Unity build improvements

.gitignore

@@ -359,13 +359,17 @@ xcuserdata/
 /*.gcno
 
 # Unity
-/Unity/UnityDemo/Library
 /Unity/UnityDemo/Assembly-CSharp.csproj
 /Unity/UnityDemo/UnityDemo.sln
-/Unity/UnityDemo/Logs/
-/Unity/UnityDemo/Assets/Plugins/AirsimWrapper.dll
-/Unity/UnityDemo/Assets/Plugins/libAirsimWrapper.so
-/Unity/linux-build/
+/Unity/linux-build
+/Unity/UnityDemo/Assets/Plugins/
+/Unity/UnityDemo/[Ll]ibrary/
+/Unity/UnityDemo/[Tt]emp/
+/Unity/UnityDemo/[Oo]bj/
+/Unity/UnityDemo/[Bb]uild/
+/Unity/UnityDemo/[Bb]uilds/
+/Unity/UnityDemo/[Ll]ogs/
+/Unity/UnityDemo/[Uu]ser[Ss]ettings/
 
 # ROS
 ros/.catkin_tools/

Unity/AirLibWrapper/AirsimWrapper/CMakeLists.txt

@@ -22,12 +22,22 @@ IncludeEigen()
 
 project(AirsimWrapper VERSION 0)
 
+find_package(Boost REQUIRED COMPONENTS filesystem)
+if(Boost_FOUND)
+    MESSAGE("Boost information:") 
+    MESSAGE("  Boost_INCLUDE_DIRS: ${Boost_INCLUDE_DIRS}") 
+    MESSAGE("  Boost_LIBRARIES: ${Boost_LIBRARIES}") 
+    MESSAGE("  Boost_LIBRARY_DIRS: ${Boost_LIBRARY_DIRS}") 
+endif()
+
+include_directories(${Boost_INCLUDE_DIRS})
+
 # RPC includes & source files
 BuildRpc()
 # MavLink source files
 BuildMavLink()
 #AirLib source files
-BuildAirlib()
+BuildAirLib()
 #AirsimWrapper source files
 BuildAirsimWrapper()
 
@@ -53,7 +63,7 @@ else ()
     )
 endif ()
 
-target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT}  -lstdc++ -lpthread -lboost_filesystem)
+target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT}  -lstdc++ -lpthread ${Boost_LIBRARIES})
 
 
 

Unity/AirLibWrapper/AirsimWrapper/cmake/airlib-setup.cmake

@@ -10,8 +10,7 @@ file(GLOB_RECURSE AIRLIB_LIBRARY_SOURCE_FILES
   ${AIRSIM_ROOT}/AirLib/src/api/*.cpp
   ${AIRSIM_ROOT}/AirLib/src/common/common_utils/*.cpp
   ${AIRSIM_ROOT}/AirLib/src/safety/*.cpp
-  ${AIRSIM_ROOT}/AirLib/src/vehicles/car/api/*.cpp
-  ${AIRSIM_ROOT}/AirLib/src/vehicles/multirotor/api/*.cpp
+  ${AIRSIM_ROOT}/AirLib/src/vehicles/car/*.cpp
   ${AIRSIM_ROOT}/AirLib/src/vehicles/multirotor/*.cpp
 )
 

Unity/AirLibWrapper/AirsimWrapper/cmake/rpc-setup.cmake

@@ -275,7 +275,7 @@ if ("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang")
     set(UNUSED_LAMBDA_CAPTURE_WARN_SUPPORTED)
     check_warning_flag("unused-lambda-capture" UNUSED_LAMBDA_CAPTURE_WARN_SUPPORTED)
     if(${UNUSED_LAMBDA_CAPTURE_WARN_SUPPORTED})
-      list(APPEND RPCLIB_BUILD_FLAGS -Wno-no-unused-lambda-capture)
+      list(APPEND RPCLIB_BUILD_FLAGS -Wno-unused-lambda-capture)
     endif()
 
     check_warning_flag("zero-as-null-pointer-constant" ZERO_AS_NULL_POINTER_CONSTANT_WARN_SUPPORTED)

Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/DataCaptureScript.cs

@@ -94,6 +94,10 @@ public void SetOrientation(AirSimQuaternion orientation) {
             isPoseOverride = true;
         }
 
+        public void SetFoV(float fov_degrees) {
+            fov = fov_degrees;
+        }
+
         public void ToggleRecording() {
             isCapturing = !isCapturing;
             if (isCapturing) {
@@ -213,4 +217,4 @@ private void SetUpRenderTextureForCapture(ImageType type) {
             captureRect = new Rect(0, 0, captureSettings.Width, captureSettings.Height);
         }
     }
-}
+}

Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/PInvokeWrapper.cs

@@ -13,7 +13,7 @@ public static class PInvokeWrapper {
         [DllImport(DLL_NAME)]
         public static extern void InitVehicleManager(IntPtr SetPose, IntPtr GetPose, IntPtr GetCollisionInfo, IntPtr GetRCData,
             IntPtr GetSimImages, IntPtr SetRotorSpeed, IntPtr SetEnableApi, IntPtr SetCarApiControls, IntPtr GetCarState,
-            IntPtr GetCameraInfo, IntPtr SetCameraOrientation, IntPtr SetSegmentationObjectid, IntPtr GetSegmentationObjectId, 
+            IntPtr GetCameraInfo, IntPtr SetCameraOrientation, IntPtr SetCameraFoV, IntPtr SetSegmentationObjectid, IntPtr GetSegmentationObjectId,
             IntPtr PrintLogMessage, IntPtr GetTransformFromUnity, IntPtr Reset, IntPtr GetVelocity, IntPtr GetRayCastHit, IntPtr Pause);
 
         [DllImport(DLL_NAME)]
@@ -37,4 +37,4 @@ public static extern void InitVehicleManager(IntPtr SetPose, IntPtr GetPose, Int
         [DllImport(DLL_NAME)]
         public static extern void InvokeCollisionDetection(CollisionInfo collisionInfo);
     }
-}
+}

Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/IVehicleInterface.cs

@@ -35,6 +35,8 @@ public interface IVehicleInterface {
 
         bool SetCameraOrientation(string cameraName, AirSimQuaternion orientation);
 
+        bool SetCameraFoV(string cameraName, float fov_degrees);
+
         bool PrintLogMessage(string message, string messageParams, string vehicleName, int severity);
 
         void ResetVehicle();
@@ -45,4 +47,4 @@ public interface IVehicleInterface {
 
         bool Pause(float timeScale);
     }
-}
+}

Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Vehicle.cs

@@ -187,7 +187,7 @@ public AirSimPose GetPose() {
 
         public UnityTransform GetTransform()
         {
-            return new UnityTransform(new AirSimQuaternion(currentPose.orientation.x, currentPose.orientation.y, currentPose.orientation.z, currentPose.orientation.w), 
+            return new UnityTransform(new AirSimQuaternion(currentPose.orientation.x, currentPose.orientation.y, currentPose.orientation.z, currentPose.orientation.w),
                 new AirSimVector(currentPose.position.x, currentPose.position.y, currentPose.position.z),
                 new AirSimVector(scale3D.x, scale3D.y, scale3D.z));
         }
@@ -274,6 +274,16 @@ public bool SetCameraOrientation(string cameraName, AirSimQuaternion orientation
             return false;
         }
 
+        public bool SetCameraFoV(string cameraName, float fov_degrees) {
+            foreach(DataCaptureScript capture in captureCameras) {
+                if (capture.GetCameraName() == cameraName) {
+                    capture.SetFoV(fov_degrees);
+                    return true;;
+                }
+            }
+            return false;
+        }
+
         public bool PrintLogMessage(string message, string messageParams, string vehicleName, int severity) {
 
             if (!print_log_messages_)
@@ -318,7 +328,7 @@ private void InitializeVehicle() {
             //Setting the initial get pose(HomePoint in AirLib) values to that of vehicle's location in the scene for initial setup in AirLib
             DataManager.SetToAirSim(transform.position, ref currentPose.position);
             DataManager.SetToAirSim(transform.rotation, ref currentPose.orientation);
-            
+
             collisionInfo.SetDefaultValues();
             SetUpCameras();
             captureResetEvent = new AutoResetEvent(false);
@@ -352,4 +362,4 @@ private void UpdateSegmentationView() {
             }
         }
     }
-}
+}

Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/VehicleCompanion.cs

@@ -94,6 +94,7 @@ private static void InitDelegators() {
                 Marshal.GetFunctionPointerForDelegate(new Func<string, CarState>(GetCarState)),
                 Marshal.GetFunctionPointerForDelegate(new Func<string, string, CameraInfo>(GetCameraInfo)),
                 Marshal.GetFunctionPointerForDelegate(new Func<string, AirSimQuaternion, string, bool>(SetCameraOrientation)),
+                Marshal.GetFunctionPointerForDelegate(new Func<string, float, string, bool>(SetCameraFoV)),
                 Marshal.GetFunctionPointerForDelegate(new Func<string, int, bool, bool>(SetSegmentationObjectId)),
                 Marshal.GetFunctionPointerForDelegate(new Func<string, int>(GetSegmentationObjectId)),
                 Marshal.GetFunctionPointerForDelegate(new Func<string, string, string, int, bool>(PrintLogMessage)),
@@ -188,6 +189,11 @@ private static bool SetCameraOrientation(string cameraName, AirSimQuaternion ori
             return vehicle.VehicleInterface.SetCameraOrientation(cameraName, orientation);
         }
 
+        private static bool SetCameraFoV(string cameraName, float fov_degrees, string vehicleName) {
+            var vehicle = Vehicles.Find(element => element.vehicleName == vehicleName);
+            return vehicle.VehicleInterface.SetCameraFoV(cameraName, fov_degrees);
+        }
+
         private static bool PrintLogMessage(string message, string messageParams, string vehicleName, int severity) {
             var vehicle = Vehicles.Find(element => element.vehicleName == vehicleName);
             return vehicle.VehicleInterface.PrintLogMessage(message, messageParams, vehicleName, severity);
@@ -207,4 +213,4 @@ private static bool Pause(string vehicleName, float timeScale)
             return vehicle.VehicleInterface.Pause(timeScale);
         }
     }
-}
+}

Unity/UnityDemo/Packages/manifest.json

@@ -0,0 +1,46 @@
+{
+  "dependencies": {
+    "com.unity.2d.sprite": "1.0.0",
+    "com.unity.2d.tilemap": "1.0.0",
+    "com.unity.collab-proxy": "1.2.16",
+    "com.unity.ext.nunit": "1.0.0",
+    "com.unity.ide.rider": "1.1.4",
+    "com.unity.ide.vscode": "1.2.0",
+    "com.unity.multiplayer-hlapi": "1.0.4",
+    "com.unity.test-framework": "1.1.13",
+    "com.unity.textmeshpro": "2.0.1",
+    "com.unity.ugui": "1.0.0",
+    "com.unity.xr.legacyinputhelpers": "2.1.3",
+    "com.unity.modules.ai": "1.0.0",
+    "com.unity.modules.androidjni": "1.0.0",
+    "com.unity.modules.animation": "1.0.0",
+    "com.unity.modules.assetbundle": "1.0.0",
+    "com.unity.modules.audio": "1.0.0",
+    "com.unity.modules.cloth": "1.0.0",
+    "com.unity.modules.director": "1.0.0",
+    "com.unity.modules.imageconversion": "1.0.0",
+    "com.unity.modules.imgui": "1.0.0",
+    "com.unity.modules.jsonserialize": "1.0.0",
+    "com.unity.modules.particlesystem": "1.0.0",
+    "com.unity.modules.physics": "1.0.0",
+    "com.unity.modules.physics2d": "1.0.0",
+    "com.unity.modules.screencapture": "1.0.0",
+    "com.unity.modules.terrain": "1.0.0",
+    "com.unity.modules.terrainphysics": "1.0.0",
+    "com.unity.modules.tilemap": "1.0.0",
+    "com.unity.modules.ui": "1.0.0",
+    "com.unity.modules.uielements": "1.0.0",
+    "com.unity.modules.umbra": "1.0.0",
+    "com.unity.modules.unityanalytics": "1.0.0",
+    "com.unity.modules.unitywebrequest": "1.0.0",
+    "com.unity.modules.unitywebrequestassetbundle": "1.0.0",
+    "com.unity.modules.unitywebrequestaudio": "1.0.0",
+    "com.unity.modules.unitywebrequesttexture": "1.0.0",
+    "com.unity.modules.unitywebrequestwww": "1.0.0",
+    "com.unity.modules.vehicles": "1.0.0",
+    "com.unity.modules.video": "1.0.0",
+    "com.unity.modules.vr": "1.0.0",
+    "com.unity.modules.wind": "1.0.0",
+    "com.unity.modules.xr": "1.0.0"
+  }
+}

