Merge pull request #353 from tier4/feature/rgl-24q3

Add GPU skinning and update multi-return modes

Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiAT128E2X.prefab

@@ -280,10 +280,11 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 8
-  returnType: 0
+  returnMode: 16777220
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
+  simulateBeamDivergence: 0
   doValidateConfigurationOnStartup: 1
   configuration:
     id: 0

Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar128E4X.prefab

@@ -183,10 +183,11 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 11
-  returnType: 0
+  returnMode: 16777220
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
+  simulateBeamDivergence: 0
   doValidateConfigurationOnStartup: 1
   configuration:
     id: 0

Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar40P.prefab

@@ -509,10 +509,11 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 6
-  returnType: 0
+  returnMode: 16777220
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
+  simulateBeamDivergence: 0
   doValidateConfigurationOnStartup: 1
   configuration:
     id: 0

Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarQT64.prefab

@@ -412,10 +412,11 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 5
-  returnType: 0
+  returnMode: 16777220
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
+  simulateBeamDivergence: 0
   doValidateConfigurationOnStartup: 1
   configuration:
     id: 0

Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarXT32.prefab

@@ -280,10 +280,11 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 9
-  returnType: 0
+  returnMode: 16777220
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
+  simulateBeamDivergence: 0
   doValidateConfigurationOnStartup: 1
   configuration:
     id: 0

Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiQT128C2X.prefab

@@ -101,10 +101,11 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 10
-  returnType: 0
+  returnMode: 16777220
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
+  simulateBeamDivergence: 0
   doValidateConfigurationOnStartup: 1
   configuration:
     id: 0

Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/OusterOS1-64.prefab

@@ -100,10 +100,11 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 20
   modelPreset: 7
-  returnType: 0
+  returnMode: 16777220
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
+  simulateBeamDivergence: 0
   doValidateConfigurationOnStartup: 1
   configuration:
     id: 0

Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP16.prefab

@@ -101,10 +101,11 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 2
-  returnType: 0
+  returnMode: 16777220
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
+  simulateBeamDivergence: 0
   doValidateConfigurationOnStartup: 1
   configuration:
     id: 0

Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP32C.prefab

@@ -101,10 +101,11 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 3
-  returnType: 0
+  returnMode: 16777220
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
+  simulateBeamDivergence: 0
   doValidateConfigurationOnStartup: 1
   configuration:
     id: 0

Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLS128.prefab

@@ -509,10 +509,11 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 4
-  returnType: 0
+  returnMode: 16777220
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
+  simulateBeamDivergence: 0
   doValidateConfigurationOnStartup: 1
   configuration:
     id: 0

Assets/RGLUnityPlugin/Scripts/LidarSensor.cs

@@ -46,8 +46,8 @@ public class LidarSensor : MonoBehaviour
         [Tooltip("Allows to select one of built-in LiDAR models")]
         public LidarModel modelPreset = LidarModel.RangeMeter;
 
-        [Tooltip("Allows to select between not divergent beams and different multi-return modes")]
-        public RGLReturnType returnType = RGLReturnType.RGL_RETURN_TYPE_NOT_DIVERGENT;
+        [Tooltip("Allows to select between LiDAR return modes")]
+        public RGLReturnMode returnMode = RGLReturnMode.SingleReturnFirst;
 
         [Tooltip("Allows to quickly enable/disable distance gaussian noise")]
         public bool applyDistanceGaussianNoise = true;
@@ -58,6 +58,9 @@ public class LidarSensor : MonoBehaviour
         [Tooltip("Allows to quickly enable/disable velocity distortion")]
         public bool applyVelocityDistortion = false;
 
