private static GameObject CreateCylinderCollider()
{
GameObject gameObject = new GameObject("Cylinder");
MeshCollider meshCollider = gameObject.AddComponent <MeshCollider>();
Link.Geometry.Cylinder cylinder = new Link.Geometry.Cylinder(0.5, 2); //Default unity cylinder sizes
meshCollider.sharedMesh = CreateCylinderMesh(cylinder);
meshCollider.convex = true;
return(gameObject);
}
private Godot.Mesh CreateCylinder(
Link.Geometry.Cylinder cyl,
SpatialMaterial mat = null)
{
CylinderMesh temp = new CylinderMesh();
if (mat != null)
{
temp.Material = mat;
}
temp.RadialSegments = 16;
temp.TopRadius = (float)cyl.radius;
temp.BottomRadius = (float)cyl.radius;
temp.Height = (float)cyl.length;
return(temp);
}
public void GenerateConvexMeshes_Cylinder_NullInput()
{
// Create primitive cylinder with VHACD
GameObject geometryGameObject = new GameObject("Cylinder");
MeshFilter meshFilter = geometryGameObject.AddComponent <MeshFilter>();
Link.Geometry.Cylinder cylinder = new Link.Geometry.Cylinder(0.5, 2); //Default unity cylinder sizes
meshFilter.sharedMesh = UrdfGeometry.CreateCylinderMesh(cylinder);
GameObject go = meshFilter.gameObject;
VHACD decomposer = go.AddComponent <VHACD>();
List <Mesh> colliderMeshes = decomposer.GenerateConvexMeshes(null);
Assert.IsNotNull(meshFilter.sharedMesh);
Assert.IsTrue(colliderMeshes.Count > 0);
Component.DestroyImmediate(go.GetComponent <VHACD>());
Object.DestroyImmediate(go.GetComponent <MeshRenderer>());
Object.DestroyImmediate(meshFilter);
}
public static Mesh CreateCylinderMesh(Link.Geometry.Cylinder cylinder)
{
float height = (float)cylinder.length;
float bottomRadius = (float)cylinder.radius;
float topRadius = (float)cylinder.radius;
int nbSides = 30;
int nbHeightSeg = 30;
int nbVerticesCap = nbSides + 1;
#region Vertices
// bottom + top + sides
Vector3[] vertices = new Vector3[nbVerticesCap + nbVerticesCap + nbSides * nbHeightSeg * 2 + 2];
int vert = 0;
float _2pi = Mathf.PI * 2f;
// Bottom cap
float top = 0.5f * height;
float bottom = -0.5f * height;
vertices[vert++] = new Vector3(0f, bottom, 0f);
while (vert <= nbSides)
{
float rad = (float)vert / nbSides * _2pi;
vertices[vert] = new Vector3(Mathf.Cos(rad) * bottomRadius, bottom, Mathf.Sin(rad) * bottomRadius);
vert++;
}
// Top cap
vertices[vert++] = new Vector3(0f, top, 0f);
while (vert <= nbSides * 2 + 1)
{
float rad = (float)(vert - nbSides - 1) / nbSides * _2pi;
vertices[vert] = new Vector3(Mathf.Cos(rad) * topRadius, top, Mathf.Sin(rad) * topRadius);
vert++;
}
// Sides
int v = 0;
while (vert <= vertices.Length - 4)
{
float rad = (float)v / nbSides * _2pi;
vertices[vert] = new Vector3(Mathf.Cos(rad) * topRadius, top, Mathf.Sin(rad) * topRadius);
vertices[vert + 1] = new Vector3(Mathf.Cos(rad) * bottomRadius, bottom, Mathf.Sin(rad) * bottomRadius);
vert += 2;
v++;
}
vertices[vert] = vertices[nbSides * 2 + 2];
vertices[vert + 1] = vertices[nbSides * 2 + 3];
#endregion
#region Normales
// bottom + top + sides
Vector3[] normales = new Vector3[vertices.Length];
vert = 0;
// Bottom cap
while (vert <= nbSides)
{
normales[vert++] = Vector3.down;
}
// Top cap
while (vert <= nbSides * 2 + 1)
{
normales[vert++] = Vector3.up;
}
// Sides
v = 0;
while (vert <= vertices.Length - 4)
{
float rad = (float)v / nbSides * _2pi;
float cos = Mathf.Cos(rad);
float sin = Mathf.Sin(rad);
normales[vert] = new Vector3(cos, 0f, sin);
normales[vert + 1] = normales[vert];
vert += 2;
v++;
}
normales[vert] = normales[nbSides * 2 + 2];
normales[vert + 1] = normales[nbSides * 2 + 3];
#endregion
#region UVs
Vector2[] uvs = new Vector2[vertices.Length];
// Bottom cap
int u = 0;
uvs[u++] = new Vector2(0.5f, 0.5f);
while (u <= nbSides)
{
float rad = (float)u / nbSides * _2pi;
uvs[u] = new Vector2(Mathf.Cos(rad) * .5f + .5f, Mathf.Sin(rad) * .5f + .5f);
u++;
}
// Top cap
uvs[u++] = new Vector2(0.5f, 0.5f);
while (u <= nbSides * 2 + 1)
{
float rad = (float)u / nbSides * _2pi;
uvs[u] = new Vector2(Mathf.Cos(rad) * .5f + .5f, Mathf.Sin(rad) * .5f + .5f);
u++;
}
// Sides
int u_sides = 0;
while (u <= uvs.Length - 4)
{
float t = (float)u_sides / nbSides;
uvs[u] = new Vector3(t, 1f);
uvs[u + 1] = new Vector3(t, 0f);
u += 2;
u_sides++;
}
uvs[u] = new Vector2(1f, 1f);
uvs[u + 1] = new Vector2(1f, 0f);
#endregion
#region Triangles
int nbTriangles = nbSides + nbSides + nbSides * 2;
int[] triangles = new int[nbTriangles * 3 + 3];
// Bottom cap
int tri = 0;
int i = 0;
while (tri < nbSides - 1)
{
triangles[i] = 0;
triangles[i + 1] = tri + 1;
triangles[i + 2] = tri + 2;
tri++;
i += 3;
}
triangles[i] = 0;
triangles[i + 1] = tri + 1;
triangles[i + 2] = 1;
tri++;
i += 3;
// Top cap
//tri++;
while (tri < nbSides * 2)
{
triangles[i] = tri + 2;
triangles[i + 1] = tri + 1;
triangles[i + 2] = nbVerticesCap;
tri++;
i += 3;
}
triangles[i] = nbVerticesCap + 1;
triangles[i + 1] = tri + 1;
triangles[i + 2] = nbVerticesCap;
tri++;
i += 3;
tri++;
// Sides
while (tri <= nbTriangles)
{
triangles[i] = tri + 2;
triangles[i + 1] = tri + 1;
triangles[i + 2] = tri + 0;
tri++;
i += 3;
triangles[i] = tri + 1;
triangles[i + 1] = tri + 2;
triangles[i + 2] = tri + 0;
tri++;
i += 3;
}
#endregion
Mesh mesh = new Mesh
{
vertices = vertices,
normals = normales,
uv = uvs,
triangles = triangles
};
mesh.RecalculateBounds();
return(mesh);
}
