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2599475467600085389, guid: 47ba2b344a786e74081b25330e44ef90, type: 3} + propertyPath: m_Name + value: Humans + objectReference: {fileID: 0} + m_RemovedComponents: [] + m_SourcePrefab: {fileID: 100100000, guid: 47ba2b344a786e74081b25330e44ef90, type: 3} diff --git a/Assets/AWSIM/Scenes/Samples/ProfilingSoloLidar.unity.meta b/Assets/AWSIM/Scenes/Samples/ProfilingSoloLidar.unity.meta new file mode 100644 index 000000000..d01860f78 --- /dev/null +++ b/Assets/AWSIM/Scenes/Samples/ProfilingSoloLidar.unity.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: c656a3be99dbc534e999097b87d0731e +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/AWSIM/Scripts/NPCs/Pedestrians/NPCPedestrian.cs b/Assets/AWSIM/Scripts/NPCs/Pedestrians/NPCPedestrian.cs index 7212197cc..2429045fa 100644 --- a/Assets/AWSIM/Scripts/NPCs/Pedestrians/NPCPedestrian.cs +++ b/Assets/AWSIM/Scripts/NPCs/Pedestrians/NPCPedestrian.cs @@ -31,6 +31,25 @@ public class NPCPedestrian : MonoBehaviour private const string moveSpeedProperty = "moveSpeed"; private const string rotateSpeedProperty = "rotateSpeed"; + private RGLUnityPlugin.SceneManager sceneManager; + + void Start() + { + sceneManager = FindObjectOfType(); + foreach (Transform child in gameObject.GetComponentsInChildren()) + { + sceneManager.RegisterRGLObject(child.gameObject); + } + } + + void OnDestroy() + { + foreach (Transform child in gameObject.GetComponentsInChildren()) + { + sceneManager.UnregisterRGLObject(child.gameObject); + } + } + private void Update() { // Switch animation based on movement speed (m/s). diff --git a/Assets/AWSIM/Scripts/NPCs/Vehicles/NPCVehicle.cs b/Assets/AWSIM/Scripts/NPCs/Vehicles/NPCVehicle.cs index 896fb093a..df7699f17 100644 --- a/Assets/AWSIM/Scripts/NPCs/Vehicles/NPCVehicle.cs +++ b/Assets/AWSIM/Scripts/NPCs/Vehicles/NPCVehicle.cs @@ -199,6 +199,8 @@ public void Destroy() public Transform RigidBodyTransform => rigidbody.transform; public Transform TrailerTransform => trailer?.transform; + RGLUnityPlugin.SceneManager sceneManager; + // Start is called before the first frame update void Awake() { @@ -213,6 +215,15 @@ void Awake() wheelbase = axleSettings.GetWheelBase(); } + void Start() + { + sceneManager = FindObjectOfType(); + foreach (Transform child in gameObject.GetComponentsInChildren()) + { + sceneManager.RegisterRGLObject(child.gameObject); + } + } + // Update is called once per frame void Update() { @@ -342,6 +353,10 @@ void OnDestroy() leftTurnSignalLight.Destroy(); rightTurnSignalLight.Destroy(); brakeLight.Destroy(); + foreach (Transform child in gameObject.GetComponentsInChildren()) + { + sceneManager.UnregisterRGLObject(child.gameObject); + } } /// diff --git a/Assets/RGLUnityPlugin/Scripts/SceneManager.cs b/Assets/RGLUnityPlugin/Scripts/SceneManager.cs index ec8a04631..4c156fdf5 100644 --- a/Assets/RGLUnityPlugin/Scripts/SceneManager.cs +++ b/Assets/RGLUnityPlugin/Scripts/SceneManager.cs @@ -58,7 +58,6 @@ public enum MeshSource private IntoRGLObjectsStrategy IntoRGLObjects; // Keeping track of the scene objects - private HashSet lastFrameGameObjects = new HashSet(); private readonly Dictionary uploadedRGLObjects = new Dictionary(); // This dictionary keeps tracks of identifier -> instance id of objects that were removed (e.g. temporary NPCs) @@ -69,6 +68,9 @@ public enum MeshSource private int lastUpdateFrame = -1; private int lastFixedUpdateFrame = -1; + HashSet toAddGOs; + HashSet toRemoveGOs; + private void OnDisable() { Clear(); @@ -81,6 +83,8 @@ private void OnValidate() private void Awake() { + FetchObjects(); + if (IntoRGLObjects == null) { UpdateMeshSource(); @@ -105,6 +109,22 @@ private void UpdateMeshSource() } } + public void RegisterRGLObject(GameObject gameObject) + { + toAddGOs.Add(gameObject); + } + + public void UnregisterRGLObject(GameObject gameObject) + { + toRemoveGOs.Add(gameObject); + } + + public void FetchObjects() + { + toAddGOs = new HashSet(FindObjectsOfType()); + toRemoveGOs = new HashSet(); + } + /// /// Find out what changes happened on the scene since the last update and update RGL data. /// @@ -137,30 +157,27 @@ public void DoUpdate(int fixedUpdateFrame = 0) SynchronizeSceneTime(); - Profiler.BeginSample("Find changes and make TODO list"); - var thisFrameGOs = new HashSet(FindObjectsOfType()); - thisFrameGOs.RemoveWhere(IsNotActiveOrParentHasLidar); + Profiler.BeginSample("SceneManager: Remove not active or parent lidar"); + toAddGOs.RemoveWhere(IsNotActiveOrParentHasLidar); + Profiler.EndSample(); // Added - var toAddGOs = new HashSet(thisFrameGOs); - toAddGOs.ExceptWith(lastFrameGameObjects); + Profiler.BeginSample("SceneManager: Adding RGL objects"); var toAdd = IntoRGLObjects(toAddGOs).ToArray(); var toAddTerrain = IntoRGLTerrainObjects(toAddGOs).ToArray(); if (toAddTerrain.Length != 0) { toAdd = toAdd.Concat(toAddTerrain).ToArray(); } + Profiler.EndSample(); // Removed - var toRemoveGOs = new HashSet(lastFrameGameObjects); - toRemoveGOs.ExceptWith(thisFrameGOs); + Profiler.BeginSample("SceneManager: Getting despawned objects"); toRemoveGOs.IntersectWith(uploadedRGLObjects.Keys); var toRemove = toRemoveGOs.Select((o) => uploadedRGLObjects[o]).ToArray(); - - lastFrameGameObjects = thisFrameGOs; Profiler.EndSample(); - Profiler.BeginSample("Remove despawned objects"); + Profiler.BeginSample("SceneManager: Remove despawned objects"); foreach (var rglObject in toRemove) { rglObject.DestroyInRGL(); @@ -168,7 +185,7 @@ public void DoUpdate(int fixedUpdateFrame = 0) } Profiler.EndSample(); - Profiler.BeginSample("Mark spawned objects as updated"); + Profiler.BeginSample("SceneManager: Mark spawned objects as updated"); foreach (var rglObject in toAdd) { // Game Objects must not have duplicate representations. @@ -182,12 +199,17 @@ public void DoUpdate(int fixedUpdateFrame = 0) // TODO(prybicki): This part can take up to 8ms on Shinjuku scene, two ideas to optimize it soon: // - Implement batch update in RGL // - Use Transform.hasChanged to filter out some objects - Profiler.BeginSample("Update transforms and skinned meshes"); + Profiler.BeginSample("SceneManager: Update transforms and skinned meshes"); foreach (var gameRGLObject in uploadedRGLObjects) { gameRGLObject.Value.Update(); } Profiler.EndSample(); + + Profiler.BeginSample("SceneManager: Cleanup"); + toAddGOs.Clear(); + toRemoveGOs.Clear(); + Profiler.EndSample(); } private void SynchronizeSceneTime() @@ -201,7 +223,7 @@ private void SynchronizeSceneTime() private void Clear() { - if (!lastFrameGameObjects.Any() && !uploadedRGLObjects.Any()) return; + if (!uploadedRGLObjects.Any()) return; foreach (var rglObject in uploadedRGLObjects) { @@ -211,7 +233,6 @@ private void Clear() RGLMeshSharingManager.Clear(); RGLTextureSharingManager.Clear(); uploadedRGLObjects.Clear(); - lastFrameGameObjects.Clear(); Debug.Log("RGLSceneManager: cleared"); }