Add 7 Livox lidars and generic read ray pattern from file-lidars

AGXUnity/Model/DeformableTerrainMaterial.cs

@@ -19,8 +19,8 @@ public static string DefaultTerrainMaterialsPath
         if ( s_defaultTerrainMaterialsPath == null ) {
           var terrainMaterialLibraryOptions = new string[]
           {
-            "data/TerrainMaterials",
-            "data/MaterialLibrary/TerrainMaterials"
+            "TerrainMaterials",
+            "MaterialLibrary/TerrainMaterials"
           };
 
           foreach ( var materialLibraryOption in terrainMaterialLibraryOptions ) {

AGXUnity/NativeHandler.cs

@@ -84,7 +84,7 @@ private void Configure()
         for ( int i = 0; i < (int)agxIO.Environment.Type.NUM_TYPES; ++i )
           envInstance.getFilePath( (agxIO.Environment.Type)i ).clear();
 
-        envInstance.getFilePath( agxIO.Environment.Type.RESOURCE_PATH ).pushbackPath( dataAGXRuntimePath );
+        envInstance.getFilePath( agxIO.Environment.Type.RESOURCE_PATH ).pushbackPath( dataAGXRuntimePath + "/data" );
         envInstance.getFilePath( agxIO.Environment.Type.RUNTIME_PATH ).pushbackPath( dataAGXRuntimePath );
 
         if ( string.IsNullOrEmpty( envInstance.findComponent( "Referenced.agxEntity" ) ) )

AGXUnity/Sensor/LidarSensor.cs

@@ -8,6 +8,17 @@
 
 namespace AGXUnity.Sensor
 {
+  public class TestHelper
+  {
+    static public bool LidarRayPatternsAreFound()
+    {
+      var _ = NativeHandler.Instance;
+      var fileTest = agxIO.Environment.instance().getFilePath( agxIO.Environment.Type.RESOURCE_PATH ).find( "MaterialLibrary/TerrainMaterials/avia.bin" );
+      return !string.IsNullOrEmpty( fileTest );
+    }
+
+  }
+
   /// <summary>
   /// IModelData is an empty interface to allow for a lidar sensor to hold generic data dependent on the
   /// underlying lidar model used.
@@ -70,17 +81,72 @@ public class GenericSweepData : IModelData
     public float VerticalResolution = 0.5f;
   }
 
+
+  [Serializable]
+  public class LivoxData : IModelData
+  {
+    /// <summary>
+    /// Optionally downsample the amount of points generated. 1 is default, 2 is sample every other point in the pattern, 3 every 3 points etc.
+    /// </summary>
+    [Tooltip("Scale down the amount of points per second by skipping points in the pattern if set larger than 1.")]
+    [Min(1)]
+    public uint Downsample = 1;
+  }
+
+  [Serializable]
+  public class ReadFromFileData : IModelData
+  {
+    /// <summary>
+    /// The frequency [Hz] of the lidar sweep
+    /// </summary>
+    public float Frequency = 10f;
+    /// <summary>
+    /// The amount of points from the pattern per frame
+    /// </summary>
+    [Min(1)]
+    public uint FrameSize = 10000;
+    /// <summary>
+    /// Path to the .csv or binare file with the ray pattern
+    /// </summary>
+    public string FilePath = "";
+    /// <summary>
+    /// If true: file has only azimuth,elevation (no first column)
+    /// </summary>
+    public bool TwoColumns = false;
+    /// <summary>
+    /// If true: read values as degrees, if false: read as radians
+    /// </summary>
+    public bool AnglesInDegrees = true;
+    /// <summary>
+    /// If true skip first line of file
+    /// </summary>
+    public bool FirstLineIsHeader = true;
+    /// <summary>
+    /// CSV column delimiter
+    /// </summary>
+    public char Delimiter = ',';
+
+  }
+
   public enum LidarModelPreset
   {
     NONE,
     LidarModelGenericHorizontalSweep,
     LidarModelOusterOS0,
     LidarModelOusterOS1,
-    LidarModelOusterOS2
+    LidarModelOusterOS2,
+    LidarModelLivoxAvia,
+    LidarModelLivoxHap,
+    LidarModelLivoxHorizon,
+    LidarModelLivoxMid40,
+    LidarModelLivoxMid70,
+    LidarModelLivoxMid360,
+    LidarModelLivoxTele,
+    LidarModelReadFromFile,
   }
 
