Merge pull request #364 from jhwangbo/master

v1.1.4
raisimTech · Sep 5, 2022 · 4d8f8aa · 4d8f8aa
2 parents b65a33d + 090402a
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10)
-set(RAISIM_VERSION 1.1.3)
+set(RAISIM_VERSION 1.1.4)
 project(raisim VERSION ${RAISIM_VERSION} LANGUAGES CXX)
 set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
 

diff --git a/README.md b/README.md
@@ -1,4 +1,4 @@
-# RAISIM, A PHYSICS ENGINE FOR ROBOTICS AND AI RESEARCH (v1.13)
+# RAISIM, A PHYSICS ENGINE FOR ROBOTICS AND AI RESEARCH (v1.14)
 
 Click to watch the video
 

diff --git a/docs/conf.py b/docs/conf.py
@@ -13,8 +13,8 @@
 project = 'raisim'
 copyright = '2022, RaiSim Tech Inc.'
 author = 'Yeonjoo Chung and Jemin Hwangbo'
-version = '1.1.2'
-release = '1.1.2'
+version = '1.1.4'
+release = '1.1.4'
 # Output file base name for HTML help builder.
 htmlhelp_basename = 'raisim_doc'
 html_show_sourcelink = False

diff --git a/docs/image/RUnrealterrain_dune.png b/docs/image/RUnrealterrain_dune.png
diff --git a/docs/image/RUnrealterrain_marble1.png b/docs/image/RUnrealterrain_marble1.png
diff --git a/docs/image/RUnrealterrain_marble2.png b/docs/image/RUnrealterrain_marble2.png
diff --git a/docs/image/RUnrealterrain_marble3.png b/docs/image/RUnrealterrain_marble3.png
diff --git a/docs/image/RUnrealterrain_snow.png b/docs/image/RUnrealterrain_snow.png
diff --git a/docs/image/RUnrealterrain_steel.png b/docs/image/RUnrealterrain_steel.png
diff --git a/docs/image/RUnrealterrain_wheat.png b/docs/image/RUnrealterrain_wheat.png
diff --git a/docs/image/RUnrealterrain_wood1.png b/docs/image/RUnrealterrain_wood1.png
diff --git a/docs/image/RUnrealterrain_wood2.png b/docs/image/RUnrealterrain_wood2.png
diff --git a/docs/image/SingleBodyObjects.png b/docs/image/SingleBodyObjects.png
diff --git a/docs/image/SingleBodyObjects.svg b/docs/image/SingleBodyObjects.svg
diff --git a/docs/image/raisimUnrealManuel.png b/docs/image/raisimUnrealManuel.png
diff --git a/docs/image/raisimUnrealManuel.svg b/docs/image/raisimUnrealManuel.svg
diff --git a/docs/image/rsu_maps.png b/docs/image/rsu_maps.png
diff --git a/docs/image/rsu_maps.svg b/docs/image/rsu_maps.svg
diff --git a/docs/image/rsu_timeOfDay.gif b/docs/image/rsu_timeOfDay.gif
diff --git a/docs/image/rsu_weather.gif b/docs/image/rsu_weather.gif
diff --git a/docs/index.rst b/docs/index.rst
@@ -1,5 +1,5 @@
 #############################
-RaiSim
+RaiSim v1.1.4
 #############################
 
 RaiSim is a cross-platform multi-body physics engine for robotics and AI.
@@ -57,6 +57,7 @@ The geometric model is created using the Full-body musculoskeletal model in Raja
 
    sections/Introduction
    sections/Installation
+   sections/Visualizers
    sections/ConventionsAndNotations
    sections/Math
    sections/LoggingSystem

diff --git a/docs/sections/ChangeLog.rst b/docs/sections/ChangeLog.rst
@@ -4,6 +4,14 @@ Change Log
 Here we only describe the changes to the RaiSim library.
 Other peripheral codes are not tracked here.
 