Unity/UnityDemo/ProjectSettings/EditorSettings.asset

@@ -3,19 +3,33 @@
 --- !u!159 &1
 EditorSettings:
   m_ObjectHideFlags: 0
-  serializedVersion: 7
+  serializedVersion: 9
   m_ExternalVersionControlSupport: Visible Meta Files
   m_SerializationMode: 2
   m_LineEndingsForNewScripts: 2
   m_DefaultBehaviorMode: 0
+  m_PrefabRegularEnvironment: {fileID: 0}
+  m_PrefabUIEnvironment: {fileID: 0}
   m_SpritePackerMode: 0
   m_SpritePackerPaddingPower: 1
   m_EtcTextureCompressorBehavior: 1
   m_EtcTextureFastCompressor: 1
   m_EtcTextureNormalCompressor: 2
   m_EtcTextureBestCompressor: 4
-  m_ProjectGenerationIncludedExtensions: txt;xml;fnt;cd
+  m_ProjectGenerationIncludedExtensions: txt;xml;fnt;cd;asmref
   m_ProjectGenerationRootNamespace: 
-  m_UserGeneratedProjectSuffix: 
   m_CollabEditorSettings:
     inProgressEnabled: 1
+  m_EnableTextureStreamingInEditMode: 1
+  m_EnableTextureStreamingInPlayMode: 1
+  m_AsyncShaderCompilation: 1
+  m_EnterPlayModeOptionsEnabled: 0
+  m_EnterPlayModeOptions: 3
+  m_ShowLightmapResolutionOverlay: 1
+  m_UseLegacyProbeSampleCount: 1
+  m_AssetPipelineMode: 1
+  m_CacheServerMode: 0
+  m_CacheServerEndpoint: 
+  m_CacheServerNamespacePrefix: default
+  m_CacheServerEnableDownload: 1
+  m_CacheServerEnableUpload: 1

Unity/UnityDemo/ProjectSettings/ProjectVersion.txt

@@ -1 +1,2 @@
-m_EditorVersion: 2018.2.14f1
+m_EditorVersion: 2019.3.12f1
+m_EditorVersionWithRevision: 2019.3.12f1 (84b23722532d)

Unity/UnityDemo/ProjectSettings/VFXManager.asset

@@ -0,0 +1,11 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!937362698 &1
+VFXManager:
+  m_ObjectHideFlags: 0
+  m_IndirectShader: {fileID: 0}
+  m_CopyBufferShader: {fileID: 0}
+  m_SortShader: {fileID: 0}
+  m_RenderPipeSettingsPath: 
+  m_FixedTimeStep: 0.016666668
+  m_MaxDeltaTime: 0.05

Unity/UnityDemo/ProjectSettings/XRSettings.asset

@@ -0,0 +1,10 @@
+{
+    "m_SettingKeys": [
+        "VR Device Disabled",
+        "VR Device User Alert"
+    ],
+    "m_SettingValues": [
+        "False",
+        "False"
+    ]
+}

Unity/build.cmd

@@ -1,6 +1,7 @@
 REM //---------- copy binaries and include for MavLinkCom in deps ----------
 msbuild AirLibWrapper\AirsimWrapper.sln  /target:Clean /target:Build  /property:Configuration=Release /property:Platform=x64
 if ERRORLEVEL 1 goto :buildfailed
+if NOT EXIST UnityDemo\Assets\Plugins mkdir UnityDemo\Assets\Plugins
 copy /Y AirLibWrapper\x64\Release\AirsimWrapper.dll  UnityDemo\Assets\Plugins
 
 REM //---------- done building ----------