AIRO-274 Convex decomposition for collision meshes using VHACD (#2)

* 1. Adding VHACD submodule 2. Updating mesh URDF mesh import scripts

* Updating to new VHACD structure

Co-authored-by: Devin Miller <devin.miller@unity3d.com>

Author: vidurvij-Unity

.DS_Store

@@ -0,0 +1,3 @@
+[submodule "VHACD"]
+	path = Editor/VHACD
+	url = https://github.com/Unity-Technologies/VHACD

.gitmodules

@@ -8,17 +8,19 @@ namespace RosSharp.Urdf.Editor
     public class FileImportMenu : EditorWindow
     {
         public string urdfFile;
-        public axisType choosenAxis = axisType.yAxis;
+        public ImportSettings settings = new ImportSettings();
         private static string[] windowOptions = { };
 
         private void OnGUI()
         {
             //Styles definitions
+
             GUIStyle titleStyle = new GUIStyle(EditorStyles.boldLabel)
             {
-                alignment = TextAnchor.MiddleCenter,
+                alignment = TextAnchor.MiddleLeft,
                 fontSize = 13
             };
+
             GUIStyle buttonStyle = new GUIStyle(EditorStyles.miniButtonRight) { fixedWidth = 75 };
 
             //Window title
@@ -28,17 +30,27 @@ private void OnGUI()
             //Select the original up axis of the imported mesh
             GUILayout.Space(5);
             EditorGUILayout.BeginHorizontal();
-            choosenAxis = (axisType)EditorGUILayout.EnumPopup(
-                "Select Axis Type" , choosenAxis);
+            settings.choosenAxis = (ImportSettings.axisType)EditorGUILayout.EnumPopup(
+                "Select Axis Type" , settings.choosenAxis);
             EditorGUILayout.EndHorizontal();
 
+            //Window title
+            GUILayout.Space(10);
+            GUILayout.Label("Select Convex Decomposer", titleStyle);
+
+            //Select the mesh decomposer
+            GUILayout.Space(5);
+            EditorGUILayout.BeginHorizontal();
+            settings.convexMethod = (ImportSettings.convexDecomposer)EditorGUILayout.EnumPopup(
+                "Mesh Decomposer", settings.convexMethod);
+            EditorGUILayout.EndHorizontal();
 
             //Import Robot button
             GUILayout.Space(10);
             if (GUILayout.Button("Import URDF"))
             {
                 if (urdfFile != "")
-                    UrdfRobotExtensions.Create(urdfFile,choosenAxis);
+                    UrdfRobotExtensions.Create(urdfFile,settings);
                 Close();
             }
 

Editor/MenuItems/FileImportMenu.cs

@@ -2,6 +2,8 @@
 
 using UnityEngine;
 using UnityEditor;
+using System.Collections.Generic;
+using MeshProcess;
 
 namespace RosSharp.Urdf.Editor
 {
@@ -94,16 +96,37 @@ public static void CreateMatchingMeshCollision(Transform parent, Transform visua
         private static void ConvertMeshToColliders(GameObject gameObject, bool setConvex = true)
         {
             MeshFilter[] meshFilters = gameObject.GetComponentsInChildren<MeshFilter>();
-            foreach (MeshFilter meshFilter in meshFilters)
+            if (UrdfRobotExtensions.importsettings.convexMethod == ImportSettings.convexDecomposer.unity)
             {
-                GameObject child = meshFilter.gameObject;
-                MeshCollider meshCollider = child.AddComponent<MeshCollider>();
-                meshCollider.sharedMesh = meshFilter.sharedMesh;
+                foreach (MeshFilter meshFilter in meshFilters)
+                {
+                    GameObject child = meshFilter.gameObject;
+                    MeshCollider meshCollider = child.AddComponent<MeshCollider>();
+                    meshCollider.sharedMesh = meshFilter.sharedMesh;
 
-                meshCollider.convex = setConvex;
+                    meshCollider.convex = setConvex;
 