+**v1.1.4**
+=========================================
+This version contains significant improvements on the visualizers: RaisimUnity and RaisimUnreal.
+
+* The new server does not reinitialize when a new object is added (try ``examples/src/server/balls` example to see the difference).
+* New ``Map`` feature on `RaisimUnreal <https://raisim.com/sections/RaisimUnreal.html>`_.
+
+
 **v1.1**
 ========================================
 There have been huge changes in this version.

diff --git a/docs/sections/Contact.rst b/docs/sections/Contact.rst
@@ -18,14 +18,17 @@ Collision group and mask in RaiSim uses bit operations as most other physics eng
 In the above example, ``sphere0`` is in collision group 0 and can collide with collision group 0 and 1.
 ``sphere1`` is in collision group 1 and can collide with collision group 0 and 1.
 ``sphere2`` is in collision group 2 and can collide with collision group 1.
-``sphere3`` is in collision group 2 and can collide with any object (-1 means all groups).
+``sphere3`` is in collision group 3 and can collide with any object (-1 means all groups).
+
+**The collision group and mask is AND logic**.
+In order for A and B collide, A should be able to collide with B and vice versa.
 
 ``sphere0`` can collide with ``sphere1``.
 ``sphere1`` cannot collide with ``spehre2`` (both conditions must be satisfied).
-``sphere3`` cannot collide with ``spehre0`` and ``sphere1`` but not with ``sphere2``.
+``sphere3`` cannot collide with any objects (because ``sphere0``, ``sphere1`` and ``sphere2`` cannot collide with the collision group 3).
 
 By default, movable object are in collision group 1 and can collide with anything (collision mask = -1).
-All static objects (e.g., ground and height map) are in collision group 63 and can collide with anything.
+All static objects (e.g., ground and height map) are by default in collision group 63 and can collide with anything.
 
 Contacts
 =========================
@@ -66,3 +69,10 @@ Here is an extensive example
     }
   }
 
+API
+=========
+You can get a vector of collisions on an object using ``raisim::Object::getContacts``.
+Each element in the vector has the following API:
+
+.. doxygenclass:: raisim::Contact
+   :members:
diff --git a/docs/sections/HeightMap_example_terrain_generator.rst b/docs/sections/HeightMap_example_terrain_generator.rst
@@ -37,7 +37,7 @@ The xml file is constructed as following:
                 <state pos="1 1 5" quat="1 0 0 0" linVel="0 0 0" angVel="0 0 0" />
             </box>
             <heightmap name="terrain" xSample="50" ySample="50" xSize="20" ySize="20" centerX="0" centerY="0">
-                <terrainProperties frequency="0.2" zScale="3.0" fractalOctaves="3" fractalLacunarity="2.0" fractalGain="0.25" stepSize="0" seed="0"/>
+                <terrainProperties frequency="0.2" zScale="3.0" fractalOctaves="3" fractalLacunarity="2.0" fractalGain="0.25" stepSize="0" heightOffset="0" seed="0"/>
             </heightmap>
         </objects>
     </raisim>

diff --git a/docs/sections/Introduction.rst b/docs/sections/Introduction.rst
@@ -14,96 +14,8 @@ However, it is a generic rigid-body simulator and can simulate any rigid body ve
 * A minimum number of dependencies (only on STL and Eigen)
 
