "version": "16.0.6", + "depth": 1, + "source": "builtin", + "dependencies": { + "com.unity.mathematics": "1.2.4", + "com.unity.ugui": "2.0.0", + "com.unity.modules.physics": "1.0.0", + "com.unity.modules.terrain": "1.0.0", + "com.unity.modules.jsonserialize": "1.0.0", + "com.unity.rendering.light-transport": "1.0.0" + } + }, + "com.unity.rendering.light-transport": { + "version": "1.0.2", + "depth": 2, + "source": "builtin", + "dependencies": { + "com.unity.collections": "1.4.0", + "com.unity.mathematics": "1.2.4", + "com.unity.render-pipelines.core": "16.0.1" + } }, "com.unity.robotics.ros-tcp-connector": { "version": "https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector", @@ -70,76 +104,47 @@ "dependencies": {}, "hash": "c27f00c6cf750d2d0564349b3039d19aa3925e7c" }, - "com.unity.sysroot": { - "version": "2.0.7", + "com.unity.searcher": { + "version": "4.9.2", "depth": 1, "source": "registry", "dependencies": {}, - "url": "https://packages.unity.com" + "url": "https://packages.unity.cn" }, - "com.unity.sysroot.linux-x86_64": { - "version": "2.0.6", - "depth": 1, - "source": "registry", + "com.unity.shadergraph": { + "version": "16.0.6", + "depth": 0, + "source": "builtin", "dependencies": { - "com.unity.sysroot": "2.0.7" - }, - "url": "https://packages.unity.com" + "com.unity.render-pipelines.core": "16.0.6", + "com.unity.searcher": "4.9.2" + } }, "com.unity.test-framework": { - "version": "1.1.33", + "version": "1.3.9", "depth": 0, "source": "registry", "dependencies": { - "com.unity.ext.nunit": "1.0.6", + "com.unity.ext.nunit": "2.0.3", "com.unity.modules.imgui": "1.0.0", "com.unity.modules.jsonserialize": "1.0.0" }, - "url": "https://packages.unity.com" - }, - "com.unity.textmeshpro": { - "version": "3.0.7", - "depth": 0, - "source": "registry", - "dependencies": { - "com.unity.ugui": "1.0.0" - }, - "url": "https://packages.unity.com" + "url": "https://packages.unity.cn" }, "com.unity.timeline": { - "version": "1.7.6", + "version": "1.8.6", "depth": 0, "source": "registry", "dependencies": { - "com.unity.modules.audio": "1.0.0", "com.unity.modules.director": "1.0.0", "com.unity.modules.animation": "1.0.0", + "com.unity.modules.audio": "1.0.0", "com.unity.modules.particlesystem": "1.0.0" }, - "url": "https://packages.unity.com" - }, - "com.unity.toolchain.linux-x86_64": { - "version": "2.0.4", - "depth": 0, - "source": "registry", - "dependencies": { - "com.unity.sysroot": "2.0.5", - "com.unity.sysroot.linux-x86_64": "2.0.4" - }, - "url": "https://packages.unity.com" - }, - "com.unity.toolchain.win-x86_64-linux-x86_64": { - "version": "2.0.6", - "depth": 0, - "source": "registry", - "dependencies": { - "com.unity.sysroot": "2.0.7", - "com.unity.sysroot.linux-x86_64": "2.0.6" - }, - "url": "https://packages.unity.com" + "url": "https://packages.unity.cn" }, "com.unity.ugui": { - "version": "1.0.0", + "version": "2.0.0", "depth": 0, "source": "builtin", "dependencies": { @@ -147,6 +152,12 @@ "com.unity.modules.imgui": "1.0.0" } }, + "com.unity.modules.accessibility": { + "version": "1.0.0", + "depth": 0, + "source": "builtin", + "dependencies": {} + }, "com.unity.modules.ai": { "version": "1.0.0", "depth": 0, @@ -194,6 +205,12 @@ "com.unity.modules.animation": "1.0.0" } }, + "com.unity.modules.hierarchycore": { + "version": "1.0.0", + "depth": 1, + "source": "builtin", + "dependencies": {} + }, "com.unity.modules.imageconversion": { "version": "1.0.0", "depth": 0, @@ -282,7 +299,8 @@ "dependencies": { "com.unity.modules.ui": "1.0.0", "com.unity.modules.imgui": "1.0.0", - "com.unity.modules.jsonserialize": "1.0.0" + "com.unity.modules.jsonserialize": "1.0.0", + "com.unity.modules.hierarchycore": "1.0.0" } }, "com.unity.modules.umbra": { diff --git a/ProjectSettings/EditorBuildSettings.asset b/ProjectSettings/EditorBuildSettings.asset index 50d6f498..2742e61b 100644 --- a/ProjectSettings/EditorBuildSettings.asset +++ b/ProjectSettings/EditorBuildSettings.asset @@ -5,9 +5,13 @@ EditorBuildSettings: m_ObjectHideFlags: 0 serializedVersion: 2 m_Scenes: - - enabled: 1 + - enabled: 0 path: Assets/UnitySensors/Samples/TF/TF.unity guid: e84e2ab71efe63b4a984b45a10c6ff38 + - enabled: 1 + path: Assets/Tests/Scenes/Demo_Depth.unity + guid: cbce8c5c5c7011d4b951431b0b177324 m_configObjects: com.unity.addressableassets: {fileID: 11400000, guid: 18f8076c387088155a4fefb632dbebe6, type: 2} + m_UseUCBPForAssetBundles: 0 diff --git a/ProjectSettings/GraphicsSettings.asset b/ProjectSettings/GraphicsSettings.asset index 43369e3c..ad090e32 100644 --- a/ProjectSettings/GraphicsSettings.asset +++ b/ProjectSettings/GraphicsSettings.asset @@ -3,7 +3,7 @@ --- !u!30 &1 GraphicsSettings: m_ObjectHideFlags: 0 - serializedVersion: 13 + serializedVersion: 16 m_Deferred: m_Mode: 1 m_Shader: {fileID: 69, guid: 0000000000000000f000000000000000, type: 0} @@ -13,9 +13,6 @@ GraphicsSettings: m_ScreenSpaceShadows: m_Mode: 1 m_Shader: {fileID: 64, guid: 0000000000000000f000000000000000, type: 0} - m_LegacyDeferred: - m_Mode: 1 - m_Shader: {fileID: 63, guid: 0000000000000000f000000000000000, type: 0} m_DepthNormals: m_Mode: 1 m_Shader: {fileID: 62, guid: 0000000000000000f000000000000000, type: 0} @@ -28,6 +25,7 @@ GraphicsSettings: m_LensFlare: m_Mode: 1 m_Shader: {fileID: 102, guid: 0000000000000000f000000000000000, type: 0} + m_VideoShadersIncludeMode: 2 m_AlwaysIncludedShaders: - {fileID: 7, guid: 0000000000000000f000000000000000, type: 0} - {fileID: 15104, guid: 0000000000000000f000000000000000, type: 0} @@ -36,6 +34,7 @@ GraphicsSettings: - {fileID: 10753, guid: 0000000000000000f000000000000000, type: 0} - {fileID: 10770, guid: 0000000000000000f000000000000000, type: 0} m_PreloadedShaders: [] + m_PreloadShadersBatchTimeLimit: -1 m_SpritesDefaultMaterial: {fileID: 10754, guid: 0000000000000000f000000000000000, type: 0} m_CustomRenderPipeline: {fileID: 0} @@ -47,6 +46,7 @@ GraphicsSettings: m_LightmapStripping: 0 m_FogStripping: 0 m_InstancingStripping: 0 + m_BrgStripping: 0 m_LightmapKeepPlain: 1 m_LightmapKeepDirCombined: 1 m_LightmapKeepDynamicPlain: 1 @@ -57,7 +57,11 @@ GraphicsSettings: m_FogKeepExp: 1 m_FogKeepExp2: 1 m_AlbedoSwatchInfos: [] + m_RenderPipelineGlobalSettingsMap: {} m_LightsUseLinearIntensity: 0 m_LightsUseColorTemperature: 0 + m_DefaultRenderingLayerMask: 1 m_LogWhenShaderIsCompiled: 0 - m_AllowEnlightenSupportForUpgradedProject: 0 + m_LightProbeOutsideHullStrategy: 0 + m_CameraRelativeLightCulling: 0 + m_CameraRelativeShadowCulling: 0 diff --git a/ProjectSettings/InputManager.asset b/ProjectSettings/InputManager.asset index 17c8f538..6a65192d 100644 --- a/ProjectSettings/InputManager.asset +++ b/ProjectSettings/InputManager.asset @@ -293,3 +293,196 @@ InputManager: type: 0 axis: 0 joyNum: 0 + - serializedVersion: 3 + m_Name: Enable Debug Button 1 + descriptiveName: + descriptiveNegativeName: + negativeButton: + positiveButton: left ctrl + altNegativeButton: + altPositiveButton: joystick button 8 + gravity: 0 + dead: 0 + sensitivity: 0 + snap: 0 + invert: 0 + type: 0 + axis: 0 + joyNum: 0 + - serializedVersion: 3 + m_Name: Enable Debug Button 2 + descriptiveName: + descriptiveNegativeName: + negativeButton: + positiveButton: backspace + altNegativeButton: + altPositiveButton: joystick button 9 + gravity: 0 + dead: 0 + sensitivity: 0 + snap: 0 + invert: 0 + type: 0 + axis: 0 + joyNum: 0 + - serializedVersion: 3 + m_Name: Debug Reset + descriptiveName: + descriptiveNegativeName: + negativeButton: + positiveButton: left alt + altNegativeButton: + altPositiveButton: joystick button 1 + gravity: 0 + dead: 0 + sensitivity: 0 + snap: 0 + invert: 0 + type: 0 + axis: 0 + joyNum: 0 + - serializedVersion: 3 + m_Name: Debug Next + descriptiveName: + descriptiveNegativeName: + negativeButton: + positiveButton: page down + altNegativeButton: + altPositiveButton: joystick button 5 + gravity: 0 + dead: 0 + sensitivity: 0 + snap: 0 + invert: 0 + type: 0 + axis: 0 + joyNum: 0 + - serializedVersion: 3 + m_Name: Debug Previous + descriptiveName: + descriptiveNegativeName: + negativeButton: + positiveButton: page up + altNegativeButton: + altPositiveButton: joystick button 4 + gravity: 0 + dead: 0 + sensitivity: 0 + snap: 0 + invert: 0 + type: 0 + axis: 0 + joyNum: 0 + - serializedVersion: 3 + m_Name: Debug Validate + descriptiveName: + descriptiveNegativeName: + negativeButton: + positiveButton: return + altNegativeButton: + altPositiveButton: joystick button 0 + gravity: 0 + dead: 0 + sensitivity: 0 + snap: 0 + invert: 0 + type: 0 + axis: 0 + joyNum: 0 + - serializedVersion: 3 + m_Name: Debug Persistent + descriptiveName: + descriptiveNegativeName: + negativeButton: + positiveButton: right shift + altNegativeButton: + altPositiveButton: joystick button 2 + gravity: 0 + dead: 0 + sensitivity: 0 + snap: 0 + invert: 0 + type: 0 + axis: 0 + joyNum: 0 + - serializedVersion: 3 + m_Name: Debug Multiplier + descriptiveName: + descriptiveNegativeName: + negativeButton: + positiveButton: left shift + altNegativeButton: + altPositiveButton: joystick button 3 + gravity: 0 + dead: 0 + sensitivity: 0 + snap: 0 + invert: 0 + type: 0 + axis: 0 + joyNum: 0 + - serializedVersion: 3 + m_Name: Debug Horizontal + descriptiveName: + descriptiveNegativeName: + negativeButton: left + positiveButton: right + altNegativeButton: + altPositiveButton: + gravity: 1000 + dead: 0.001 + sensitivity: 1000 + snap: 0 + invert: 0 + type: 0 + axis: 0 + joyNum: 0 + - serializedVersion: 3 + m_Name: Debug Vertical + descriptiveName: + descriptiveNegativeName: + negativeButton: down + positiveButton: up + altNegativeButton: + altPositiveButton: + gravity: 1000 + dead: 0.001 + sensitivity: 1000 + snap: 0 + invert: 0 + type: 0 + axis: 0 + joyNum: 0 + - serializedVersion: 3 + m_Name: Debug Vertical + descriptiveName: + descriptiveNegativeName: + negativeButton: down + positiveButton: up + altNegativeButton: + altPositiveButton: + gravity: 1000 + dead: 0.001 + sensitivity: 1000 + snap: 0 + invert: 0 + type: 2 + axis: 6 + joyNum: 0 + - serializedVersion: 3 + m_Name: Debug Horizontal + descriptiveName: + descriptiveNegativeName: + negativeButton: left + positiveButton: right + altNegativeButton: + altPositiveButton: + gravity: 1000 + dead: 0.001 + sensitivity: 1000 + snap: 0 + invert: 0 + type: 2 + axis: 5 + joyNum: 0 + m_UsePhysicalKeys: 1 diff --git a/ProjectSettings/MultiplayerManager.asset b/ProjectSettings/MultiplayerManager.asset new file mode 100644 index 00000000..8073753a --- /dev/null +++ b/ProjectSettings/MultiplayerManager.asset @@ -0,0 +1,7 @@ +%YAML 1.1 +%TAG !u! tag:unity3d.com,2011: +--- !u!655991488 &1 +MultiplayerManager: + m_ObjectHideFlags: 0 + m_EnableMultiplayerRoles: 0 + m_ActiveMultiplayerRole: 