SaundersJE97 · neomantra · Mar 10, 2022 · Apr 5, 2022 · Apr 7, 2022 · Apr 7, 2022
diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md
@@ -6,7 +6,7 @@ about: Create a report to help us improve
 <!-- Please read our Rules of Conduct: https://opensource.microsoft.com/codeofconduct/ -->
 <!-- Please search for existing issues to avoid creating duplicates. -->
 <!-- Incomplete reports will lead to closing the issue. -->
-<!-- Also, please test using the latest master make sure your issue has not already been fixed -->
+<!-- Also, please test using the latest main branch make sure your issue has not already been fixed -->
 
 ## Bug report 
 <!-- If any section does not apply, replace its contents with "N/A". -->

diff --git a/.github/workflows/clang_format.yml b/.github/workflows/clang_format.yml
@@ -5,7 +5,7 @@ jobs:
     name: Formatting Check
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Run clang-format style check for C/C++ programs.
       uses: jidicula/[email protected]
       with:

diff --git a/.github/workflows/test_docs.yml b/.github/workflows/test_docs.yml
@@ -8,10 +8,10 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
 
       - name: Setup Python
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v4
         with:
           python-version: '3.7'
           architecture: 'x64'
@@ -37,10 +37,10 @@ jobs:
       - name: Build AirSim Documentation
         run: ./build_docs.sh
 
-      # Only on commits to 'master' branch
+      # Only on commits to 'main' branch
       - name: Deploy
         uses: peaceiris/actions-gh-pages@v3
-        if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
+        if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/main' }}
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           publish_dir: ./build_docs

diff --git a/.github/workflows/test_macos.yml b/.github/workflows/test_macos.yml
@@ -12,7 +12,7 @@ jobs:
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
 
       - name: Setup
         run: ./setup.sh

diff --git a/.github/workflows/test_ubuntu.yml b/.github/workflows/test_ubuntu.yml
@@ -11,7 +11,7 @@ jobs:
         os: [ubuntu-18.04, ubuntu-20.04]
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
 
       - name: Setup
         run: ./setup.sh

diff --git a/.github/workflows/test_windows.yml b/.github/workflows/test_windows.yml
@@ -5,11 +5,11 @@ on: [push, pull_request, workflow_dispatch]
 
 jobs:
   build:
-    runs-on: windows-2019
+    runs-on: windows-2022
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
 
       - name: Enable Developer Command Prompt
         uses: ilammy/msvc-dev-cmd@v1

diff --git a/AirLib/AirLib.vcxproj b/AirLib/AirLib.vcxproj
@@ -205,40 +205,40 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>

diff --git a/AirLib/include/api/RpcLibClientBase.hpp b/AirLib/include/api/RpcLibClientBase.hpp
@@ -162,8 +162,8 @@ namespace airlib
         void simSetKinematics(const Kinematics::State& state, bool ignore_collision, const std::string& vehicle_name = "");
         msr::airlib::Environment::State simGetGroundTruthEnvironment(const std::string& vehicle_name = "") const;
         std::vector<std::string> simSwapTextures(const std::string& tags, int tex_id = 0, int component_id = 0, int material_id = 0);
-        bool simSetObjectMaterial(const std::string& object_name, const std::string& material_name);
-        bool simSetObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path);
+        bool simSetObjectMaterial(const std::string& object_name, const std::string& material_name, const int component_id = 0);
+        bool simSetObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path, const int component_id = 0);
 
         // Recording APIs
         void startRecording();

diff --git a/AirLib/include/api/WorldSimApiBase.hpp b/AirLib/include/api/WorldSimApiBase.hpp
@@ -78,8 +78,8 @@ namespace airlib
         virtual bool setObjectScale(const std::string& object_name, const Vector3r& scale) = 0;
         virtual std::unique_ptr<std::vector<std::string>> swapTextures(const std::string& tag, int tex_id = 0, int component_id = 0, int material_id = 0) = 0;
         virtual bool setLightIntensity(const std::string& light_name, float intensity) = 0;
-        virtual bool setObjectMaterial(const std::string& object_name, const std::string& material_name) = 0;
-        virtual bool setObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path) = 0;
+        virtual bool setObjectMaterial(const std::string& object_name, const std::string& material_name, const int component_id = 0) = 0;
+        virtual bool setObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path, const int component_id = 0) = 0;
         virtual vector<MeshPositionVertexBuffersResponse> getMeshPositionVertexBuffers() const = 0;
 
         virtual bool createVoxelGrid(const Vector3r& position, const int& x_size, const int& y_size, const int& z_size, const float& res, const std::string& output_file) = 0;

diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp
@@ -471,7 +471,7 @@ namespace airlib
 
