This is the development version of the documentation. It may change before the next release. See 0.6.x for the latest release.

Software

The AUTD3 SDK is implemented in Rust and also provides bindings for Python / C#. A package for Unity is also provided. The packages provided for each language are as follows.

autd3-rs: Client
autd3-rs-core: Core layer
autd3-rs-pattern: Pattern computation (single focal point, etc.)
autd3-rs-pattern-holo: Multi-focus optimization
autd3-rs-pattern-holo-wgpu: GPU backend for multi-focus optimization
autd3-rs-modulation: AM modulation computation
autd3-rs-emulator: Emulator that records emission data without real hardware
autd3-rs-link-echocat: AUTD3 dedicated EtherCAT Link
autd3-rs-link-ethercrab: EtherCrab-based Link
autd3-rs-link-soem: SOEM-based Link (GPL-3.0-only)
autd3-rs-link-remote: Link for remote connections
autd3-rs-link-twincat: TwinCAT-based Link

Unity

The Unity package is distributed via the npm registry (npmjs).

The supported Unity version is 6 (6000.x) or later.

com.shinolab.autd3-sdk: Client
com.shinolab.autd3-sdk.core: Core layer
com.shinolab.autd3-sdk.pattern: Pattern computation (single focal point, etc.)
com.shinolab.autd3-sdk.pattern.holo: Multi-focus optimization
com.shinolab.autd3-sdk.modulation: AM modulation computation
com.shinolab.autd3-sdk.link.echocat: AUTD3 dedicated EtherCAT Link
com.shinolab.autd3-sdk.link.ethercrab: EtherCrab-based Link
com.shinolab.autd3-sdk.link.soem: SOEM-based Link (GPL-3.0-only)
com.shinolab.autd3-sdk.link.remote: Link for remote connections
com.shinolab.autd3-sdk.link.twincat: TwinCAT-based Link
com.shinolab.autd3-sdk.link.nop: Link that does nothing (for testing)

Installation

Add the scoped registry and the required packages to the Unity project’s Packages/manifest.json.

{
  "scopedRegistries": [
    {
        "name": "npmjs",
        "url": "https://registry.npmjs.org",
        "scopes": ["com.shinolab"]
    }
  ],
  "dependencies": {
    "com.shinolab.autd3-sdk": "0.6.0",
    "com.shinolab.autd3-sdk.pattern": "0.6.0",
    "com.shinolab.autd3-sdk.modulation": "0.6.0",
    "com.shinolab.autd3-sdk.link.echocat": "0.6.0"
  }
}

To do this from the GUI, add the following registry under Edit → Project Settings → Package Manager → Scoped Registries.

Name: npmjs
URL: https://registry.npmjs.org
Scope(s): com.shinolab

Then add the required packages from Window → Package Manager → My registries → npmjs.