0 diff --git a/ProjectSettings/PackageManagerSettings.asset b/ProjectSettings/PackageManagerSettings.asset index dec5942a..f635c40d 100644 --- a/ProjectSettings/PackageManagerSettings.asset +++ b/ProjectSettings/PackageManagerSettings.asset @@ -13,15 +13,16 @@ MonoBehaviour: m_Name: m_EditorClassIdentifier: m_EnablePreReleasePackages: 0 - m_EnablePackageDependencies: 0 m_AdvancedSettingsExpanded: 1 m_ScopedRegistriesSettingsExpanded: 1 m_SeeAllPackageVersions: 0 + m_DismissPreviewPackagesInUse: 0 oneTimeWarningShown: 0 + oneTimeDeprecatedPopUpShown: 1 m_Registries: - m_Id: main m_Name: - m_Url: https://packages.unity.com + m_Url: https://packages.unity.cn m_Scopes: [] m_IsDefault: 1 m_Capabilities: 7 @@ -31,6 +32,6 @@ MonoBehaviour: m_RegistryInfoDraft: m_Modified: 0 m_ErrorMessage: - m_UserModificationsInstanceId: -826 - m_OriginalInstanceId: -828 + m_UserModificationsInstanceId: -872 + m_OriginalInstanceId: -874 m_LoadAssets: 0 diff --git a/ProjectSettings/ProjectSettings.asset b/ProjectSettings/ProjectSettings.asset index 9b337db7..a789fe75 100644 --- a/ProjectSettings/ProjectSettings.asset +++ b/ProjectSettings/ProjectSettings.asset @@ -3,7 +3,7 @@ --- !u!129 &1 PlayerSettings: m_ObjectHideFlags: 0 - serializedVersion: 20 + serializedVersion: 27 productGUID: 862468181e5ecf14b90e367b9ff0e061 AndroidProfiler: 0 AndroidFilterTouchesWhenObscured: 0 @@ -47,13 +47,17 @@ PlayerSettings: defaultScreenWidthWeb: 960 defaultScreenHeightWeb: 600 m_StereoRenderingPath: 0 - m_ActiveColorSpace: 0 + m_ActiveColorSpace: 1 + unsupportedMSAAFallback: 0 + m_SpriteBatchVertexThreshold: 300 m_MTRendering: 1 + mipStripping: 0 + numberOfMipsStripped: 0 + numberOfMipsStrippedPerMipmapLimitGroup: {} m_StackTraceTypes: 010000000100000001000000010000000100000001000000 iosShowActivityIndicatorOnLoading: -1 androidShowActivityIndicatorOnLoading: -1 iosUseCustomAppBackgroundBehavior: 0 - iosAllowHTTPDownload: 1 allowedAutorotateToPortrait: 1 allowedAutorotateToPortraitUpsideDown: 1 allowedAutorotateToLandscapeRight: 1 @@ -66,6 +70,14 @@ PlayerSettings: androidRenderOutsideSafeArea: 1 androidUseSwappy: 0 androidBlitType: 0 + androidResizableWindow: 0 + androidDefaultWindowWidth: 1920 + androidDefaultWindowHeight: 1080 + androidMinimumWindowWidth: 400 + androidMinimumWindowHeight: 300 + androidFullscreenMode: 1 + androidAutoRotationBehavior: 1 + androidApplicationEntry: 1 defaultIsNativeResolution: 1 macRetinaSupport: 1 runInBackground: 1 @@ -77,6 +89,7 @@ PlayerSettings: hideHomeButton: 0 submitAnalytics: 1 usePlayerLog: 1 + dedicatedServerOptimizations: 0 bakeCollisionMeshes: 0 forceSingleInstance: 0 useFlipModelSwapchain: 1 @@ -84,6 +97,7 @@ PlayerSettings: useMacAppStoreValidation: 0 macAppStoreCategory: public.app-category.games gpuSkinning: 1 + meshDeformation: 2 xboxPIXTextureCapture: 0 xboxEnableAvatar: 0 xboxEnableKinect: 0 @@ -111,14 +125,18 @@ PlayerSettings: switchNVNShaderPoolsGranularity: 33554432 switchNVNDefaultPoolsGranularity: 16777216 switchNVNOtherPoolsGranularity: 16777216 + switchGpuScratchPoolGranularity: 2097152 + switchAllowGpuScratchShrinking: 0 + switchNVNMaxPublicTextureIDCount: 0 + switchNVNMaxPublicSamplerIDCount: 0 + switchMaxWorkerMultiple: 8 + switchNVNGraphicsFirmwareMemory: 32 vulkanNumSwapchainBuffers: 3 vulkanEnableSetSRGBWrite: 0 - m_SupportedAspectRatios: - 4:3: 1 - 5:4: 1 - 16:10: 1 - 16:9: 1 - Others: 1 + vulkanEnablePreTransform: 0 + vulkanEnableLateAcquireNextImage: 0 + vulkanEnableCommandBufferRecycling: 1 + loadStoreDebugModeEnabled: 0 bundleVersion: 0.1 preloadedAssets: [] metroInputSource: 0 @@ -127,45 +145,30 @@ PlayerSettings: xboxOneDisableKinectGpuReservation: 1 xboxOneEnable7thCore: 1 vrSettings: - cardboard: - depthFormat: 0 - enableTransitionView: 0 - daydream: - depthFormat: 0 - useSustainedPerformanceMode: 0 - enableVideoLayer: 0 - useProtectedVideoMemory: 0 - minimumSupportedHeadTracking: 0 - maximumSupportedHeadTracking: 1 - hololens: - depthFormat: 1 - depthBufferSharingEnabled: 1 - lumin: - depthFormat: 0 - frameTiming: 2 - enableGLCache: 0 - glCacheMaxBlobSize: 524288 - glCacheMaxFileSize: 8388608 - oculus: - sharedDepthBuffer: 1 - dashSupport: 1 - lowOverheadMode: 0 - protectedContext: 0 - v2Signing: 1 enable360StereoCapture: 0 isWsaHolographicRemotingEnabled: 0 enableFrameTimingStats: 0 + enableOpenGLProfilerGPURecorders: 1 + allowHDRDisplaySupport: 0 useHDRDisplay: 0 - D3DHDRBitDepth: 0 + hdrBitDepth: 0 m_ColorGamuts: 00000000 targetPixelDensity: 30 resolutionScalingMode: 0 + resetResolutionOnWindowResize: 0 androidSupportedAspectRatio: 1 androidMaxAspectRatio: 2.1 - applicationIdentifier: {} - buildNumber: {} + androidMinAspectRatio: 1 + applicationIdentifier: + Standalone: com.DefaultCompany.unit04-unity + buildNumber: + Bratwurst: 0 + Standalone: 0 + iPhone: 0 + tvOS: 0 + overrideDefaultApplicationIdentifier: 0 AndroidBundleVersionCode: 1 - AndroidMinSdkVersion: 19 + AndroidMinSdkVersion: 23 AndroidTargetSdkVersion: 0 AndroidPreferredInstallLocation: 1 aotOptions: @@ -175,37 +178,24 @@ PlayerSettings: ForceInternetPermission: 0 ForceSDCardPermission: 0 CreateWallpaper: 0 - APKExpansionFiles: 0 + androidSplitApplicationBinary: 0 keepLoadedShadersAlive: 0 StripUnusedMeshComponents: 1 + strictShaderVariantMatching: 0 VertexChannelCompressionMask: 4054 iPhoneSdkVersion: 988 - iOSTargetOSVersionString: 10.0 + iOSTargetOSVersionString: 13.0 tvOSSdkVersion: 0 tvOSRequireExtendedGameController: 0 - tvOSTargetOSVersionString: 10.0 + tvOSTargetOSVersionString: 13.0 + bratwurstSdkVersion: 0 + bratwurstTargetOSVersionString: 13.0 uIPrerenderedIcon: 0 uIRequiresPersistentWiFi: 0 uIRequiresFullScreen: 1 uIStatusBarHidden: 1 uIExitOnSuspend: 0 uIStatusBarStyle: 0 - iPhoneSplashScreen: {fileID: 0} - iPhoneHighResSplashScreen: {fileID: 0} - iPhoneTallHighResSplashScreen: {fileID: 0} - iPhone47inSplashScreen: {fileID: 0} - iPhone55inPortraitSplashScreen: {fileID: 0} - iPhone55inLandscapeSplashScreen: {fileID: 0} - iPhone58inPortraitSplashScreen: {fileID: 0} - iPhone58inLandscapeSplashScreen: {fileID: 0} - iPadPortraitSplashScreen: {fileID: 0} - iPadHighResPortraitSplashScreen: {fileID: 0} - iPadLandscapeSplashScreen: {fileID: 0} - iPadHighResLandscapeSplashScreen: {fileID: 0} - iPhone65inPortraitSplashScreen: {fileID: 0} - iPhone65inLandscapeSplashScreen: {fileID: 0} - iPhone61inPortraitSplashScreen: {fileID: 0} - iPhone61inLandscapeSplashScreen: {fileID: 0} appleTVSplashScreen: {fileID: 0} appleTVSplashScreen2x: {fileID: 0} tvOSSmallIconLayers: [] @@ -233,32 +223,48 @@ PlayerSettings: iOSLaunchScreeniPadFillPct: 100 iOSLaunchScreeniPadSize: 100 iOSLaunchScreeniPadCustomXibPath: - iOSUseLaunchScreenStoryboard: 0 iOSLaunchScreenCustomStoryboardPath: + iOSLaunchScreeniPadCustomStoryboardPath: iOSDeviceRequirements: [] iOSURLSchemes: [] + macOSURLSchemes: [] iOSBackgroundModes: 0 iOSMetalForceHardShadows: 0 metalEditorSupport: 1 metalAPIValidation: 1 iOSRenderExtraFrameOnPause: 0 + iosCopyPluginsCodeInsteadOfSymlink: 0 appleDeveloperTeamID: iOSManualSigningProvisioningProfileID: tvOSManualSigningProvisioningProfileID: + bratwurstManualSigningProvisioningProfileID: