AIRO-1941 Justing/add visualization layer support

com.unity.robotics.visualizations/CHANGELOG.md

@@ -21,6 +21,11 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) a
 
 ### Fixed
 
+## [0.7.2-preview] - 2022-07-11
+
+Added a Visualization Layer property to DrawingManager3d to allow developers to specify which layer the visualizations render into.
+ Defaults to UI layer, and the sensors in sensors package will set the culling mask to not sense the UI layer. If you add a new layer
+ and choose that (or another builtin layer), you should deselect that layer in the culling mask of any sensors that have a camera component.
 
 ## [0.7.0-preview] - 2022-02-01
 

com.unity.robotics.visualizations/Runtime/Drawing3d/Scripts/Drawing3dManager.cs

@@ -34,6 +34,11 @@ public static Drawing3dManager instance
  List<Drawing3d> m_Drawings = new List<Drawing3d>();
  List<Drawing3d> m_Dirty = new List<Drawing3d>();
 
+ [SerializeField]
+ DrawingLayer m_VisualizationLayer = new DrawingLayer();
+
+ public int VisualizationLayer => m_VisualizationLayer.LayerNumber;
+
  [SerializeField]
  Material m_UnlitVertexColorMaterial;
  [SerializeField]
@@ -68,6 +73,7 @@ public void DestroyDrawing(Drawing3d drawing)
  public static Drawing3d CreateDrawing(float duration = -1, Material material = null)
  {
  GameObject newDrawingObj = new GameObject("Drawing");
+ newDrawingObj.layer = Drawing3dManager.instance.VisualizationLayer;
  Drawing3d newDrawing = newDrawingObj.AddComponent<Drawing3d>();
  newDrawing.Init(instance, material != null ? material : instance.UnlitVertexColorMaterial, duration);
  instance.m_Drawings.Add(newDrawing);

com.unity.robotics.visualizations/Runtime/Drawing3d/Scripts/DrawingLayer.cs

@@ -0,0 +1,30 @@
+using System;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Unity.Robotics.Visualizations
+{
+ [Serializable]
+ public class DrawingLayer
+ {
+ public int LayerNumber = 5; // Default to builtin UI layer
+ }
+
+#if UNITY_EDITOR
+ [CustomPropertyDrawer(typeof(DrawingLayer))]
+ public class DrawingLayerPropertyDrawer : PropertyDrawer 
+ {
+ public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+ {
+ EditorGUI.BeginProperty(position, GUIContent.none, property);
+ SerializedProperty layer = property.FindPropertyRelative("LayerNumber");
+ position = EditorGUI.PrefixLabel(position, GUIUtility.GetControlID(FocusType.Passive), label);
+ if (layer != null)
+ layer.intValue = EditorGUI.LayerField(position, layer.intValue);
+ EditorGUI.EndProperty();
+ }
+ }
+#endif
+}

com.unity.robotics.visualizations/Runtime/Drawing3d/Scripts/PointCloudDrawing.cs

@@ -24,6 +24,7 @@ public static PointCloudDrawing Create(GameObject parent = null, int numPoints =
  newDrawingObj.transform.parent = parent.transform;
  newDrawingObj.transform.localPosition = Vector3.zero;
  newDrawingObj.transform.localRotation = Quaternion.identity;
+ newDrawingObj.layer = Drawing3dManager.instance.VisualizationLayer;
  }
  PointCloudDrawing newDrawing = newDrawingObj.AddComponent<PointCloudDrawing>();
  newDrawing.SetCapacity(numPoints);