 Visualizer
-=====================
-There are three options available for visualization.
-Most of the examples included in this repo requires raisimUnity to visualize.
-You have to run raisimUnity before running the examples.
-
-RaisimUnity
-***************
-
-.. image:: ../image/raisimUnity4.png
-  :alt: raisimUnity
-  :width: 600
-
-*  **If this doesn't work on your linux machine, try raisimUnityOpengl, which is a stripped-down version**
-*  binaries included in the ``raisimUnity`` directory
-*  easy to use but less features
-*  runs on a separate process
-*  works well in Linux, Mac and Windows
-
-RaisimUnreal - Alpha
-*********************
-
-.. image:: ../image/raisimUnreal1.png
-  :alt: raisimUnity
-  :width: 600
-
-*  Currently available in Widnows and Linux
-*  Not well tested yet
-*  Easy to use.
-*  Can visualize graphs and bar charts
-*  runs on a separate process
-*  Closed source
-
-RaisimOgre
-************
-
-.. image:: ../image/raisimOgre.png
-  :alt: raisimOgre
-  :width: 420
-
-*  harder to use but rich in features
-*  works well in Linux. Should work in other two major OS's but not tested
-*  easy to customize. Only C++ code
-*  source code available `here <https://github.com/raisimTech/raisimogre>`_ under the MIT license
-
-
-Comparison between RaisimUnity and RaisimUnreal
-==================================================
-
-Here is a comparison between RaisimUnity and RaisimUnreal.
-
-*  **Graphics Quality (my personal opinion)**
-
-   *  **RaisimUnity**: 7/10.
-   *  **RaisimUnreal**: 10/10 (Somehow the quality is lower in Linux. This might be due to a driver issue.).
-
-*  **Compatibility**
-
-   *  **RaisimUnity**: There is an alternate Opengl version for compatibility because many old or integrated GPU's do not have a proper vulkan-supporting GPU driver on Linux.
-   *  **RaisimUnreal**: Not tested at all. I need your feedback on this. If you find issues, please post it on the github issue.
-
-*  **GPU utilization (based on a few examples on my pc)**
-
-   *  **RaisimUnity**: 90%.
-   *  **RaisimUnreal**: 98% (it runs much faster in Windows. It seems like the Unreal Engine is not working well on Linux. In addition, the weather preset affects the performance significantly).
-
-*  **GPU memory usage (with raisim examples)**
-
-   *  **RaisimUnity**: ~2Gb.
-   *  **RaisimUnreal**: ~2Gb.
-
-*  **Mesh loading time**
-
-   *  **RaisimUnity**: Very fast.
-   *  **RaisimUnreal**: Terribly slow! It also lacks a mechanism for instancing a mesh. This means that if you have 100 robots in the scene, it will create the same meshes 100 times.
-
-*  **Support**
-
-   *  **RaisimUnity**: Will be supported and bug-fixed.
-   *  **RaisimUnreal**: New visualization developments will be on raisimUnreal as it seems like a more promising option. Because Unreal is using C++, It is much easier to develop Simulation API (not just the visualization) as well. This might come sometime this year (2022).
-
-*  **Graphs (time series and bar charts)**
-
-   *  **RaisimUnity**: none.
-   *  **RaisimUnreal**: RaisimUnreal uses Kantan Chart to visualize user created graphs from the server. It can be a convenient way to visualize the training process. Check the ``examples/atlas.cpp`` for usage.
-
-*  **Vidoes Recording**
-
-   *  **RaisimUnity**: Works in Linux.
-   *  **RaisimUnreal**: Will be implemented soon.
-
+=============
+Raisim on its own cannot visualize the simulated environment. Please read the Visualizer section.
 
 System Requirements
 =====================

diff --git a/docs/sections/RaisimServer.rst b/docs/sections/RaisimServer.rst
@@ -3,10 +3,10 @@ Raisim Server
 #############################
 
 RaisimServer serializes ``raisim::World`` and streams the data to clients via tcp/ip.
-We provide the raisimUnity (`doc <https://raisim.com/sections/RaisimUnity.html>`_) client, which visualizes a raisim World.
+We provide the raisimUnity (`doc <https://raisim.com/sections/RaisimUnity.html>`_) client, which visualizes a ``raisim::World``.
 The basic usage is described in the `doc <https://raisim.com/sections/RaisimUnity.html#how-to-use-raisimunity>`_.
 
-Other than just visualizing a raisim world, RaisimServer can visualize additional visual objects.
+Other than just visualizing a ``raisim::World``, ``raisim::RaisimServer`` can visualize additional visual objects.
 An example can be found `here <https://github.com/raisimTech/raisimLib/blob/master/examples/src/server/visualObjects.cpp>`_.
 The example will be displayed as following
 

diff --git a/docs/sections/RaisimUnity.rst b/docs/sections/RaisimUnity.rst
@@ -1,5 +1,5 @@
 #############################
-RaiSim Unity
+RaiSimUnity
 #############################
 
 raisimUnity is a visualizer for RaiSim.
@@ -48,3 +48,8 @@ You can disable auto-connection by unchecking the ``auto-connect`` checkbox.
 .. image:: ../image/RSUinstruction2.png
 
 .. image:: ../image/RSUinstruction3.png
+
+Object Appearances
+=====================
+You can specify the appearance of an object using ``raisim::SingleBodyObject::setAppearance".
+If you want to hide object completely in RaisimUnity, you can set appearance as ``hidden-unity``.