   /// <summary>
-  /// WIP component for lidar sensor
+  /// Lidar Sensor Component
   /// </summary>
   [DisallowMultipleComponent]
   [AddComponentMenu( "AGXUnity/Sensors/Lidar Sensor" )]
@@ -115,8 +181,24 @@ public LidarModelPreset LidarModelPreset
             LidarModelPreset.LidarModelOusterOS1 => new OusterData(),
             LidarModelPreset.LidarModelOusterOS2 => new OusterData(),
             LidarModelPreset.LidarModelGenericHorizontalSweep => new GenericSweepData(),
+            LidarModelPreset.LidarModelLivoxAvia => new LivoxData(),
+            LidarModelPreset.LidarModelLivoxHap => new LivoxData(),
+            LidarModelPreset.LidarModelLivoxHorizon => new LivoxData(),
+            LidarModelPreset.LidarModelLivoxMid40 => new LivoxData(),
+            LidarModelPreset.LidarModelLivoxMid70 => new LivoxData(),
+            LidarModelPreset.LidarModelLivoxMid360 => new LivoxData(),
+            LidarModelPreset.LidarModelLivoxTele => new LivoxData(),
+            LidarModelPreset.LidarModelReadFromFile => new ReadFromFileData(),
             _ => null,
           };
+
+          LocalRotation = ModelData switch
+          {
+            OusterData => new Vector3( 90, 90, 0 ),
+            GenericSweepData => new Vector3( -90, 90, 0 ),
+            LivoxData => new Vector3( -90, 90, 0 ),
+            _ => new Vector3()
+          };
         }
         m_lidarModelPreset = value;
       }
@@ -431,6 +513,53 @@ private LidarModel CreateLidarModel( LidarModelPreset preset )
           lidarModel = new LidarModelOusterOS2( ousterData.ChannelCount, ousterData.BeamSpacing, ousterData.LidarMode );
           break;
 
+        case LidarModelPreset.LidarModelLivoxAvia:
+          LivoxData livoxData = ModelData as LivoxData;
+          lidarModel = new LidarModelLivoxAvia( livoxData.Downsample );
+          break;
+
+        case LidarModelPreset.LidarModelLivoxHap:
+          livoxData = ModelData as LivoxData;
+          lidarModel = new LidarModelLivoxHap( livoxData.Downsample );
+          break;
+
+        case LidarModelPreset.LidarModelLivoxHorizon:
+          livoxData = ModelData as LivoxData;
+          lidarModel = new LidarModelLivoxHorizon( livoxData.Downsample );
+          break;
+
+        case LidarModelPreset.LidarModelLivoxMid40:
+          livoxData = ModelData as LivoxData;
+          lidarModel = new LidarModelLivoxMid40( livoxData.Downsample );
+          break;
+
+        case LidarModelPreset.LidarModelLivoxMid70:
+          livoxData = ModelData as LivoxData;
+          lidarModel = new LidarModelLivoxMid70( livoxData.Downsample );
+          break;
+
+        case LidarModelPreset.LidarModelLivoxMid360:
+          livoxData = ModelData as LivoxData;
+          lidarModel = new LidarModelLivoxMid360( livoxData.Downsample );
+          break;
+
+        case LidarModelPreset.LidarModelLivoxTele:
+          livoxData = ModelData as LivoxData;
+          lidarModel = new LidarModelLivoxTele( livoxData.Downsample );
+          break;
+
+        case LidarModelPreset.LidarModelReadFromFile:
+          ReadFromFileData readFromFileData = ModelData as ReadFromFileData;
+          RayFileDefinition rayFileDefinition = new RayFileDefinition();
+          rayFileDefinition.path = readFromFileData.FilePath;
+          rayFileDefinition.twoColumns = readFromFileData.TwoColumns;
+          rayFileDefinition.anglesInDegrees = readFromFileData.AnglesInDegrees;
+          rayFileDefinition.firstLineIsHeader = readFromFileData.FirstLineIsHeader;
+          rayFileDefinition.delimiter = readFromFileData.Delimiter;
+          LidarProperties lidarProperties = new LidarProperties(BeamDivergence, BeamExitRadius);
+          lidarModel = new LidarModelReadFromFile( rayFileDefinition, readFromFileData.Frequency, readFromFileData.FrameSize, 1, new RangeReal32( LidarRange.Min, LidarRange.Max ), lidarProperties );
+          break;
+
         case LidarModelPreset.NONE:
         default:
           Debug.LogWarning( "No valid LidarModelPreset selected!" );
@@ -441,6 +570,7 @@ private LidarModel CreateLidarModel( LidarModelPreset preset )
 
       return lidarModel;
     }
+
     private void OnDrawGizmosSelected()
     {
 #if UNITY_EDITOR

Editor/AGXUnityEditor/ExternalAGXInitializer.cs

@@ -294,7 +294,7 @@ private bool InitializeCheckout( string agxDir )
                               select $"{data.Directory.FullName}{Path.DirectorySeparatorChar}bin{Path.DirectorySeparatorChar}x64" ).ToArray();
       var installedBinDir = $"{binData[ INSTALLED ].Directory.FullName}{Path.DirectorySeparatorChar}bin{Path.DirectorySeparatorChar}x64";
       AGX_PLUGIN_PATH     = $"{installedBinDir}{Path.DirectorySeparatorChar}plugins";
-      AGX_DATA_DIR        = $"{installedBinDir}{Path.DirectorySeparatorChar}data";
+      AGX_DATA_DIR        = $"{binData[ INSTALLED ].Directory.FullName}{Path.DirectorySeparatorChar}data";
 
       return true;
     }

Editor/AGXUnityEditor/InvokeWrapperInspectorDrawer.cs

@@ -1284,6 +1284,22 @@ public static void DrawGenericSweepModelData( AGXUnity.Sensor.GenericSweepData d
       data.VerticalResolution   = EditorGUILayout.FloatField( FindGUIContentFor( data.GetType(), "VerticalResolution" ), data.VerticalResolution );
     }
 
