Release v6.1 (Prod) (#944)

Author: HunterBarclay

VersionManager.json

@@ -1,4 +1,4 @@
 {
-  "Version": "6.0.0",
+  "Version": "6.1.0",
   "URL": "https://synthesis.autodesk.com/download.html"
 }

api/Api/Mirabuf/JointInstance.cs

@@ -1,5 +1,10 @@
 namespace Mirabuf.Joint {
     public partial class JointInstance {
+
+        public enum WheelTypeEnum {
+            Standard = 0, Omni = 1
+        }
+
         private bool? _isWheel = null;
         public bool IsWheel(Assembly assembly) {
             if (!_isWheel.HasValue) {
@@ -11,5 +16,24 @@ public bool IsWheel(Assembly assembly) {
             }
             return _isWheel.Value;
         }
+
+        private WheelTypeEnum? _wheelType = null;
+        public WheelTypeEnum GetWheelType(Assembly assembly) {
+            if (!_wheelType.HasValue) {
+                if (IsWheel(assembly)) {
+                    var hasValue = assembly.Data.Joints.JointDefinitions[JointReference].UserData.Data
+                               .TryGetValue("wheelType", out var wheelType);
+                    if (hasValue && wheelType.Equals("1")) {
+                        _wheelType = WheelTypeEnum.Omni;
+                    } else {
+                        _wheelType = WheelTypeEnum.Standard;
+                    }
+                } else {
+                    throw new System.Exception("Non-wheels don't have wheel types");
+                }
+            }
+
+            return _wheelType.Value;
+        }
     }
 }

api/Api/Simulation/SimBehaviour.cs

@@ -32,8 +32,8 @@ public bool Enabled {
         /// </summary>
         /// <param name="simObjectId">ID of the SimObject within the SimulationManager</param>
         /// <param name="inputs">A list of reserved inputs by the behaviour, along with a input to assign to each</param>
-        public SimBehaviour(string simObjectId) {
-            Enabled = true;
+        public SimBehaviour(string simObjectId, bool autoEnable = true) {
+            Enabled = autoEnable;
             SimObjectId = simObjectId;
             string id = simObjectId;
             int _i = id.IndexOf("_", 0);

api/Api/Simulation/SimulationManager.cs

@@ -108,6 +108,7 @@ public static bool RemoveBehaviour(string simObjectName, SimBehaviour b) {
             var cursor = list.First;
             while (!removed && cursor != null) {
                 if (cursor.Value.Equals(b)) {
+                    cursor.Value.Enabled = false;
                     cursor.Value.OnRemove();
                     list.Remove(cursor);
                     removed = true;

api/Api/UIManager/UIParser.cs

@@ -128,7 +128,7 @@ public static VisualElementAsset CreateVisualElements(string name, XmlNodeList n
 
             // Logger.Log("Finished Creating Element");
 
-            _UnityVisualElement resultElement = (_UnityVisualElement)element;
+            _UnityVisualElement resultElement = (_UnityVisualElement)element!;
 
             foreach (XmlNode child in node.ChildNodes)
             {

emulation/bridge/.gitignore

@@ -15,7 +15,7 @@ public class AutoUpdater : MonoBehaviour {
     public static bool UpdateAvailable { get; private set; } = false;
     public static string UpdaterLink { get; private set; }
 
-    public const string LocalVersion = "6.0.0.0"; // must be a version value
+    public const string LocalVersion = "6.1.0.0"; // must be a version value
 
     private void Start() {
         if (CheckConnection()) {

emulation/bridge/Makefile

@@ -1,17 +1,12 @@
-using System;
-using System.Collections.Generic;
-using Google.Protobuf.WellKnownTypes;
+using System.Collections.Generic;
 using Synthesis.PreferenceManager;
 using Synthesis.UI.Dynamic;
 using SynthesisAPI.EventBus;
 using SynthesisAPI.InputManager;
 using SynthesisAPI.InputManager.Inputs;
 using SynthesisAPI.Simulation;
-using UnityEditor;
 using UnityEngine;
-using Input  = UnityEngine.Input;
-using Logger = SynthesisAPI.Utilities.Logger;
-using Math   = SynthesisAPI.Utilities.Math;
+using Math = SynthesisAPI.Utilities.Math;
 
 #nullable enable
 
@@ -94,7 +89,7 @@ public Analog TryLoadInput(string key, Analog defaultInput) {
         }
 
         private void OnValueInputAssigned(IEvent tmp) {
-            ValueInputAssignedEvent args = tmp as ValueInputAssignedEvent;
+            ValueInputAssignedEvent args = (tmp as ValueInputAssignedEvent)!;
 
             if (args.InputKey.Length > MiraId.Length) {
                 string s = args.InputKey.Remove(0, MiraId.Length);

emulation/bridge/cmd/main.go

@@ -1,18 +1,12 @@
 using System;
-using System.Collections;
-using System.Collections.Generic;
-using Google.Protobuf.WellKnownTypes;
 using Synthesis.PreferenceManager;
 using Synthesis.UI.Dynamic;
 using SynthesisAPI.EventBus;
 using SynthesisAPI.InputManager;
 using SynthesisAPI.InputManager.Inputs;
 using SynthesisAPI.Simulation;
-using SynthesisAPI.Utilities;
 using UnityEngine;
 
-using Logger = SynthesisAPI.Utilities.Logger;
-
 #nullable enable
 
 namespace Synthesis {
@@ -74,7 +68,7 @@ public Analog TryLoadInput(string key, Analog defaultInput) {
         }
 
         private void OnValueInputAssigned(IEvent tmp) {
-            ValueInputAssignedEvent args = tmp as ValueInputAssignedEvent;
+            ValueInputAssignedEvent args = (tmp as ValueInputAssignedEvent)!;
             if (args.InputKey.Equals(_forwardInputKey) || args.InputKey.Equals(_reverseInputKey)) {
                 if (_robot.RobotGUID != (MainHUD.SelectedRobot?.RobotGUID ?? string.Empty) ||
                     !((DynamicUIManager.ActiveModal as ChangeInputsModal)?.isSave ?? false))