iOSManualSigningProvisioningProfileType: 0 tvOSManualSigningProvisioningProfileType: 0 + bratwurstManualSigningProvisioningProfileType: 0 appleEnableAutomaticSigning: 0 iOSRequireARKit: 0 iOSAutomaticallyDetectAndAddCapabilities: 1 appleEnableProMotion: 0 + shaderPrecisionModel: 0 clonedFromGUID: c0afd0d1d80e3634a9dac47e8a0426ea templatePackageId: com.unity.template.3d@4.2.8 templateDefaultScene: Assets/Scenes/SampleScene.unity + useCustomMainManifest: 0 + useCustomLauncherManifest: 0 + useCustomMainGradleTemplate: 0 + useCustomLauncherGradleManifest: 0 + useCustomBaseGradleTemplate: 0 + useCustomGradlePropertiesTemplate: 0 + useCustomGradleSettingsTemplate: 0 + useCustomProguardFile: 0 AndroidTargetArchitectures: 1 + AndroidTargetDevices: 0 AndroidSplashScreenScale: 0 androidSplashScreen: {fileID: 0} AndroidKeystoreName: AndroidKeyaliasName: + AndroidEnableArmv9SecurityFeatures: 0 + AndroidEnableArm64MTE: 0 AndroidBuildApkPerCpuArchitecture: 0 AndroidTVCompatibility: 0 AndroidIsGame: 1 @@ -271,8 +277,12 @@ PlayerSettings: height: 180 banner: {fileID: 0} androidGamepadSupportLevel: 0 + chromeosInputEmulation: 1 + AndroidMinifyRelease: 0 + AndroidMinifyDebug: 0 AndroidValidateAppBundleSize: 1 AndroidAppBundleSizeToValidate: 150 + AndroidReportGooglePlayAppDependencies: 1 m_BuildTargetIcons: [] m_BuildTargetPlatformIcons: [] m_BuildTargetBatching: @@ -291,6 +301,7 @@ PlayerSettings: - m_BuildTarget: WebGL m_StaticBatching: 0 m_DynamicBatching: 0 + m_BuildTargetShaderSettings: [] m_BuildTargetGraphicsJobs: - m_BuildTarget: MacStandaloneSupport m_GraphicsJobs: 0 @@ -326,13 +337,13 @@ PlayerSettings: m_BuildTargetGraphicsAPIs: - m_BuildTarget: AndroidPlayer m_APIs: 150000000b000000 - m_Automatic: 0 + m_Automatic: 1 - m_BuildTarget: iOSSupport m_APIs: 10000000 m_Automatic: 1 - m_BuildTarget: AppleTVSupport m_APIs: 10000000 - m_Automatic: 0 + m_Automatic: 1 - m_BuildTarget: WebGLSupport m_APIs: 0b000000 m_Automatic: 1 @@ -342,6 +353,8 @@ PlayerSettings: m_Devices: - Oculus - OpenVR + m_DefaultShaderChunkSizeInMB: 16 + m_DefaultShaderChunkCount: 0 openGLRequireES31: 0 openGLRequireES31AEP: 0 openGLRequireES32: 0 @@ -351,7 +364,11 @@ PlayerSettings: iPhone: 1 tvOS: 1 m_BuildTargetGroupLightmapEncodingQuality: [] + m_BuildTargetGroupHDRCubemapEncodingQuality: [] m_BuildTargetGroupLightmapSettings: [] + m_BuildTargetGroupLoadStoreDebugModeSettings: [] + m_BuildTargetNormalMapEncoding: [] + m_BuildTargetDefaultTextureCompressionFormat: [] playModeTestRunnerEnabled: 0 runPlayModeTestAsEditModeTest: 0 actionOnDotNetUnhandledException: 1 @@ -361,14 +378,20 @@ PlayerSettings: cameraUsageDescription: locationUsageDescription: microphoneUsageDescription: + bluetoothUsageDescription: + macOSTargetOSVersion: 10.13.0 + switchNMETAOverride: switchNetLibKey: switchSocketMemoryPoolSize: 6144 switchSocketAllocatorPoolSize: 128 switchSocketConcurrencyLimit: 14 switchScreenResolutionBehavior: 2 switchUseCPUProfiler: 0 + switchEnableFileSystemTrace: 0 + switchLTOSetting: 0 switchApplicationID: 0x01004b9000490000 switchNSODependencies: + switchCompilerFlags: switchTitleNames_0: switchTitleNames_1: switchTitleNames_2: @@ -384,6 +407,7 @@ PlayerSettings: switchTitleNames_12: switchTitleNames_13: switchTitleNames_14: + switchTitleNames_15: switchPublisherNames_0: switchPublisherNames_1: switchPublisherNames_2: @@ -399,6 +423,7 @@ PlayerSettings: switchPublisherNames_12: switchPublisherNames_13: switchPublisherNames_14: + switchPublisherNames_15: switchIcons_0: {fileID: 0} switchIcons_1: {fileID: 