From 8b02faa02438d7ff041f5c46839ca0d6f9ed666a Mon Sep 17 00:00:00 2001 From: peifeng-unity Date: Thu, 15 Apr 2021 15:38:51 -0700 Subject: [PATCH 1/3] add new sections for the released new physics features --- README.md | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 54d3eb8f..4c80818f 100644 --- a/README.md +++ b/README.md @@ -50,12 +50,15 @@ Use articulation bodies to easily prototype industrial designs with realistic mo - [Unity Industrial Simulation](https://unity.com/products/unity-simulation) - [Unity Computer Vision](https://unity.com/computer-vision) -## Coming Soon - New Physics Features in Unity! +## New Physics Features in Unity +### New Features +- **Contact Modification API** This API will allow users to define custom contact reactions, such as ignoring subsets of contact points, in order to help simulate holes, slippery surfaces, soft contacts, and more. It starts available with **2021.2a12**. [Read more about the new Contact Modification API](https://forum.unity.com/threads/experimental-contacts-modification-api.924809/). +- **Collision detection modes exposed for ArticulationBody: discrete, sweep-based ccd, and speculative ccd**. New continuous collision detection (ccd) modes will ensure that fast-moving objects collide with objects, instead of tunneling or passing through those objects, which can happen in the default “discrete” mode. This API starts available with **2020.3.5f1**. [Read more about continuous collision detection](https://docs.unity3d.com/2020.3/Documentation/ScriptReference/ArticulationBody-collisionDetectionMode.html). + +### Coming Soon Here’s a peek into what our Physics Team is hard at work on… -- **Contact Modification API**. This API will allow users to define custom contact reactions, such as ignoring subsets of contact points, in order to help simulate holes, slippery surfaces, soft contacts, and more. [Read more about the new Contact Modification API](https://forum.unity.com/threads/experimental-contacts-modification-api.924809/). - **Wheel Collider shapes**. This feature will allow the user to specify the shape of the collider to be used for collision detection. Currently the collider shape is fixed to a cylinder, and collision detection is performed by casting a ray from the center of the cylinder. Custom shapes will improve the accuracy of simulating wheels over rough terrains, holes, etc. [Read more about Wheel Collider](https://docs.unity3d.com/Manual/class-WheelCollider.html). -- **Collision detection modes exposed for ArticulationBody: discrete, sweep-based ccd, and speculative ccd**. New continuous collision detection (ccd) modes will ensure that fast-moving objects collide with objects, instead of tunneling or passing through those objects, which can happen in the default “discrete” mode. [Read more about continuous collision detection](https://docs.unity3d.com/Manual/ContinuousCollisionDetection.html). - **Force/Torque Sensor API**. This API will allow users to get the force and torque acting on an articulation body (useful for simulating a force/torque sensor!), as well as to get the motor torque applied by an articulation drive. - **Query primitives**. These simple, GameObject-less shapes allow for collision detection without requiring simulation (i.e., without calling Physics.Simulate). This feature will allow users to initialize objects in feasible locations, and can also be used for motion planning. From 6045bb91f52072a4d7119abf5872784ca1584817 Mon Sep 17 00:00:00 2001 From: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> Date: Fri, 16 Apr 2021 10:27:16 -0700 Subject: [PATCH 2/3] update README.md Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 4c80818f..6cd86f9d 100644 --- a/README.md +++ b/README.md @@ -52,7 +52,7 @@ Use articulation bodies to easily prototype industrial designs with realistic mo ## New Physics Features in Unity ### New Features -- **Contact Modification API** This API will allow users to define custom contact reactions, such as ignoring subsets of contact points, in order to help simulate holes, slippery surfaces, soft contacts, and more. It starts available with **2021.2a12**. [Read more about the new Contact Modification API](https://forum.unity.com/threads/experimental-contacts-modification-api.924809/). +- **Contact Modification API** This API will allow users to define custom contact reactions, such as ignoring subsets of contact points, in order to help simulate holes, slippery surfaces, soft contacts, and more. It is available in Unity versions **2021.2a12+**. [Read more about the new Contact Modification API](https://forum.unity.com/threads/experimental-contacts-modification-api.924809/). - **Collision detection modes exposed for ArticulationBody: discrete, sweep-based ccd, and speculative ccd**. New continuous collision detection (ccd) modes will ensure that fast-moving objects collide with objects, instead of tunneling or passing through those objects, which can happen in the default “discrete” mode. This API starts available with **2020.3.5f1**. [Read more about continuous collision detection](https://docs.unity3d.com/2020.3/Documentation/ScriptReference/ArticulationBody-collisionDetectionMode.html). ### Coming Soon @@ -79,4 +79,4 @@ For bugs or other issues, please file a GitHub issue and the Robotics team will investigate the issue as soon as possible. ## License -[Apache License 2.0](LICENSE) \ No newline at end of file +[Apache License 2.0](LICENSE) From 8f7362db80ef3cc8fcdf9033e85789abb27ae3ef Mon Sep 17 00:00:00 2001 From: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com> Date: Fri, 16 Apr 2021 10:27:25 -0700 Subject: [PATCH 3/3] update README.md Co-authored-by: Amanda <31416491+at669@users.noreply.github.com> --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 6cd86f9d..4b76a093 100644 --- a/README.md +++ b/README.md @@ -53,7 +53,7 @@ Use articulation bodies to easily prototype industrial designs with realistic mo ## New Physics Features in Unity ### New Features - **Contact Modification API** This API will allow users to define custom contact reactions, such as ignoring subsets of contact points, in order to help simulate holes, slippery surfaces, soft contacts, and more. It is available in Unity versions **2021.2a12+**. [Read more about the new Contact Modification API](https://forum.unity.com/threads/experimental-contacts-modification-api.924809/). -- **Collision detection modes exposed for ArticulationBody: discrete, sweep-based ccd, and speculative ccd**. New continuous collision detection (ccd) modes will ensure that fast-moving objects collide with objects, instead of tunneling or passing through those objects, which can happen in the default “discrete” mode. This API starts available with **2020.3.5f1**. [Read more about continuous collision detection](https://docs.unity3d.com/2020.3/Documentation/ScriptReference/ArticulationBody-collisionDetectionMode.html). +- **Collision detection modes exposed for ArticulationBody: discrete, sweep-based CCD, and speculative CCD**. New continuous collision detection (CCD) modes will ensure that fast-moving objects collide with objects, instead of tunneling or passing through those objects, which can happen in the default “discrete” mode. This API is available in Unity versions **2020.3.5f1+**. [Read more about continuous collision detection](https://docs.unity3d.com/2020.3/Documentation/ScriptReference/ArticulationBody-collisionDetectionMode.html). ### Coming Soon Here’s a peek into what our Physics Team is hard at work on…