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Animated bodies, improved flexibility and parser functionality
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@patrykcieslak patrykcieslak released this 25 Nov 23:01
· 118 commits to master since this release
v1.2
79dc242

This release brings a lot of new functionality, from which the biggest is the introduction of animated bodies. This kind of bodies follow a predefined trajectory and can be used, for example, to enable fully repeatable sensor simulations. Another use of animated bodies is when object dynamics are not possible to be accurately simulated but its motion is known or was recorded. Thanks to improved parser and small changes in library architecture, it is now possible to easily attach sensors to different types of bodies, not only robotic links and joints. Moreover, many sensors got some improvements in their modelling and functionality. Finally, a bunch of small rendering problems were solved. Please check the changelog and documentation, because some of the changes in code are breaking (in italics).

Cheers!

Changelog:

  • Animated bodies - bodies moving according to a predefined trajectory
  • Trajectory generators for animated bodies (piece-wise linear and spline interpolation)
  • Sensors can now be attached to all kinds of bodies, as well as the world frame
  • New implementation of the 3-axis gyroscope, with a measurement bias
  • IMU implementation extended with yaw angle drift and per channel characteristics
  • Noise definition for sonars and the depth camera
  • Sonar output reduced to 8 bit, to better reflect real sensors
  • Lights can now be easily attached to any kind of body, as well as the world frame
  • New XML syntax for defining lights
  • Communication devices can now be attached to all kinds of bodies, as well as the world frame
  • Fixed beam occlusion testing for acoustic comms and introduced option to disable it
  • New implementation of the USBL, including measurement resolution
  • Looks are now parsed from the included files
  • "Shift" key can be used to move the main window camera faster
  • Display of keymap in the GUI (press 'K')
  • Sun light shadows on ocean surface
  • Screen-space reflections quality settings
  • Fixed reflections on ocean surface
  • Fixed horizon rendering problems
  • Fixed particle motion
  • Fixed cascaded shadow mapping
  • Fixed depth camera minimum range
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