0} switchIcons_2: {fileID: 0} @@ -414,6 +439,7 @@ PlayerSettings: switchIcons_12: {fileID: 0} switchIcons_13: {fileID: 0} switchIcons_14: {fileID: 0} + switchIcons_15: {fileID: 0} switchSmallIcons_0: {fileID: 0} switchSmallIcons_1: {fileID: 0} switchSmallIcons_2: {fileID: 0} @@ -429,6 +455,7 @@ PlayerSettings: switchSmallIcons_12: {fileID: 0} switchSmallIcons_13: {fileID: 0} switchSmallIcons_14: {fileID: 0} + switchSmallIcons_15: {fileID: 0} switchManualHTML: switchAccessibleURLs: switchLegalInformation: @@ -438,7 +465,6 @@ PlayerSettings: switchReleaseVersion: 0 switchDisplayVersion: 1.0.0 switchStartupUserAccount: 0 - switchTouchScreenUsage: 0 switchSupportedLanguagesMask: 0 switchLogoType: 0 switchApplicationErrorCodeCategory: @@ -480,6 +506,7 @@ PlayerSettings: switchNativeFsCacheSize: 32 switchIsHoldTypeHorizontal: 0 switchSupportedNpadCount: 8 + switchEnableTouchScreen: 1 switchSocketConfigEnabled: 0 switchTcpInitialSendBufferSize: 32 switchTcpInitialReceiveBufferSize: 64 @@ -490,7 +517,13 @@ PlayerSettings: switchSocketBufferEfficiency: 4 switchSocketInitializeEnabled: 1 switchNetworkInterfaceManagerInitializeEnabled: 1 - switchPlayerConnectionEnabled: 1 + switchDisableHTCSPlayerConnection: 0 + switchUseNewStyleFilepaths: 1 + switchUseLegacyFmodPriorities: 0 + switchUseMicroSleepForYield: 1 + switchEnableRamDiskSupport: 0 + switchMicroSleepForYieldTime: 25 + switchRamDiskSpaceSize: 12 ps4NPAgeRating: 12 ps4NPTitleSecret: ps4NPTrophyPackPath: @@ -517,6 +550,7 @@ PlayerSettings: ps4ShareFilePath: ps4ShareOverlayImagePath: ps4PrivacyGuardImagePath: + ps4ExtraSceSysFile: ps4NPtitleDatPath: ps4RemotePlayKeyAssignment: -1 ps4RemotePlayKeyMappingDir: @@ -559,6 +593,9 @@ PlayerSettings: ps4disableAutoHideSplash: 0 ps4videoRecordingFeaturesUsed: 0 ps4contentSearchFeaturesUsed: 0 + ps4CompatibilityPS5: 0 + ps4AllowPS5Detection: 0 + ps4GPU800MHz: 1 ps4attribEyeToEyeDistanceSettingVR: 0 ps4IncludedModules: [] ps4attribVROutputEnabled: 0 @@ -570,6 +607,7 @@ PlayerSettings: webGLMemorySize: 16 webGLExceptionSupport: 1 webGLNameFilesAsHashes: 0 + webGLShowDiagnostics: 0 webGLDataCaching: 1 webGLDebugSymbols: 0 webGLEmscriptenArgs: @@ -578,21 +616,66 @@ PlayerSettings: webGLAnalyzeBuildSize: 0 webGLUseEmbeddedResources: 0 webGLCompressionFormat: 1 + webGLWasmArithmeticExceptions: 0 webGLLinkerTarget: 1 webGLThreadsSupport: 0 - webGLWasmStreaming: 0 - scriptingDefineSymbols: {} + webGLDecompressionFallback: 0 + webGLInitialMemorySize: 32 + webGLMaximumMemorySize: 2048 + webGLMemoryGrowthMode: 2 + webGLMemoryLinearGrowthStep: 16 + webGLMemoryGeometricGrowthStep: 0.2 + webGLMemoryGeometricGrowthCap: 96 + webGLEnableWebGPU: 0 + webGLPowerPreference: 2 + webGLWebAssemblyTable: 0 + webGLWebAssemblyBigInt: 0 + webGLCloseOnQuit: 0 + scriptingDefineSymbols: + Android: UNITY_POST_PROCESSING_STACK_V2 + Bratwurst: UNITY_POST_PROCESSING_STACK_V2 + EmbeddedLinux: UNITY_POST_PROCESSING_STACK_V2 + GameCoreXboxOne: UNITY_POST_PROCESSING_STACK_V2 + Nintendo Switch: UNITY_POST_PROCESSING_STACK_V2 + PS4: UNITY_POST_PROCESSING_STACK_V2 + PS5: UNITY_POST_PROCESSING_STACK_V2 + QNX: UNITY_POST_PROCESSING_STACK_V2 + Standalone: UNITY_POST_PROCESSING_STACK_V2;ROS2 + WebGL: UNITY_POST_PROCESSING_STACK_V2 + XboxOne: UNITY_POST_PROCESSING_STACK_V2 + tvOS: UNITY_POST_PROCESSING_STACK_V2 + additionalCompilerArguments: {} platformArchitecture: {} - scriptingBackend: {} + scriptingBackend: + Android: 0 il2cppCompilerConfiguration: {} - managedStrippingLevel: {} + il2cppCodeGeneration: {} + il2cppStacktraceInformation: {} + managedStrippingLevel: + Android: 1 + Bratwurst: 1 + EmbeddedLinux: 1 + GameCoreScarlett: 1 + GameCoreXboxOne: 1 + Nintendo Switch: 1 + PS4: 1 + PS5: 1 + QNX: 1 + WebGL: 1 + Windows Store Apps: 1 + XboxOne: 1 + iPhone: 1 + tvOS: 1 incrementalIl2cppBuild: {} + suppressCommonWarnings: 1 allowUnsafeCode: 0 + useDeterministicCompilation: 1 additionalIl2CppArgs: scriptingRuntimeVersion: 1 gcIncremental: 0 gcWBarrierValidation: 0 apiCompatibilityLevelPerPlatform: {} + editorAssembliesCompatibilityLevel: 1 m_RenderingPath: 1 m_MobileRenderingPath: 1 metroPackageName: Template_3D @@ -617,11 +700,13 @@ PlayerSettings: metroSplashScreenBackgroundColor: {r: 0.12941177, g: 0.17254902, b: 0.21568628, a: 1} metroSplashScreenUseBackgroundColor: 0 + syncCapabilities: 0 platformCapabilities: {} metroTargetDeviceFamilies: {} metroFTAName: metroFTAFileTypes: [] metroProtocolName: + vcxProjDefaultLanguage: XboxOneProductId: XboxOneUpdateKey: XboxOneSandboxId: @@ -640,6 +725,7 @@ PlayerSettings: XboxOneCapability: [] XboxOneGameRating: {} XboxOneIsContentPackage: 0 + XboxOneEnhancedXboxCompatibilityMode: 0 XboxOneEnableGPUVariability: 1 XboxOneSockets: {} XboxOneSplashScreen: {fileID: 0} @@ -648,10 +734,7 @@ PlayerSettings: XboxOneXTitleMemory: 8 XboxOneOverrideIdentityName: XboxOneOverrideIdentityPublisher: - vrEditorSettings: - daydream: - daydreamIconForeground: {fileID: 0} - daydreamIconBackground: {fileID: 0} + vrEditorSettings: {} cloudServicesEnabled: UNet: 1 luminIcon: @@ -665,12 +748,24 @@ PlayerSettings: luminVersion: m_VersionCode: 1 m_VersionName: + hmiPlayerDataPath: + hmiForceSRGBBlit: 0 + embeddedLinuxEnableGamepadInput: 0 + hmiCpuConfiguration: + hmiLogStartupTiming: 0 + qnxGraphicConfPath: apiCompatibilityLevel: 6 + captureStartupLogs: {} + activeInputHandler: 0 + windowsGamepadBackendHint: 0 cloudProjectId: framebufferDepthMemorylessMode: 0 + qualitySettingsNames: [] projectName: organizationId: cloudEnabled: 0 - enableNativePlatformBackendsForNewInputSystem: 0 - disableOldInputManagerSupport: 0 legacyClampBlendShapeWeights: 0 + hmiLoadingImage: {fileID: 0} + platformRequiresReadableAssets: 0 + virtualTexturingSupportEnabled: 0 + insecureHttpOption: 0 diff --git a/ProjectSettings/ProjectVersion.txt b/ProjectSettings/ProjectVersion.txt index ca0a6795..cf8f572c 100644 --- a/ProjectSettings/ProjectVersion.txt +++ b/ProjectSettings/ProjectVersion.txt @@ -1,2 +1,2 @@ -m_EditorVersion: 2022.3.49f1 -m_EditorVersionWithRevision: 2022.3.49f1 (4dae1bb8668d) +m_EditorVersion: 2023.2.20f1c1 +m_EditorVersionWithRevision: 2023.2.20f1c1 (ceda3f59bbc9) diff --git a/ProjectSettings/ShaderGraphSettings.asset b/ProjectSettings/ShaderGraphSettings.asset new file mode 100644 index 00000000..a11ed582 --- /dev/null +++ b/ProjectSettings/ShaderGraphSettings.asset @@ -0,0 +1,16 @@ +%YAML 1.1 +%TAG !u! tag:unity3d.com,2011: +--- !u!114 &1 +MonoBehaviour: + m_ObjectHideFlags: 53 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 0} + m_Enabled: 1 + m_EditorHideFlags: 0 + m_Script: {fileID: 11500000, guid: de02f9e1d18f588468e474319d09a723, type: 3} + m_Name: + m_EditorClassIdentifier: + customInterpolatorErrorThreshold: 32 + customInterpolatorWarningThreshold: 16 diff --git a/README.md b/README.md index d7d2cd23..134cecf8 100644 --- a/README.md +++ b/README.md @@ -62,6 +62,10 @@ To receive the data in ROS take a look at [ROS-TCP-Endpoint][external-RosTCPEndp 2. Build your workspace. 3. Launch ROS endpoint node. +### Migrating to URP/HDRP + +Please refer to [Migrating to URP/HDRP](MigrateToURP&HDRP.md). + ## 🤝 Contributing