Release Notes

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ANVEL 3.5.58790

Release Date: 2018-11-19

Features

  • Added Python 3 support to ANVEL’s built-in Python scripting system; users can switch between the default Python 2.7 plugin to the Python 3.x plugin in the AnvelInit.xml configuration file
  • Introduced out-of-the-box ROS Indigo support for ANVEL running on Ubuntu 14.04
  • Created the ANVEL Automated Testing Framework, designed as a standalone package for facilitating automated testing of ANVEL scenarios and functionality
  • Enhanced stability and bug fixes
  • Added new experimental components:
    • Particle component for adding particle effects, such as smoke, to ANVEL objects
    • MotionController component allows automatic position updates to objects that are outside of the physics simulation
  • Moved the ANVEL sample code to the User Data directory on Windows for easier modification
  • Enabled support for automatic loading of ANVEL plugins by referencing them in .anvelpackage files

Resolved Issues

  • The numerical values in the UI for terrain editing now update correctly on Linux.
  • The chart now updates when stepping the simulation one simulation step.
  • Ogre.log files will be created for each successive run of ANVEL, to aid debugging.
  • Logging will now always utilize the UserData folder, even if ANVEL is installed to a writable location on Windows.
  • There are new configurations to allow user adjustments to the anti-aliasing settings used for camera sensors, and settings have been modified to enable support on more devices by default.
  • Vegetation painting in non-square environments is now enabled. Users who previously made copies of the QS_Hills environment will notice that these copies have misplaced vegetation layers in 3.5. Recreating the user’s environment with the 3.5 version of QS_Hills will resolve the issue.

Known Issues

Affecting Windows and Linux

  • The provided client side Python code for the API does not perform strict type checking for structure objects. Providing the incorrect structure type for input arguments appears to succeed (no exceptions are generated) but may produce undefined or incorrect results. For example, using a Quaternion structure as the input to SetVehicleInput call (instead of a proper VehicleInputRecord) does not produce an exception.
  • When using developing scripts with the ANVEL External API, Python 3 will not implement a __hash__ method for custom types. This prevents custom structs like ObjectDescriptor from being added to sets and any service which attempts to do so will fail with "TypeError: unhashable type: ObjectDescriptor". Python 2 will assign the default object.__hash__ method to custom structures.
  • External API method SaveSimulationFile: ANVEL currently adds a .sim extension to the input name automatically if it does not include an absolute path. This behavior can cause issues if simFileName is used with LoadSimulationFile.
  • The Export VPM File operation may crash ANVEL when trying to export some .obj files.
  • ANVEL may throw unhandled exceptions when attempting to load very large point cloud replay files (2+ GB).
  • The surface editor will not visualize more than three layers of surfaces.
  • Automatic mesh conversion does not currently apply to rendered meshes.
  • When loading a simulation with a vehicle with updated joint positions, the joints will be loaded at their initial positions.
  • In the Save Environment dialog, the save button only enables after tabbing or inputting the environment name before clicking the Browse button.
  • If paths are copied, the resulting copied path will be attached to the original path.

Affecting Linux Only

  • On AMD and Intel graphics chipsets, shadows are currently disabled.
  • Certain 3D objects (with physics) are disabled from vegetation painting to prevent a crash.
  • Video capture functionality is not enabled.
  • Undocking a newly created World View window will crash ANVEL.

ANVEL 3.1.57010

Release Date: 2018-09-01

Overview

See the 3.1 announcement for a high-level overview of this release.

Features

  • Additional updates to the ANVEL External API:
    • Fixed naming conventions on the new operations dealing with Components
    • Added new ComponentTypeInvalid exception
    • Added EnumerateAssociatedKeys operation to retrieve additional relationship information for a given key
  • Multi-threaded sensors (lidar) now complete their processing on the same simulation step, making their behavior more predictable
  • Camera sensor rendering is now locked to complete on the correct simulation step
  • Added additional capability to TriggerVolume component
  • Improved error handling within the Built-in Python console
  • Added a new API Navigation sensor which can be used to create IMU, INS, and other navigation solutions; led to new methods GetNavigationPose and GetNavigationPose Batch
  • Added new PoseNavigationRecord struct to support the new API Navigation sensor

Resolved Issues

API Resolved Issues

  • Fixed a crash that occurred when using the GetProperty API command on an Animation component
  • Fixed an issue with the AttachObjects API command that caused a crash when attaching a sensor
  • The Property tree now correctly displays all components of the APILidar object
  • AttachObjects API command no longer causes issues when attaching non-sensor objects to eachother
  • The AttachObjects API command now functions correctly when attaching an object to a vehicle with a non-zero yaw angle
  • Fixed an issue with the RemoveObject API command, causing incomplete object deletion
  • EnumerateComponents API command now correctly returns ObjectKeyNotFound when given a nonexistent object key

