private static void ConvertMeshToColliders(GameObject gameObject, string location = null, bool setConvex = true)
{
MeshFilter[] meshFilters = gameObject.GetComponentsInChildren <MeshFilter>();
if (UrdfRobotExtensions.importsettings.convexMethod == ImportSettings.convexDecomposer.unity)
{
foreach (MeshFilter meshFilter in meshFilters)
{
GameObject child = meshFilter.gameObject;
MeshCollider meshCollider = child.AddComponent <MeshCollider>();
meshCollider.sharedMesh = meshFilter.sharedMesh;
meshCollider.convex = setConvex;
Object.DestroyImmediate(child.GetComponent <MeshRenderer>());
Object.DestroyImmediate(meshFilter);
}
}
else
{
string templateFileName = "";
string filePath = "";
int meshIndex = 0;
if (!RuntimeUrdf.IsRuntimeMode() && location != null)
{
string meshFilePath = UrdfAssetPathHandler.GetRelativeAssetPathFromUrdfPath(location, false);
templateFileName = Path.GetFileNameWithoutExtension(meshFilePath);
filePath = Path.GetDirectoryName(meshFilePath);
}
foreach (MeshFilter meshFilter in meshFilters)
{
GameObject child = meshFilter.gameObject;
VHACD decomposer = child.AddComponent <VHACD>();
List <Mesh> colliderMeshes = decomposer.GenerateConvexMeshes(meshFilter.sharedMesh);
foreach (Mesh collider in colliderMeshes)
{
if (!RuntimeUrdf.IsRuntimeMode())
{
meshIndex++;
string name = $"{filePath}/{templateFileName}_{meshIndex}.asset";
Debug.Log($"Creating new mesh file: {name}");
RuntimeUrdf.AssetDatabase_CreateAsset(collider, name);
RuntimeUrdf.AssetDatabase_SaveAssets();
}
MeshCollider current = child.AddComponent <MeshCollider>();
current.sharedMesh = collider;
current.convex = setConvex;
}
Component.DestroyImmediate(child.GetComponent <VHACD>());
Object.DestroyImmediate(child.GetComponent <MeshRenderer>());
Object.DestroyImmediate(meshFilter);
}
}
}
public void GenerateConvexMeshes_Cylinder_NullInput()
{
// Create primitive cylinder with VHACD
GameObject geometryGameObject = new GameObject("Cylinder");
MeshFilter meshFilter = geometryGameObject.AddComponent <MeshFilter>();
Link.Geometry.Cylinder cylinder = new Link.Geometry.Cylinder(0.5, 2); //Default unity cylinder sizes
meshFilter.sharedMesh = UrdfGeometry.CreateCylinderMesh(cylinder);
GameObject go = meshFilter.gameObject;
VHACD decomposer = go.AddComponent <VHACD>();
List <Mesh> colliderMeshes = decomposer.GenerateConvexMeshes(null);
Assert.IsNotNull(meshFilter.sharedMesh);
Assert.IsTrue(colliderMeshes.Count > 0);
Component.DestroyImmediate(go.GetComponent <VHACD>());
Object.DestroyImmediate(go.GetComponent <MeshRenderer>());
Object.DestroyImmediate(meshFilter);
}
private static void ConvertMeshToColliders(GameObject gameObject, bool setConvex = true)
{
MeshFilter[] meshFilters = gameObject.GetComponentsInChildren <MeshFilter>();
if (UrdfRobotExtensions.importsettings.convexMethod == ImportSettings.convexDecomposer.unity)
{
foreach (MeshFilter meshFilter in meshFilters)
{
GameObject child = meshFilter.gameObject;
MeshCollider meshCollider = child.AddComponent <MeshCollider>();
meshCollider.sharedMesh = meshFilter.sharedMesh;
meshCollider.convex = setConvex;
Object.DestroyImmediate(child.GetComponent <MeshRenderer>());
Object.DestroyImmediate(meshFilter);
}
}
else
{
foreach (MeshFilter meshFilter in meshFilters)
{
GameObject child = meshFilter.gameObject;
VHACD decomposer = child.AddComponent <VHACD>();
List <Mesh> colliderMeshes = decomposer.GenerateConvexMeshes(meshFilter.sharedMesh);
foreach (Mesh collider in colliderMeshes)
{
MeshCollider current = child.AddComponent <MeshCollider>();
current.sharedMesh = collider;
current.convex = setConvex;
}
Component.DestroyImmediate(child.GetComponent <VHACD>());
Object.DestroyImmediate(child.GetComponent <MeshRenderer>());
Object.DestroyImmediate(meshFilter);
}
}
}
