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 override void OnInspectorGUI()
{
urdfCollisions = (UrdfCollisions)target;
GUILayout.Space(10);
geometryType = (GeometryTypes)EditorGUILayout.EnumPopup("Type of collision", geometryType);
if (GUILayout.Button("Add collision"))
{
UrdfCollisionExtensions.Create(urdfCollisions.transform, geometryType);
}
}
public void Create_GeometryMesh_DefaultGeometry()
{
RuntimeUrdf.runtimeModeEnabled = false;
var parent = new GameObject("Parent").transform;
var collision = UrdfCollisionExtensions.Create(parent, GeometryTypes.Mesh);
Assert.IsNotNull(collision);
Assert.IsTrue(collision.gameObject.activeInHierarchy);
Assert.AreEqual(GeometryTypes.Mesh, collision.geometryType);
Object.DestroyImmediate(parent.gameObject);
}
public void ExportCollisionData_DefaultGeometry_Succeeds()
{
RuntimeUrdf.runtimeModeEnabled = false;
var parent = new GameObject("Parent").transform;
var collisionComponent = UrdfCollisionExtensions.Create(parent, GeometryTypes.Box);
var exported = UrdfCollisionExtensions.ExportCollisionData(collisionComponent);
Assert.IsNotNull(exported.geometry.box);
Assert.AreEqual(new double[] { 1, 1, 1 }, exported.geometry.box.size);
Assert.IsNull(exported.name);
Object.DestroyImmediate(parent.gameObject);
}
public void Create_LinkCollision_DefaultGeometry()
{
RuntimeUrdf.runtimeModeEnabled = false;
var parent = new GameObject("Parent").transform;
var geometry = new Geometry(box: new Box(new double[] { 1, 1, 1 }));
var collision = UrdfCollisionExtensions.Create(parent, new Collision(geometry));
Assert.IsNotNull(collision);
Assert.IsTrue(collision.gameObject.activeInHierarchy);
Assert.AreEqual(GeometryTypes.Box, collision.geometryType);
Assert.IsTrue(collision.GetComponentsInChildren <BoxCollider>().Length > 0);
Object.DestroyImmediate(parent.gameObject);
}
public void Create_GeometryMeshWithVisual_NondefaultScale()
{
RuntimeUrdf.runtimeModeEnabled = false;
var parent = new GameObject("Parent").transform;
var copy = new GameObject("Copy").transform;
copy.transform.localScale = Vector3.one * 2f;
var collision = UrdfCollisionExtensions.Create(parent, GeometryTypes.Mesh, copy);
Assert.IsNotNull(collision);
Assert.IsTrue(collision.gameObject.activeInHierarchy);
Assert.AreEqual(GeometryTypes.Mesh, collision.geometryType);
Assert.AreEqual(Vector3.one * 2f, collision.transform.localScale);
Object.DestroyImmediate(parent.gameObject);
}
