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 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);
}