+    public static void DrawReadFromFileModelData( AGXUnity.Sensor.ReadFromFileData data )
+    {
+      data.Frequency     = EditorGUILayout.FloatField( FindGUIContentFor( data.GetType(), "Frequency" ), data.Frequency );
+      data.FrameSize     = (uint)EditorGUILayout.FloatField( FindGUIContentFor( data.GetType(), "FrameSize" ), data.FrameSize );
+      data.FilePath      = EditorGUILayout.TextField( FindGUIContentFor( data.GetType(), "FilePath" ), data.FilePath );
+      data.TwoColumns    = EditorGUILayout.Toggle( FindGUIContentFor( data.GetType(), "TwoColumns" ), data.TwoColumns );
+      data.AnglesInDegrees = EditorGUILayout.Toggle( FindGUIContentFor( data.GetType(), "AnglesInDegrees" ), data.AnglesInDegrees );
+      data.FirstLineIsHeader   = EditorGUILayout.Toggle( FindGUIContentFor( data.GetType(), "FirstLineIsHeader" ), data.FirstLineIsHeader );
+      data.Delimiter     = char.Parse( EditorGUILayout.TextField( FindGUIContentFor( data.GetType(), "Delimiter" ), data.Delimiter.ToString() ) );
+    }
+
+    public static void DrawLivoxModelData( AGXUnity.Sensor.LivoxData data )
+    {
+      data.Downsample = (uint)EditorGUILayout.FloatField( FindGUIContentFor( data.GetType(), "Downsample" ), data.Downsample );
+    }
+
     [InspectorDrawer( typeof( AGXUnity.Sensor.IModelData ) )]
     public static object ModelDataDrawer( object[] objects, InvokeWrapper wrapper )
     {
@@ -1301,6 +1317,12 @@ public static object ModelDataDrawer( object[] objects, InvokeWrapper wrapper )
           case AGXUnity.Sensor.GenericSweepData sweepData:
             DrawGenericSweepModelData( sweepData );
             break;
+          case AGXUnity.Sensor.LivoxData livoxData:
+            DrawLivoxModelData( livoxData );
+            break;
+          case AGXUnity.Sensor.ReadFromFileData readFromFileData:
+            DrawReadFromFileModelData( readFromFileData );
+            break;
         }
       }
 

Editor/AGXUnityEditor/Manager.cs

@@ -775,7 +775,7 @@ internal static EnvironmentState ConfigureEnvironment()
         // to RUNTIME_PATH (for entities and components). The license file is
         // searched for by the license manager.
         var dataAndRuntimePath = AGXUnity.IO.Environment.Get( AGXUnity.IO.Environment.Variable.AGX_PLUGIN_PATH );
-        envInstance.getFilePath( agxIO.Environment.Type.RESOURCE_PATH ).pushbackPath( dataAndRuntimePath );
+        envInstance.getFilePath( agxIO.Environment.Type.RESOURCE_PATH ).pushbackPath( dataAndRuntimePath + "/data" );
         envInstance.getFilePath( agxIO.Environment.Type.RUNTIME_PATH ).pushbackPath( dataAndRuntimePath );
       }
       // Check if user would like to initialize AGX Dynamics with an

Tests/Editor/DataTests.cs

@@ -0,0 +1,22 @@
+using AGXUnity.Model;
+using NUnit.Framework;
+
+namespace AGXUnityTesting.Editor
+{
+  public class DataTests
+  {
+    [Test]
+    public void TerrainMaterialPresetsAreFound()
+    {
+      var presets = DeformableTerrainMaterial.GetAvailablePresets();
+      Assert.NotNull( presets );
+      Assert.NotZero( presets.Length );
+    }
+
+    [Test]
+    public void LidarRayPatternsAreFound()
+    {
+      Assert.True( AGXUnity.Sensor.TestHelper.LidarRayPatternsAreFound() );
+    }
+  }
+}

Tests/Runtime/DataTests.cs

@@ -0,0 +1,25 @@
+using AGXUnity;
+using AGXUnity.Model;
+using NUnit.Framework;
+
+namespace AGXUnityTesting.Runtime
+{
+  public class DataTests
+  {
+    [Test]
+    public void TerrainMaterialPresetsAreFound()
+    {
+      var _ = NativeHandler.Instance;
+      var presets = DeformableTerrainMaterial.GetAvailablePresets();
+      Assert.NotNull( presets );
+      Assert.NotZero( presets.Length );
+    }
+
+    [Test]
+    public void LidarRayPatternsAreFound()
+    {
+      var _ = NativeHandler.Instance;
+      Assert.True( AGXUnity.Sensor.TestHelper.LidarRayPatternsAreFound() );
+    }
+  }
+}