+        [Tooltip("If disable, both beam divergence values are set to 0. Otherwise, they are set based on LiDAR configuration.")]
+        public bool simulateBeamDivergence = false;
+
         [Tooltip(
             "If enabled, validates whether the configuration is the same as the manual for the selected model (only on startup)")]
         public bool doValidateConfigurationOnStartup = true;
@@ -85,7 +88,6 @@ public class LidarSensor : MonoBehaviour
         private const string lidarPoseNodeId = "LIDAR_POSE";
         private const string noiseLidarRayNodeId = "NOISE_LIDAR_RAY";
         private const string lidarRaytraceNodeId = "LIDAR_RAYTRACE";
-        private const string lidarMRNodeId = "LIDAR_MR";
         private const string noiseHitpointNodeId = "NOISE_HITPOINT";
         private const string noiseDistanceNodeId = "NOISE_DISTANCE";
         private const string pointsCompactNodeId = "POINTS_COMPACT";
@@ -113,7 +115,6 @@ public void Awake()
                 .AddNodeRaysTransform(lidarPoseNodeId, Matrix4x4.identity)
                 .AddNodeGaussianNoiseAngularRay(noiseLidarRayNodeId, 0, 0)
                 .AddNodeRaytrace(lidarRaytraceNodeId)
-                .AddNodeMultiReturnSwitch(lidarMRNodeId, RGLReturnType.RGL_RETURN_TYPE_NOT_DIVERGENT)
                 .AddNodeGaussianNoiseAngularHitpoint(noiseHitpointNodeId, 0, 0)
                 .AddNodeGaussianNoiseDistance(noiseDistanceNodeId, 0, 0, 0);
 
@@ -129,7 +130,7 @@ public void Awake()
 
         public void Start()
         {
-            sceneManager = FindObjectOfType<SceneManager>();
+            sceneManager = SceneManager.Instance;
             if (sceneManager == null)
             {
                 // TODO(prybicki): this is too tedious, implement automatic instantiation of RGL Scene Manager
@@ -144,8 +145,7 @@ public void Start()
             if (LidarSnowManager.Instance != null)
             {
                 // Add deactivated node with some initial values. To be activated and updated when validating.
-                rglGraphLidar.AddNodePointsSimulateSnow(snowNodeId, 0.0f, 1.0f, 0.0001f, 0.0001f, 0.2f, 0.01f, 1, 0.01f,
-                    false, 0.0f);
+                rglGraphLidar.AddNodePointsSimulateSnow(snowNodeId, 0.0f, 1.0f, 0.0001f, 0.0001f, 0.2f, 0.01f, 1, 0.01f, 0.0f);
                 rglGraphLidar.SetActive(snowNodeId, false);
                 LidarSnowManager.Instance.OnNewConfig += OnValidate;
             }
@@ -199,10 +199,9 @@ private void ApplyConfiguration(BaseLidarConfiguration newConfig)
                     newConfig.noiseParams.angularNoiseMean * Mathf.Deg2Rad,
                     newConfig.noiseParams.angularNoiseStDev * Mathf.Deg2Rad)
                 .UpdateNodeGaussianNoiseDistance(noiseDistanceNodeId, newConfig.noiseParams.distanceNoiseMean,
-                    newConfig.noiseParams.distanceNoiseStDevBase, newConfig.noiseParams.distanceNoiseStDevRisePerMeter)
-                .UpdateMultiReturnSwitch(lidarMRNodeId, returnType);
+                    newConfig.noiseParams.distanceNoiseStDevBase, newConfig.noiseParams.distanceNoiseStDevRisePerMeter);
 
