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 ExportGeometryData_Sphere_DefaultGeometry()
{
var parent = new GameObject("Parent").transform;
UrdfGeometryCollision.Create(parent, GeometryTypes.Sphere);
var t = parent.Find("Sphere");
var export = UrdfGeometry.ExportGeometryData(GeometryTypes.Sphere, t);
Assert.IsNotNull(export);
Assert.AreEqual(0.5, export.sphere.radius);
Assert.AreEqual(typeof(Sphere), export.sphere.GetType());
Assert.IsNull(export.box);
Assert.IsNull(export.cylinder);
Assert.IsNull(export.mesh);
Object.DestroyImmediate(parent.gameObject);
}
public void ExportGeometryData_Box_DefaultGeometry()
{
var parent = new GameObject("Parent").transform;
UrdfGeometryCollision.Create(parent, GeometryTypes.Box);
var t = parent.Find("Box");
var export = UrdfGeometry.ExportGeometryData(GeometryTypes.Box, t);
Assert.IsNotNull(export);
Assert.AreEqual(new double[] { 1, 1, 1 }, export.box.size);
Assert.AreEqual(typeof(Box), export.box.GetType());
Assert.IsNull(export.cylinder);
Assert.IsNull(export.sphere);
Assert.IsNull(export.mesh);
Object.DestroyImmediate(parent.gameObject);
}
public void ExportGeometryData_Cylinder_DefaultGeometry()
{
// Force runtime mode to avoid creating asset file
RuntimeUrdf.runtimeModeEnabled = true;
var parent = new GameObject("Parent").transform;
UrdfGeometryCollision.Create(parent, GeometryTypes.Cylinder);
var t = parent.Find("Cylinder");
var export = UrdfGeometry.ExportGeometryData(GeometryTypes.Cylinder, t);
Assert.IsNotNull(export);
Assert.AreEqual(0.5, export.cylinder.radius);
Assert.AreEqual(2, export.cylinder.length);
Assert.AreEqual(typeof(Cylinder), export.cylinder.GetType());
Assert.IsNull(export.box);
Assert.IsNull(export.sphere);
Assert.IsNull(export.mesh);
Object.DestroyImmediate(parent.gameObject);
}