-                Object.DestroyImmediate(child.GetComponent<MeshRenderer>());
-                Object.DestroyImmediate(meshFilter);
+                    Object.DestroyImmediate(child.GetComponent<MeshRenderer>());
+                    Object.DestroyImmediate(meshFilter);
+                }
+            }
+            else
+            {
+                foreach (MeshFilter meshFilter in meshFilters)
+                {                   
+                    GameObject child = meshFilter.gameObject;
+                    VHACD decomposer = child.AddComponent<VHACD>();
+                    List<Mesh> colliderMeshes = decomposer.GenerateConvexMeshes(meshFilter.sharedMesh);
+                    foreach (Mesh collider in colliderMeshes)
+                    {
+                        MeshCollider current = child.AddComponent<MeshCollider>();
+                        current.sharedMesh = collider;
+                        current.convex = setConvex;
+                    }
+                    Component.DestroyImmediate(child.GetComponent<VHACD>());
+                    Object.DestroyImmediate(child.GetComponent<MeshRenderer>());
+                    Object.DestroyImmediate(meshFilter);
+                }
             }
         }
     }

Editor/NeedsRuntimeConversion/Extensions/UrdfGeometryCollision.cs

@@ -1,6 +1,4 @@
-  
-
-using System.Collections.Generic;
+using System.Collections.Generic;
 using System.IO;
 using System.Linq;
 using UnityEditor;
@@ -12,7 +10,7 @@ namespace RosSharp.Urdf.Editor
     public static class UrdfRobotExtensions
     {
         static string tagName = "robot";
-        static public Urdf.axisType robotAxis;
+        public static ImportSettings importsettings;
 
         public static void Create()
         {
@@ -32,9 +30,10 @@ public static void Create()
 
         #region Import
 
-        public static void Create(string filename, Urdf.axisType meshAxis = axisType.yAxis)
+        public static void Create(string filename, ImportSettings settings)
         {
             CreateTag();
+            importsettings = settings;
             Robot robot = new Robot(filename);
 
             if (!UrdfAssetPathHandler.IsValidAssetPath(robot.filename))
@@ -51,7 +50,7 @@ public static void Create(string filename, Urdf.axisType meshAxis = axisType.yAx
 
             robotGameObject.AddComponent<RosSharp.Control.Controller>();
 
-            robotGameObject.GetComponent<UrdfRobot>().SetAxis(meshAxis);
+            robotGameObject.GetComponent<UrdfRobot>().SetAxis(settings.choosenAxis);
 
             UrdfAssetPathHandler.SetPackageRoot(Path.GetDirectoryName(robot.filename));
             UrdfMaterial.InitializeRobotMaterials(robot);
@@ -63,10 +62,10 @@ public static void Create(string filename, Urdf.axisType meshAxis = axisType.yAx
             Undo.RegisterCreatedObjectUndo(robotGameObject, "Create " + robotGameObject.name);
             Selection.activeObject = robotGameObject;
 
-            CorrectAxis(robotGameObject, meshAxis);
+            CorrectAxis(robotGameObject, settings.choosenAxis);
         }
 
-        public static void CorrectAxis(GameObject robot, Urdf.axisType axis = axisType.yAxis)
+        public static void CorrectAxis(GameObject robot, ImportSettings.axisType axis = ImportSettings.axisType.yAxis)
         {
             UrdfVisual[] visualMeshList = robot.GetComponentsInChildren<UrdfVisual>();
             UrdfCollision[] collisionMeshList = robot.GetComponentsInChildren<UrdfCollision>();
@@ -76,7 +75,7 @@ public static void CorrectAxis(GameObject robot, Urdf.axisType axis = axisType.y
             Quaternion correctZtoY = Quaternion.Euler(-90, 0, 90);
             Quaternion correction = Quaternion.identity;
 
-            if (axis == Urdf.axisType.zAxis)
+            if (axis == ImportSettings.axisType.zAxis)
                 correction = correctZtoY;
 
 

Editor/NeedsRuntimeConversion/Extensions/UrdfRobotExtensions.cs

@@ -2,16 +2,17 @@
     "name": "Unity.Robotics.URDFImporter.Editor",
     "rootNamespace": "RosSharp.Urdf.Editor",
     "references": [
-        "GUID:b1ef917f7a8a86a4eb639ec2352edbf8"
+        "GUID:b1ef917f7a8a86a4eb639ec2352edbf8",
+        "GUID:6a697808d7c80a549b57420070d6c4f3"
     ],
     "includePlatforms": [
         "Editor"
     ],
     "excludePlatforms": [],
-    "allowUnsafeCode": false,
+    "allowUnsafeCode": true,
     "overrideReferences": false,
     "precompiledReferences": [],
-    "autoReferenced": false,
+    "autoReferenced": true,
     "defineConstraints": [],
     "versionDefines": [],
     "noEngineReferences": false