public void Create_CylinderMesh_AssetCreated()
{
// Force runtime mode to set testing package root
RuntimeUrdf.runtimeModeEnabled = true;
UrdfAssetPathHandler.SetPackageRoot("Assets/Tests/Runtime/GeometryTests");
RuntimeUrdf.runtimeModeEnabled = false;
var parent = new GameObject("Parent").transform;
UrdfGeometryCollision.Create(parent, GeometryTypes.Cylinder);
// Verify Cylinder created in Hierarchy
var createdCylinder = parent.Find("Cylinder").gameObject;
Assert.IsTrue(createdCylinder.activeInHierarchy);
Assert.IsNotNull(createdCylinder.GetComponent <MeshCollider>());
// Check for standard values on collider
Assert.AreEqual(1864, createdCylinder.GetComponent <MeshCollider>().sharedMesh.vertexCount);
Assert.IsTrue(Vector3.Distance(Vector3.zero, createdCylinder.GetComponent <MeshCollider>().sharedMesh.bounds.center) < centerDelta);
Assert.IsTrue(Vector3.Distance(new Vector3(0.5f, 1f, 0.5f), createdCylinder.GetComponent <MeshCollider>().sharedMesh.bounds.extents) < scaleDelta);
// Verify Cylinder created in Assets
Assert.IsNotNull(RuntimeUrdf.AssetDatabase_FindAssets("Cylinder t:mesh", new string[] { "Assets/Tests/Runtime/GeometryTests" }));
AssetDatabase.DeleteAsset("Assets/Tests/Runtime/GeometryTests/Cylinder.asset");
Object.DestroyImmediate(parent.gameObject);
}
public static string CopyOrCreateMesh(GameObject geometryObject, bool isCollisionGeometry)
{
string prefabPath = GetPrefabPath(geometryObject);
bool foundExistingColladaOrStl = false;
if (prefabPath != null && prefabPath != "")
{
if (Path.GetExtension(prefabPath).ToLower() == ".dae")
{
foundExistingColladaOrStl = true;
}
else //Find STL file that corresponds to the prefab, if it already exists
{
string[] foldersToSearch = { Path.GetDirectoryName(prefabPath) };
string prefabName = Path.GetFileNameWithoutExtension(prefabPath);
foreach (string guid2 in RuntimeUrdf.AssetDatabase_FindAssets(prefabName, foldersToSearch))
{
string possiblePath = RuntimeUrdf.AssetDatabase_GUIDToAssetPath(guid2);
if (possiblePath.ToLower().Contains(".stl"))
{
prefabPath = possiblePath;
foundExistingColladaOrStl = true;
break;
}
}
}
}
if (foundExistingColladaOrStl)
{
return(CopyMeshToExportDestination(prefabPath));
}
return(CreateNewStlFile(geometryObject, isCollisionGeometry));
}
public void AssetDatabase_FindAssets_AssetAsRoot()
{
RuntimeUrdf.runtimeModeEnabled = false;
Assert.IsTrue(RuntimeUrdf.AssetDatabase_FindAssets("TestAsset", new string[] { "Assets/Tests" }).Length > 0);
}