Fix to addAgents for proc scenes.

unity/Assets/Editor/Build.cs

@@ -122,7 +122,7 @@ private static List<string> GetAllScenePaths() {
         }
 
         // uncomment for faster builds for testing
-        return scenes; //.Where(x => x.Contains("FloorPlan1_") || x.Contains("Procedural")).ToList();
+        return scenes; //.Where(x => x.Contains("FloorPlan") || x.Contains("Procedural.unity")).ToList(); //.Where(x => x.Contains("FloorPlan1_") || x.Contains("Procedural")).ToList();
     }
 
     private static List<string> GetScenesFromEnv() {

unity/Assets/Scripts/AgentManager.cs

@@ -276,16 +276,16 @@ public void Initialize(ServerAction action) {
         if (action.alwaysReturnVisibleRange) {
             ((PhysicsRemoteFPSAgentController)primaryAgent).alwaysReturnVisibleRange = action.alwaysReturnVisibleRange;
         }
+
         //if multi agent requested, add duplicates of primary agent now
-        //note: for Houses, adding multiple agents in will need to be done differently as currently
-        //initializing additional agents assumes the scene is already setup, and Houses initialize the 
-        //primary agent floating in space, then generates the house, then teleports the primary agent.
-        //this will need a rework to make multi agent work as GetReachablePositions is used to position additional
-        //agents, which won't work if we initialize the agent(s) before the scene exists
-        string sceneName = UnityEngine.SceneManagement.SceneManager.GetActiveScene().name;
-        if (!sceneName.StartsWith("Procedural")) {
-            StartCoroutine(addAgents(action));
+        addAgents(action);
+        this.agents[0].m_Camera.depth = 9999;
+        if (action.startAgentsRotatedBy != 0f) {
+            RotateAgentsByRotatingUniverse(action.startAgentsRotatedBy);
+        } else {
+            ResetSceneBounds();
         }
+        this.agentManagerState = AgentState.ActionComplete;
     }
 
     private void SetUpLocobotController(ServerAction action) {
@@ -348,28 +348,30 @@ public BaseFPSAgentController PrimaryAgent {
         get => this.primaryAgent;
     }
 
-    private IEnumerator addAgents(ServerAction action) {
-        yield return null;
-        Vector3[] reachablePositions = primaryAgent.getReachablePositions(2.0f);
-        for (int i = 1; i < action.agentCount && this.agents.Count < Math.Min(agentColors.Length, action.agentCount); i++) {
-            action.x = reachablePositions[i + 4].x;
-            action.y = reachablePositions[i + 4].y;
-            action.z = reachablePositions[i + 4].z;
-            addAgent(action);
-            yield return null; // must do this so we wait a frame so that when we CapsuleCast we see the most recently added agent
-        }
-        for (int i = 0; i < this.agents.Count; i++) {
-            this.agents[i].m_Camera.depth = 1;
-        }
-        this.agents[0].m_Camera.depth = 9999;
+    private void addAgents(ServerAction action) {
+        if (action.agentCount > 1) {
+            // note: for procedural scenes, adding multiple agents in will need to be done differently as currently
+            // initializing additional agents assumes the scene is already setup, and Houses initialize the
+            // primary agent floating in space, then generates the house, then teleports the primary agent.
+            // this will need a rework to make multi agent work as GetReachablePositions is used to position additional
+            // agents, which won't work if we initialize the agent(s) before the scene exists
+            if (UnityEngine.SceneManagement.SceneManager.GetActiveScene().name.StartsWith("Procedural")) {
+                throw new NotImplementedException($"Procedural scenes only support a single agent currently.");
+            }
 
-        if (action.startAgentsRotatedBy != 0f) {
-            RotateAgentsByRotatingUniverse(action.startAgentsRotatedBy);
-        } else {
-            ResetSceneBounds();
+            Physics.SyncTransforms();
+            Vector3[] reachablePositions = primaryAgent.getReachablePositions(2.0f);
+            for (int i = 1; i < action.agentCount && this.agents.Count < Math.Min(agentColors.Length, action.agentCount); i++) {
+                action.x = reachablePositions[i + 4].x;
+                action.y = reachablePositions[i + 4].y;
+                action.z = reachablePositions[i + 4].z;
+                addAgent(action);
+                Physics.SyncTransforms(); // must do this so that when we CapsuleCast we see the most recently added agent
+            }
+            for (int i = 1; i < this.agents.Count; i++) {
+                this.agents[i].m_Camera.depth = 1;
+            }
         }
-
-        this.agentManagerState = AgentState.ActionComplete;
     }
 
     public void ResetSceneBounds() {