Merge branch 'main' into docs/use_galactic_branch

tier4 · Dec 20, 2022 · 7208aeb · 7208aeb
2 parents ea6652c + b6ccc8e
commit 7208aeb
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Showing 11 changed files with 69 additions and 75 deletions.
diff --git a/Assets/AWSIM/Prefabs/Environments/Nishishinjuku/Nishishinjuku RandomTraffic.prefab b/Assets/AWSIM/Prefabs/Environments/Nishishinjuku/Nishishinjuku RandomTraffic.prefab
@@ -1,19 +1,5 @@
 %YAML 1.1
 %TAG !u! tag:unity3d.com,2011:
---- !u!114 &880058119
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-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 500668027171818776}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 5deb375b0b4281647baa5032c1b0fba0, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  duration: 30
-  speed: 1
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 GameObject:
   m_ObjectHideFlags: 0
@@ -21825,6 +21811,20 @@ MonoBehaviour:
     materialIndex: 2
   - bulbType: 1
     materialIndex: 3
+--- !u!114 &880058119
+MonoBehaviour:
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+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 500668027171818776}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 5deb375b0b4281647baa5032c1b0fba0, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
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+  speed: 1
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@@ -22903,6 +22903,7 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   mgrsOffsetPosition: {x: 81655.73, y: 50137.434, z: 42.49998}
+  mgrsGridZone: 54SUE
 --- !u!1 &7285300991010974236
 GameObject:
   m_ObjectHideFlags: 0

diff --git a/Assets/AWSIM/Prefabs/Environments/Nishishinjuku/Nishishinjuku.prefab b/Assets/AWSIM/Prefabs/Environments/Nishishinjuku/Nishishinjuku.prefab
@@ -22765,7 +22765,7 @@ MeshRenderer:
   m_RendererPriority: 0
   m_Materials:
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-  - {fileID: 2100000, guid: 451aea9b91355944e8c8b22453d23245, type: 2}
+  - {fileID: 0}
   m_StaticBatchInfo:
     firstSubMesh: 0
     subMeshCount: 0
@@ -23810,6 +23810,7 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   mgrsOffsetPosition: {x: 81655.73, y: 50137.434, z: 42.49998}
+  mgrsGridZone: 54SUE
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 GameObject:
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diff --git a/Assets/AWSIM/Prefabs/Vehicles/Lexus RX450h 2015 Sample Sensor.prefab b/Assets/AWSIM/Prefabs/Vehicles/Lexus RX450h 2015 Sample Sensor.prefab
@@ -1766,7 +1766,7 @@ MonoBehaviour:
   centerOfMassTransform: {fileID: 2963107001226707149}
   useInertia: 0
   inertia: {x: 0, y: 0, z: 0}
-  sleepVelocityThreshold: 0.04
+  sleepVelocityThreshold: 0.02
   SkiddingCancelRate: 0.606
   frontAxle:
     leftWheel: {fileID: 2963107000584003440}

diff --git a/Assets/AWSIM/Scripts/Environments/Environment.cs b/Assets/AWSIM/Scripts/Environments/Environment.cs
@@ -14,9 +14,18 @@ public class Environment : SingletonMonoBehaviour<Environment>
         [SerializeField]
         Vector3 mgrsOffsetPosition;
 
+        [SerializeField]
+        string mgrsGridZone;
+
         /// <summary>
-        /// Reference point of Autoware's MGRS coordinate system.
+        /// Reference point of MGRS coordinate system. (e.g. Tokyo is "54SUE")
         /// </summary>
+        /// <see href="https://maps.gsi.go.jp/#9/35.499810/138.854828/&base=std&ls=std&disp=1&vs=c1g1j0h0k0l0u1t0z0r0s0m0f1"></see>
         public Vector3 MgrsOffsetPosition => mgrsOffsetPosition;
+
+        /// <summary>
+        /// MGRS Grid Zone.
+        /// </summary>
+        public string MgrsGridZone => mgrsGridZone;
     }
 }
diff --git a/Assets/AWSIM/Scripts/NPCs/Pedestrians/SimplePedestrianWalkerController.cs b/Assets/AWSIM/Scripts/NPCs/Pedestrians/SimplePedestrianWalkerController.cs
@@ -41,8 +41,13 @@ IEnumerator Loop()
                 yield return RotateRoutine(0.5f, 360f);
                 yield return MoveForwardRoutine(duration, speed);
                 yield return RotateRoutine(0.5f, 360f);
-                transform.position = startPosition;
-                transform.rotation = startRotation;
+                var npcTransformPos = npcPedestrian.transform.position;
+
+                // reset
+                npcPedestrian.SetPosition(startPosition);
+                npcPedestrian.SetRotation(startRotation);
+                currentPosition = startPosition;
+                currentRotation = startRotation;
             }
         }
 

diff --git a/Assets/AWSIM/Scripts/Vehicles/Vehicle.cs b/Assets/AWSIM/Scripts/Vehicles/Vehicle.cs
@@ -212,6 +212,11 @@ public class Axle
         Vector3 lastPosition;
         Quaternion lastRotation;
 
