public void ExportGeometryData_MeshUnityDecomposer_DefaultGeometry()
{
// Force runtime mode to set testing package root
RuntimeUrdf.runtimeModeEnabled = true;
UrdfAssetPathHandler.SetPackageRoot("Packages/com.unity.robotics.urdf-importer/Tests/Runtime/Assets/URDF/cube/");
RuntimeUrdf.runtimeModeEnabled = false;
UrdfRobotExtensions.importsettings = ImportSettings.DefaultSettings();
UrdfRobotExtensions.importsettings.convexMethod = ImportSettings.convexDecomposer.unity;
var parent = new GameObject("Parent").transform;
string path = "package://meshes/cube.stl";
var meshGeometry = new Geometry(mesh: new Mesh(path, new double[] { 1, 1, 1 }));
UrdfCollisionExtensions.Create(parent, new Collision(meshGeometry));
UrdfExportPathHandler.SetExportPath("Assets");
var t = parent.GetComponentInChildren <UrdfCollision>().transform.GetChild(0);
var export = UrdfGeometry.ExportGeometryData(GeometryTypes.Mesh, t);
Assert.IsNotNull(export);
Object.DestroyImmediate(parent.gameObject);
List <string> outFailedPaths = new List <string>();
AssetDatabase.DeleteAssets(new string[] { "Assets/meshes" }, outFailedPaths);
}
public void Create_FromStlVhacdRuntime_CubeMesh()
{
// Force runtime mode to set testing package root
RuntimeUrdf.runtimeModeEnabled = true;
UrdfAssetPathHandler.SetPackageRoot("Packages/com.unity.robotics.urdf-importer/Tests/Runtime/Assets/URDF/cube/");
UrdfRobotExtensions.importsettings = ImportSettings.DefaultSettings();
var parent = new GameObject("Parent").transform;
string path = "package://meshes/cube.stl";
var meshGeometry = new Geometry(mesh: new Mesh(path, new double[] { 1, 1, 1 }));
UrdfCollisionExtensions.Create(parent, new Collision(meshGeometry));
// Verify geometry created in Hierarchy
var urdfCollision = parent.GetComponentInChildren <UrdfCollision>().transform;
var mesh = urdfCollision.Find("cube/cube_0").gameObject;
Assert.IsTrue(mesh.activeInHierarchy);
Assert.IsNotNull(mesh.GetComponent <MeshCollider>());
Assert.AreEqual(8, mesh.GetComponent <MeshCollider>().sharedMesh.vertexCount);
Assert.IsTrue(Vector3.Distance(Vector3.one * 15f, mesh.GetComponent <MeshCollider>().sharedMesh.bounds.extents) < scaleDelta);
// Verify geometry created in Assets
Assert.IsNotNull(AssetDatabase.FindAssets("cube t:mesh", new string[] { "Packages/com.unity.robotics.urdf-importer/Tests/Runtime/Assets/URDF/cube/meshes" }));
AssetDatabase.DeleteAsset("Packages/com.unity.robotics.urdf-importer/Tests/Runtime/Assets/URDF/cube/meshes/cube_1.asset");
Object.DestroyImmediate(parent.gameObject);
}
public void CreateMatchingMeshCollision_CubeMesh_CopiedCube()
{
var urdfFile = "Packages/com.unity.robotics.urdf-importer/Tests/Runtime/Assets/URDF/cube/cube.urdf";
UrdfRobotExtensions.importsettings = ImportSettings.DefaultSettings();
UrdfRobotExtensions.importsettings.convexMethod = ImportSettings.convexDecomposer.unity;
var robotObject = UrdfRobotExtensions.CreateRuntime(urdfFile, UrdfRobotExtensions.importsettings);
Transform visualToCopy = robotObject.transform.Find("base_link/Visuals/unnamed/cube");
var parent = new GameObject("Parent").transform;
UrdfGeometryCollision.CreateMatchingMeshCollision(parent, visualToCopy);
Assert.AreEqual(1, parent.childCount);
var mesh = parent.GetChild(0).gameObject;
Assert.IsTrue(mesh.activeInHierarchy);
Assert.IsNotNull(mesh.GetComponent <MeshCollider>());
Assert.AreEqual(36, mesh.GetComponent <MeshCollider>().sharedMesh.vertexCount);
Assert.IsTrue(Vector3.Distance(Vector3.one * 15f, mesh.GetComponent <MeshCollider>().sharedMesh.bounds.extents) < scaleDelta);
Object.DestroyImmediate(parent.gameObject);
Object.DestroyImmediate(robotObject.gameObject);
}
