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 static void ExportRobotToUrdf(this UrdfRobot urdfRobot, string exportRootFolder, string exportDestination)
{
UrdfExportPathHandler.SetExportPath(exportRootFolder, exportDestination);
urdfRobot.FilePath = Path.Combine(UrdfExportPathHandler.GetExportDestination(), urdfRobot.name + ".urdf");
Robot robot = urdfRobot.ExportRobotData();
if (robot == null)
{
return;
}
robot.WriteToUrdf();
UnityEngine.Debug.Log(robot.name + " was exported to " + UrdfExportPathHandler.GetExportDestination());
UrdfMaterial.Materials.Clear();
UrdfExportPathHandler.Clear();
AssetDatabase.Refresh();
}