-            if (returnType != RGLReturnType.RGL_RETURN_TYPE_NOT_DIVERGENT)
+            if (simulateBeamDivergence)
             {
                 rglGraphLidar.ConfigureNodeRaytraceBeamDivergence(lidarRaytraceNodeId,
                     Mathf.Deg2Rad * newConfig.horizontalBeamDivergence,
@@ -212,6 +211,8 @@ private void ApplyConfiguration(BaseLidarConfiguration newConfig)
             {
                 rglGraphLidar.ConfigureNodeRaytraceBeamDivergence(lidarRaytraceNodeId, 0.0f, 0.0f);
             }
+
+            rglGraphLidar.ConfigureNodeRaytraceReturnMode(lidarRaytraceNodeId, returnMode);
 
             rglGraphLidar.SetActive(noiseDistanceNodeId, applyDistanceGaussianNoise);
             var angularNoiseType = newConfig.noiseParams.angularNoiseType;
@@ -235,8 +236,11 @@ private void ApplyConfiguration(BaseLidarConfiguration newConfig)
                         LidarSnowManager.Instance.Density,
                         newConfig.laserArray.GetLaserRingIds().Length,
                         newConfig.horizontalBeamDivergence * Mathf.Deg2Rad,
-                        LidarSnowManager.Instance.DoSimulateEnergyLoss,
-                        LidarSnowManager.Instance.SnowflakeOccupancyThreshold);
+                        LidarSnowManager.Instance.OccupancyThreshold);
+                    rglGraphLidar.UpdateNodePointsSnowDefaults(snowNodeId,
+                        LidarSnowManager.Instance.SnowflakesId,
+                        LidarSnowManager.Instance.FullBeamIntensity,
+                        0.0f); // Default, because it is not supported in AWSIM.
                 }
 
                 rglGraphLidar.SetActive(snowNodeId, LidarSnowManager.Instance.IsSnowEnabled);
@@ -263,6 +267,11 @@ private void ApplyConfiguration(BaseLidarConfiguration newConfig)
         public void OnEnable()
         {
             activeSensors.Add(this);
+            // Sync timer with the active sensors to achieve the best performance. It minimizes number of scene updates.
+            if (activeSensors.Count > 0)
+            {
+                timer = activeSensors[0].timer;
+            }
         }
 
         public void OnDisable()

Assets/RGLUnityPlugin/Scripts/LidarSnowManager.cs

@@ -29,6 +29,11 @@ public class LidarSnowManager : MonoBehaviour
         public delegate void OnNewConfigDelegate();
         public OnNewConfigDelegate OnNewConfig;
 
+        [field: Header("Base Settings")]
+
+        [field: SerializeField]
+        public bool IsSnowEnabled { get; private set; } = false;
+
         // Snow model properties
         [field: SerializeField]
         [field: Tooltip("The precipitation rate for snow is expressed in rate of equivalent water depth in mm per hour")]
@@ -51,15 +56,20 @@ public class LidarSnowManager : MonoBehaviour
         public float Density { get; private set; } = 0.07f;
 
         [field: SerializeField]
-        [field: Tooltip("If true, a more sophisticated method is used, which takes into account the energy loss of the lidar beam when hitting snowflakes")]
-        public bool DoSimulateEnergyLoss { get; private set; } = true;
-
-        [field: SerializeField]
-        [field: Tooltip("Minimal snowflake occupancy (in fraction of ray beam angle) included in energy loss calculation")]
+        [field: Tooltip("Minimal beam aperture occupancy (ratio) that means a hit, both for snowflakes and for original hit")]
         [field: Range(0.0f, 1.0f)]
-        public float SnowflakeOccupancyThreshold { get; private set; } = 0.0f;
+        public float OccupancyThreshold { get; private set; } = 0.0f;
 
-        public bool IsSnowEnabled { get; private set; } = false;
+        [field: Header("Defaults")]
+
+        [field: SerializeField]
+        [field: Tooltip("Entity ID that is assigned to cloud points resulting from snowflake hits")]
+        public int SnowflakesId { get; private set; } = 268435455; // Default RGL entity ID.
+
+        [field: SerializeField]
+        [field: Tooltip("Initial intensity of each LiDAR laser beam, used to evaluate energy loss based on beam aperture occupancy")]
+        [field: Min(0.0f)]
+        public float FullBeamIntensity { get; private set; } = 1.0f;
 
         private void Awake()
         {