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 void CreateMatchingMeshCollision_NoVisual_Null()
{
var visualToCopy = new GameObject("VisualToCopy").transform;
var parent = new GameObject("Parent").transform;
UrdfGeometryCollision.CreateMatchingMeshCollision(parent, visualToCopy);
Assert.AreEqual(0, parent.childCount);
Object.DestroyImmediate(parent.gameObject);
Object.DestroyImmediate(visualToCopy.gameObject);
}
public void Create_Mesh_UnityPrimitive()
{
var parent = new GameObject("Parent").transform;
UrdfGeometryCollision.Create(parent, GeometryTypes.Mesh);
// Verify geometry created in Hierarchy
var mesh = parent.Find("Mesh").gameObject;
Assert.IsTrue(mesh.activeInHierarchy);
Assert.IsNotNull(mesh.GetComponent <MeshCollider>());
Assert.AreEqual(new Bounds(Vector3.zero, Vector3.zero), mesh.GetComponent <MeshCollider>().bounds);
Object.DestroyImmediate(parent.gameObject);
}
public void Create_Sphere_UnityPrimitive()
{
var parent = new GameObject("Parent").transform;
UrdfGeometryCollision.Create(parent, GeometryTypes.Sphere);
// Verify geometry created in Hierarchy
var sphere = parent.Find("Sphere").gameObject;
Assert.IsTrue(sphere.activeInHierarchy);
Assert.IsNotNull(sphere.GetComponent <SphereCollider>());
Assert.AreEqual(new Bounds(Vector3.zero, Vector3.one), sphere.GetComponent <SphereCollider>().bounds);
Object.DestroyImmediate(parent.gameObject);
}
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);
}
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);
}
