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 CheckForUrdfCompatibility_NoChildren_False()
{
var parent = new GameObject("Parent").transform;
Assert.IsFalse(UrdfGeometry.CheckForUrdfCompatibility(parent, GeometryTypes.Box));
Object.DestroyImmediate(parent.gameObject);
}
public void IsTransformed_Default_False(Geometry geometry, Vector3 scale, GeometryTypes type)
{
var parent = new GameObject("Parent").transform;
Assert.IsFalse(UrdfGeometry.IsTransformed(parent, UrdfGeometry.GetGeometryType(geometry)));
Object.DestroyImmediate(parent.gameObject);
}
public void IsTransformed_Rotation_True(Geometry geometry, Vector3 scale, GeometryTypes type)
{
var parent = new GameObject("Parent").transform;
parent.localRotation = Quaternion.Euler(0, 30, 0);
Assert.IsTrue(UrdfGeometry.IsTransformed(parent, UrdfGeometry.GetGeometryType(geometry)));
Object.DestroyImmediate(parent.gameObject);
}
public void IsTransformed_Scale_True(Geometry geometry, Vector3 scale, GeometryTypes type)
{
var parent = new GameObject("Parent").transform;
parent.localScale = Vector3.one * 2f;
Assert.IsTrue(UrdfGeometry.IsTransformed(parent, UrdfGeometry.GetGeometryType(geometry)));
Object.DestroyImmediate(parent.gameObject);
}
public void SetScale_Box_IncreaseLocalScale(Geometry geometry, Vector3 scale, GeometryTypes type)
{
var parent = new GameObject("Parent").transform;
UrdfGeometry.SetScale(parent, geometry, UrdfGeometry.GetGeometryType(geometry));
Assert.AreEqual(scale, parent.transform.localScale);
Object.DestroyImmediate(parent.gameObject);
}
public void CheckForUrdfCompatibility_UnityPrimitive_True()
{
var parent = new GameObject("Parent").transform;
var child = new GameObject("Child").transform;
child.parent = parent;
Assert.IsTrue(UrdfGeometry.CheckForUrdfCompatibility(parent, GeometryTypes.Box));
Object.DestroyImmediate(parent.gameObject);
}
public void CheckForUrdfCompatibility_Transformed_False()
{
var parent = new GameObject("Parent").transform;
var child = new GameObject("Child").transform;
child.parent = parent;
child.localPosition = Vector3.one;
Assert.IsFalse(UrdfGeometry.CheckForUrdfCompatibility(parent, GeometryTypes.Box));
Object.DestroyImmediate(parent.gameObject);
}
public void CheckForUrdfCompatibility_MultipleChildren_False()
{
var parent = new GameObject("Parent").transform;
var child0 = new GameObject("Child0").transform;
var child1 = new GameObject("Child1").transform;
child0.parent = parent;
child1.parent = parent;
Assert.IsFalse(UrdfGeometry.CheckForUrdfCompatibility(parent, GeometryTypes.Box));
Object.DestroyImmediate(parent.gameObject);
}
public void ExportGeometryData_Sphere_DefaultGeometry()
{
var parent = new GameObject("Parent").transform;
UrdfGeometryCollision.Create(parent, GeometryTypes.Sphere);
var t = parent.Find("Sphere");
var export = UrdfGeometry.ExportGeometryData(GeometryTypes.Sphere, t);
Assert.IsNotNull(export);
Assert.AreEqual(0.5, export.sphere.radius);
Assert.AreEqual(typeof(Sphere), export.sphere.GetType());
Assert.IsNull(export.box);
Assert.IsNull(export.cylinder);
Assert.IsNull(export.mesh);
Object.DestroyImmediate(parent.gameObject);
}
public void ExportGeometryData_Box_DefaultGeometry()
{
var parent = new GameObject("Parent").transform;
UrdfGeometryCollision.Create(parent, GeometryTypes.Box);
var t = parent.Find("Box");
var export = UrdfGeometry.ExportGeometryData(GeometryTypes.Box, t);
Assert.IsNotNull(export);
Assert.AreEqual(new double[] { 1, 1, 1 }, export.box.size);
Assert.AreEqual(typeof(Box), export.box.GetType());
Assert.IsNull(export.cylinder);
Assert.IsNull(export.sphere);
Assert.IsNull(export.mesh);
Object.DestroyImmediate(parent.gameObject);
}
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);
}
private void DisplayWarnings()
{
if (!urdfVisual.transform.HasExactlyOneChild())
{
GUILayout.Space(5);
EditorGUILayout.HelpBox("Visual element must have one and only one child Geometry element.", MessageType.Error);
}
else if (UrdfGeometry.IsTransformed(urdfVisual.transform.GetChild(0), urdfVisual.geometryType))
{
GUILayout.Space(5);
EditorGUILayout.HelpBox("Changes to the transform of the child Geometry element cannot be exported to URDF. " +
"Make any translation, rotation, or scale changes to this Visual object instead.", MessageType.Error);
if (GUILayout.Button("Fix transformations"))
{
bool transferRotation = urdfVisual.geometryType != GeometryTypes.Mesh;
urdfVisual.transform.MoveChildTransformToParent(transferRotation);
}
}
}
public void ExportGeometryData_Cylinder_DefaultGeometry()
{
// Force runtime mode to avoid creating asset file
RuntimeUrdf.runtimeModeEnabled = true;
var parent = new GameObject("Parent").transform;
UrdfGeometryCollision.Create(parent, GeometryTypes.Cylinder);
var t = parent.Find("Cylinder");
var export = UrdfGeometry.ExportGeometryData(GeometryTypes.Cylinder, t);
Assert.IsNotNull(export);
Assert.AreEqual(0.5, export.cylinder.radius);
Assert.AreEqual(2, export.cylinder.length);
Assert.AreEqual(typeof(Cylinder), export.cylinder.GetType());
Assert.IsNull(export.box);
Assert.IsNull(export.sphere);
Assert.IsNull(export.mesh);
Object.DestroyImmediate(parent.gameObject);
}
public void GetGeometryTypes_All_DefaultEnums(Geometry geometry, Vector3 scale, GeometryTypes type)
{
Assert.AreEqual(type, UrdfGeometry.GetGeometryType(geometry));
}