+        // Sleep position & rotation
+        Vector3 sleepPositon;
+        Quaternion sleepRotation;
+        bool lastSleep;
+
         void Awake()
         {
             m_rigidbody = GetComponent<Rigidbody>();
@@ -254,6 +259,7 @@ void FixedUpdate()
             lastVelocity = m_rigidbody.velocity;
             lastPosition = m_transform.position;
             lastRotation = m_transform.rotation;
+            lastSleep = sleep;
 
             // ----- inner methods -----
 
@@ -340,6 +346,12 @@ bool IsCanSleepInput()
 
             void UpdateVehicleSleep(bool isSleep)
             {
+                if (isSleep == true && lastSleep == false)
+                {
+                    sleepPositon = transform.position;
+                    sleepRotation = transform.rotation;
+                }
+
                 // Vehicle sleep.
                 if (isSleep)
                 {
@@ -348,6 +360,9 @@ void UpdateVehicleSleep(bool isSleep)
 
                     m_rigidbody.Sleep();
                     m_rigidbody.constraints = RigidbodyConstraints.FreezeAll;
+
+                    transform.position = sleepPositon;
+                    transform.rotation = sleepRotation;
                 }
                 else
                 {

diff --git a/Assets/RGLUnityPlugin/Plugins/Linux/x86_64/libRobotecGPULidar.so b/Assets/RGLUnityPlugin/Plugins/Linux/x86_64/libRobotecGPULidar.so
diff --git a/Assets/RGLUnityPlugin/Plugins/Windows/x86_64/RobotecGPULidar.dll b/Assets/RGLUnityPlugin/Plugins/Windows/x86_64/RobotecGPULidar.dll
diff --git a/Assets/RGLUnityPlugin/Plugins/Windows/x86_64/boost_filesystem-vc143-mt-x64-1_79.dll.meta b/Assets/RGLUnityPlugin/Plugins/Windows/x86_64/boost_filesystem-vc143-mt-x64-1_79.dll.meta
diff --git a/Assets/RGLUnityPlugin/Plugins/Windows/x86_64/boost_iostreams-vc143-mt-x64-1_79.dll.meta b/Assets/RGLUnityPlugin/Plugins/Windows/x86_64/boost_iostreams-vc143-mt-x64-1_79.dll.meta
diff --git a/Assets/RGLUnityPlugin/Scripts/SceneManager.cs b/Assets/RGLUnityPlugin/Scripts/SceneManager.cs
@@ -275,6 +275,11 @@ private static IEnumerable<RGLObject> IntoRGLObjectsHybrid(IEnumerable<GameObjec
                 if (renderer is MeshRenderer mr)
                 {
                     var mf = mr.GetComponent<MeshFilter>();
+                    if (mf.sharedMesh == null)
+                    {
+                        Debug.LogWarning($"Shared mesh of {mr.gameObject} is null, skipping");
+                        continue;
+                    }
                     yield return MeshFilterToRGLObject(mf);
                 }
             }
@@ -298,11 +303,21 @@ private static IEnumerable<RGLObject> IntoRGLObjectsUsingMeshes(IEnumerable<Game
                 if (renderer is MeshRenderer mr)
                 {
                     var mf = mr.GetComponent<MeshFilter>();
+                    if (mf.sharedMesh == null)
+                    {
+                        Debug.LogWarning($"Shared mesh of {mr.gameObject} is null, skipping");
+                        continue;
+                    }
                     yield return MeshFilterToRGLObject(mf);
                 }
 
                 if (renderer is SkinnedMeshRenderer smr)
                 {
+                    if (smr.sharedMesh == null)
+                    {
+                        Debug.LogWarning($"Shared mesh of {smr.gameObject} is null, skipping");
+                        continue;
+                    }
                     // SkinnedMesh cannot be shared
                     string meshId = $"s#{go.GetInstanceID()}";
                     RGLSkinnedMesh rglSkinnedMesh = new RGLSkinnedMesh(meshId, smr);
@@ -376,8 +391,10 @@ private static IEnumerable<Renderer> GetUniqueRenderersInGameObjects(IEnumerable
                 {
                     smrs.Add(smr);
                 }
-
-                if (gameObject.TryGetComponent<MeshRenderer>(out var mr) && mr.enabled)
+
+                bool hasMeshRenderer = gameObject.TryGetComponent<MeshRenderer>(out var mr) && mr.enabled;
+                bool hasMeshFilter = gameObject.TryGetComponent<MeshFilter>(out _); // Mesh filter can't be disabled
+                if (hasMeshRenderer && hasMeshFilter)
                 {
                     mrs.Add(mr);
                 }