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 Create_FromStlVhacdRuntime_CubeMesh() { // Force runtime mode to set testing package root RuntimeUrdf.runtimeModeEnabled = true; UrdfAssetPathHandler.SetPackageRoot("Packages/com.unity.robotics.urdf-importer/Tests/Runtime/Assets/URDF/cube/"); UrdfRobotExtensions.importsettings = ImportSettings.DefaultSettings(); 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)); // Verify geometry created in Hierarchy var urdfCollision = parent.GetComponentInChildren <UrdfCollision>().transform; var mesh = urdfCollision.Find("cube/cube_0").gameObject; Assert.IsTrue(mesh.activeInHierarchy); Assert.IsNotNull(mesh.GetComponent <MeshCollider>()); Assert.AreEqual(8, mesh.GetComponent <MeshCollider>().sharedMesh.vertexCount); Assert.IsTrue(Vector3.Distance(Vector3.one * 15f, mesh.GetComponent <MeshCollider>().sharedMesh.bounds.extents) < scaleDelta); // Verify geometry created in Assets Assert.IsNotNull(AssetDatabase.FindAssets("cube t:mesh", new string[] { "Packages/com.unity.robotics.urdf-importer/Tests/Runtime/Assets/URDF/cube/meshes" })); AssetDatabase.DeleteAsset("Packages/com.unity.robotics.urdf-importer/Tests/Runtime/Assets/URDF/cube/meshes/cube_1.asset"); 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); }