Modify MowingPlugin

- Support MowingBlade

Modify MicomCommand
- interface for mowing blade control

Add new module for MowingPlugin
- MowingBlade
   on/off, adjustable blade height

Modify TextureUtil
- Add Filling texture options

Modify GeometryGrass shader
- apply ratio by visibility for  blade max height

Assets/Resources/Shader/GeometryGrass.shader

@@ -358,8 +358,8 @@ Shader "Custom/GeometryGrass"
 #endif
 
 				float width  = lerp(_BladeWidthMin, _BladeWidthMax, rand(pos.xzy) * falloff);
-				float height = lerp(_BladeHeightMin, _BladeHeightMax, rand(pos.zyx) * falloff);
-				float forward = rand(pos.yyz) * _BladeBendDistance;
+				float height = lerp(_BladeHeightMin, _BladeHeightMax * grassVisibility, rand(pos.zyx) * falloff);
+				float forward = rand(pos.yyz) * _BladeBendDistance * grassVisibility;
 
 #ifdef DRY_GRASS_ON
 				float dryRate = tex2Dlod(_DryGrassMap, float4(-input[0].uv, 0, 0)).r;

Assets/Scripts/CLOiSimPlugins/MicomPlugin.cs

@@ -7,6 +7,7 @@
 using System.Collections.Generic;
 using System.Text;
 using System.Linq;
+using System;
 using Any = cloisim.msgs.Any;
 using UnityEngine;
 
@@ -88,6 +89,11 @@ private void SetupMicom()
 			SetWheel();
 		}
 
+		if (GetPluginParameters().IsValidNode("mowing"))
+		{
+			SetMowing();
+		}
+
 		if (GetPluginParameters().IsValidNode("battery"))
 		{
 			SetBattery();
@@ -170,6 +176,26 @@ private void SetWheelPID()
 		_motorControl.SetPID(P, I, D, iMin, iMax, outputMin, outputMax);
 	}
 
+	private void SetMowing()
+	{
+		var targetBladeName = GetPluginParameters().GetAttributeInPath<string>("mowing/blade", "target");
+		if (!string.IsNullOrEmpty(targetBladeName))
+		{
+			var linkHelpers = GetComponentsInChildren<SDF.Helper.Link>();
+			var targetBlade = linkHelpers.FirstOrDefault(x => x.name == targetBladeName);
+
+			if (targetBlade != null)
+			{
+				var mowingBlade = targetBlade.gameObject.AddComponent<MowingBlade>();
+
+				mowingBlade.HeightMin = GetPluginParameters().GetValue<float>("mowing/blade/height/min", 0f);
+				mowingBlade.HeightMax = GetPluginParameters().GetValue<float>("mowing/blade/height/max", 0.1f);
+				mowingBlade.RevSpeedMax = GetPluginParameters().GetValue<UInt16>("mowing/blade/rev_speed/max", 1000);
+				mowingBlade.Height = 0;
+			}
+		}
+	}
+
 	private void SetBattery()
 	{
 		if (GetPluginParameters().GetValues<string>("battery/voltage", out var batteryList))