Additional Resolved Issues

  • Removed the Anvel.Simulation.SetProperty internal command from the Built-in Python console and replaced it with Anvel.SetPropertyByName
  • Fixed an issue caused when removing a MaterialOverride component from an object
  • AMDStartupSettings script now runs correctly upon startup on Linux
  • The NameValuePairListToPyMap internal command now retrieves data correctly when used with the Built-in-Python
  • TriggerVolume component now correctly ignores the object to which it is attached
  • TriggerVolume component now correctly checks the z position of an intersecting object
  • CreateInstance internal command now reports an error if the orientation is incorrectly specified
  • Objects now follow a specified path when SimpleAIController is added and the FollowPath property is set to True
  • Fixed a bug that caused crashes due to commands being registered on the Sim thread instead of the Python thread
  • Fixed an issue with message handling within Python Script components
  • Tag component can now be defined in XML
  • The Zoom to Position right-click menu option now correctly zooms to the desired location on non-heightmap based meshes
  • SetPropertyByName internal command now functions correctly on all properties

Known Issues

Affecting Windows and Linux

  • The Export VPM File operation may crash ANVEL when trying to export some .obj files.
  • If ANVEL crashes on startup, the Ogre log file can remain open, causing subsequent crashes when trying to restart.
  • ANVEL may throw unhandled exceptions when attempting to load very large point cloud replay files (2+ GB).
  • The surface editor will not visualize more than 3 layers of surfaces.
  • Automatic mesh conversion does not currently apply to rendered meshes.
  • When loading a simulation with a vehicle with updated joint positions, the joints will be loaded at their initial positions.
  • If multiple vehicles are being simulated at once, to the point of excessively degrading the physics simulation, vehicles may disappear or lose property values.
  • In the Save Environment dialog, the save button only enables after tabbing or inputting the environment name before clicking the Browse button.
  • If paths are copied, the resulting copied path will be attached to the original path.

Affecting Windows Only

  • An additional install dialog may appear when installing the application for the first time.

Affecting Linux Only

  • On AMD and Intel i915 graphics chipsets, shadows are currently disabled.
  • Certain 3D objects (with physics) are disabled from vegetation painting, to prevent a crash.
  • Video capture functionality is not enabled.
  • Undocking a newly created World View window will crash ANVEL.


ANVEL 3.0.54273

Release Date: 2018-05-31

Overview

See the 3.0 announcement for a high-level overview of this release.

ANVEL is available for Windows, Ubuntu 16.04, and Ubuntu 14.04, and CentOS7 in the following editions:

  • Commercial
  • Government
  • Academic

Features

  • Enabled ODE physics engine multithreading, increasing the performance of the physics system when simulating many wheels and other dynamic objects. Note, that for the Linux versions, multithreading is disabled by default.
  • Added multithreading optimizations to the lidar sensor system, enabling support for many more simultaneous lidar sensors in the simulation.
  • Updated the ANVEL External API, adding a new API-aware pose sensor; this can be used to create IMU, INS, and other navigation solutions. All example scripts on the wiki have been updated with 3.0 API variable names and conventions.
  • Enabled new functionality by introducing several new components:
    • Lifetime Component: Removes the associated object after a specified amount of time elapses. It can be used to trigger delayed deletion.
    • Tag Component: Adds a collection of name and value pair entries associated to the object. It appends instance-specific data that can be queried by other systems within ANVEL, or user-defined plugins and scripts.
    • PythonScript Component: Adds dynamic Python code that will be executed per simulation step, render step, or after reception of messages, etc. It can be used to add custom logic without having to create plugins.
    • MaterialOverride Component: Allows control over the material used to render an object.
    • Label Component: Add customized labels to objects for easy tracking during simulation play.
    • AnimationController Component: Allow direct control over the animation that an object has defined for it.
    • TriggerVolume Component: Allows detection of objects within a given volume. Sends an ANVEL message or command when an object enters or leaves the volume.
    • Audio Component: Allows the association of a sound file with an object. Can specify the .wav file, the volume, and looping state of the sound.
  • Updated the sensor sample project with code for a basic raycasting sensor.
  • Added several new vehicles, including a hatchback and pickup truck.
  • Added new default environments for all ANVEL editions.
  • The ability to create an asset on a path and insert path points to an existing path has been added.
  • Latitude and longitude are displayed for each object in the environment.
  • Updated the video card support matrix for Windows 10. Please see Video Card Compatibility Matrix.

Resolved Issues

  • The experimental Python scripting component functionality is now enabled, which allows for Python scripts to be associated with ANVEL objects.
  • Fixed an issue with the Built-in Python system; it no longer has an issue parsing paths on PCs with certain user account names.
  • Updated certain External API calls to behave synchronously with ANVEL. This will prevent external scripts from trying to access parts of the simulation that have not yet finished loading. This change effects API calls such as LoadEnvironment, SaveSimulationFile, LoadSimulationFile, and CreateObject.
  • Lidar sensors will no longer ignore the geometry of the vehicle that they are attached to.
  • Object file conversion will no longer fail to create material files during the conversion process.