             Settings& settings_json = Settings::singleton();
             //write some settings_json in new file otherwise the string "null" is written if all settings_json are empty
-            settings_json.setString("SeeDocsAt", "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md");
+            settings_json.setString("SeeDocsAt", "https://github.com/Microsoft/AirSim/blob/main/docs/settings.md");
             settings_json.setDouble("SettingsVersion", 1.2);
 
             std::string settings_filename = Settings::getUserDirectoryFullPath("settings.json");

diff --git a/AirLib/src/api/RpcLibClientBase.cpp b/AirLib/src/api/RpcLibClientBase.cpp
@@ -534,14 +534,14 @@ __pragma(warning(disable : 4239))
             return pimpl_->client.call("simSwapTextures", tags, tex_id, component_id, material_id).as<vector<string>>();
         }
 
-        bool RpcLibClientBase::simSetObjectMaterial(const std::string& object_name, const std::string& material_name)
+        bool RpcLibClientBase::simSetObjectMaterial(const std::string& object_name, const std::string& material_name, const int component_id)
         {
-            return pimpl_->client.call("simSetObjectMaterial", object_name, material_name).as<bool>();
+            return pimpl_->client.call("simSetObjectMaterial", object_name, material_name, component_id).as<bool>();
         }
 
-        bool RpcLibClientBase::simSetObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path)
+        bool RpcLibClientBase::simSetObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path, const int component_id)
         {
-            return pimpl_->client.call("simSetObjectMaterialFromTexture", object_name, texture_path).as<bool>();
+            return pimpl_->client.call("simSetObjectMaterialFromTexture", object_name, texture_path, component_id).as<bool>();
         }
 
         bool RpcLibClientBase::simLoadLevel(const string& level_name)

diff --git a/AirLib/src/api/RpcLibServerBase.cpp b/AirLib/src/api/RpcLibServerBase.cpp
@@ -508,12 +508,12 @@ namespace airlib
             return *getWorldSimApi()->swapTextures(tag, tex_id, component_id, material_id);
         });
 
-        pimpl_->server.bind("simSetObjectMaterial", [&](const std::string& object_name, const std::string& material_name) -> bool {
-            return getWorldSimApi()->setObjectMaterial(object_name, material_name);
+        pimpl_->server.bind("simSetObjectMaterial", [&](const std::string& object_name, const std::string& material_name, const int component_id) -> bool {
+            return getWorldSimApi()->setObjectMaterial(object_name, material_name, component_id);
         });
 
-        pimpl_->server.bind("simSetObjectMaterialFromTexture", [&](const std::string& object_name, const std::string& texture_path) -> bool {
-            return getWorldSimApi()->setObjectMaterialFromTexture(object_name, texture_path);
+        pimpl_->server.bind("simSetObjectMaterialFromTexture", [&](const std::string& object_name, const std::string& texture_path, const int component_id) -> bool {
+            return getWorldSimApi()->setObjectMaterialFromTexture(object_name, texture_path, component_id);
         });
 
         pimpl_->server.bind("startRecording", [&]() -> void {

diff --git a/AirLibUnitTests/AirLibUnitTests.vcxproj b/AirLibUnitTests/AirLibUnitTests.vcxproj
@@ -39,40 +39,40 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,3 +1,3 @@
 # Changelog
 
-This page has moved [here](https://github.com/microsoft/AirSim/blob/master/docs/CHANGELOG.md).
+This page has moved [here](https://github.com/microsoft/AirSim/blob/main/docs/CHANGELOG.md).
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -1,3 +1,3 @@
 # Contributing
 
-This page has moved [here](https://github.com/microsoft/AirSim/blob/master/docs/CONTRIBUTING.md).
+This page has moved [here](https://github.com/microsoft/AirSim/blob/main/docs/CONTRIBUTING.md).
diff --git a/DroneServer/DroneServer.vcxproj b/DroneServer/DroneServer.vcxproj
@@ -47,40 +47,40 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>

diff --git a/DroneShell/DroneShell.vcxproj b/DroneShell/DroneShell.vcxproj
@@ -39,40 +39,40 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>

diff --git a/Examples/DataCollection/DataCollectorSGM_settings.json b/Examples/DataCollection/DataCollectorSGM_settings.json
@@ -1,5 +1,5 @@
 {
-  "SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md",
+  "SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/main/docs/settings.md",
   "SettingsVersion": 1.2,
   "SimMode": "ComputerVision",
   "CameraDefaults": {

diff --git a/Examples/DepthNav/DepthNav_settings.json b/Examples/DepthNav/DepthNav_settings.json
@@ -1,5 +1,5 @@
 {
-  "SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md",
+  "SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/main/docs/settings.md",
   "SettingsVersion": 1.2,
   "SimMode": "ComputerVision",
   "CameraDefaults": {