Known Issues

Affecting Windows and Linux

  • The Export VPM File operation may crash ANVEL when trying to export some .obj files.
  • If ANVEL crashes on startup, the ogre log file can remain open, causing subsequent crashes when trying to restart.
  • ANVEL may throw unhandled exceptions when attempting to load very large point cloud replay files (2+ GB).
  • The surface editor will not visualize more than 3 layers of surfaces.
  • Automatic mesh conversion does not currently apply to rendered meshes.
  • When loading a simulation with a vehicle with updated joint positions, the joints will be loaded at their initial positions.
  • If multiple vehicles are being simulated at once, to the point of excessively degrading the physics simulation, vehicles may disappear or lose property values.
  • In the Save Environment dialog, the save button only enables after tabbing or inputting the environment name before clicking the Browse button.
  • If paths are copied, the resulting copied path will be attached to the original path.

Affecting Windows Only

  • An additional install dialog may appear when installing the application for the first time.

Affecting Linux Only

  • On AMD and Intel i915 graphics chipsets, shadows are currently disabled.
  • Certain 3D objects (with physics) are disabled from vegetation painting, to prevent a crash.
  • Video capture functionality is not enabled.
  • Undocking a newly created World View window will crash ANVEL.

API Known Issues

  • API camera sensor output frame rate is erratic under non-real-time simulation modes.

ANVEL 2.5.48398

Release Date: 2017-11-28

Overview

See the 2.5 release announcement for a high-level overview.

ANVEL is available for Windows, Ubuntu 16.04, and Ubuntu 14.04 in the following editions:

  • Commercial
  • Government
  • Academic


Features

  • Updated the rendering engine to OGRE 1.10 (http://www.ogre3d.org), providing enhanced rendering performance.
  • Updated the physics engine to ODE 0.15 (http://www.ode.org), providing enhanced physics performance.
  • Added a new spline-based pathing option, which automatically adds curvature to placed paths as well as support arbitrary paths in 3D space.
  • Introduced experimental Python scripting component functionality, which allows for Python scripts to be associated with ANVEL objects
  • Redesigned the Asset UI, and added searching and tagging for easier navigation. Users can also designate favorite assets and hide less commonly used assets.
  • Additional vehicles added to all versions: Semi-Truck and Sedan (both FWD and RWD versions)
  • New licensing functionality requires all users to register on startup to use ANVEL. Visit http://anvelsim.com to register for an account and apply for a license key.
  • Additional pedestrians added to all versions.
  • The ability to maximize ANVEL view windows is now supported.
  • The UserAssets directory automatically loads custom user assets. Files should be placed in %LOCALAPPDATA%/Anvel/UserAssets (on Windows) or ~/.anvel-config/UserAssets (on Linux)
  • Treads on vehicles now use a randomized method for detecting ground collisions, enabling better stair climbing performance.

Resolved Issues

  • The user data directories on Linux are located at ~/.anvel-config
  • The Generic ATV vehicle model dynamics have been improved.
  • Instability issues where vehicle tires appeared below terrain surfaces have been fixed.
  • Instability issues where dynamic objects would “bounce” excessively have been fixed.
  • Terrain mesh mismatches between the physics mesh and the renderable mesh have been corrected.
  • The Applied Torque property reports a more realistic value for treaded vehicles.
  • Vehicle track decals have been reenabled.
  • Improved object scaling to maintain renderable and geometry relationships.
  • Corrected issues with object scaling when loading saved simulations.
  • The Academic version includes the Python interpreter plugin.
  • Path point placement no longer causes ANVEL to stop responding if the point is not in the bounds of the environment.
  • Corrected issue of instability when editing property for a namevaluepairmap.
  • Unhandled Ogre exception no longer occurring when Windows desktop is locked while object is selected.
  • Sun located in correct region of sky.

API Resolved Issues

  • SetProperty(), GetProperty(), SetProperties(), and GetProperties() now throw ObjectNotFound exceptions when provided an invalid key.
  • RemoveObject() no longer crashes ANVEL when provided a recently-removed object key for an AI type.
  • FollowPathVehicle commands no longer fail due to incorrect speed bounds for a given transmission gear setting.

Known Issues

Affecting Windows and Linux

  • The Custom Hotkey menu has been removed.
  • The Export VPM File operation may crash ANVEL when trying to export some .obj files.
  • Loading environments rapidly back-to-back can crash ANVEL.
  • If ANVEL crashes on startup, the Ogre log file can remain open, causing subsequent crashes when trying to restart.
  • ANVEL may throw unhandled exceptions when attempting to load very large point cloud replay files (2+ GB).
  • The surface editor does not visualize more than 3 layers of surfaces.
  • Automatic mesh conversion does not currently apply to rendered meshes.
  • When loading a simulation with a vehicle with updated joint positions, the joints load at their initial positions.
  • Some object files fail to create .mtl files during the conversion process.
  • If multiple vehicles are being simulated at once, to the point of excessively degrading the physics simulation, vehicles may disappear or lose property values.
  • In the Save Environment dialog, the save button only enables after tabbing or inputting the environment name before clicking the Browse button.
  • If paths are copied, the resulting copied path attaches to the original path.

Linux Only

  • On AMD and Intel i915 graphics chipsets, shadows are currently disabled.
  • Certain 3D objects are disabled from vegetation painting, to prevent a crash.
  • Video capture functionality is not enabled.
  • Undocking a newly created World View window crashes ANVEL.

API

  • API camera sensor output frame rate is erratic under non-real-time simulation modes.