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// Copyright 2019 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using UnityEngine;
namespace Mujoco {
[RequireComponent(typeof(MjShapeComponent))]
[RequireComponent(typeof(MeshFilter))]
[ExecuteInEditMode]
public class MjMeshFilter : MonoBehaviour {
private MjShapeComponent _geom;
private Vector4 _shapeChangeStamp;
private MeshFilter _meshFilter;
protected void Awake() {
_geom = GetComponent<MjShapeComponent>();
_shapeChangeStamp = new Vector4(0, 0, 0, -1);
_meshFilter = GetComponent<MeshFilter>();
}
protected void Update() {
var currentChangeStamp = _geom.GetChangeStamp();
if ((_shapeChangeStamp - currentChangeStamp).magnitude <= 1e-3f) {
return;
}
_shapeChangeStamp = currentChangeStamp;
Tuple<Vector3[], int[]> meshData = _geom.BuildMesh();
if (meshData == null) {
throw new ArgumentException("Unsupported geom shape detected");
}
DisposeCurrentMesh();
var mesh = new Mesh();
// Name this mesh to easily track resources in Unity analysis tools.
mesh.name = $"Mujoco mesh for {gameObject.name}, id:{mesh.GetInstanceID()}";
_meshFilter.sharedMesh = mesh;
mesh.vertices = meshData.Item1;
mesh.triangles = meshData.Item2;
mesh.RecalculateNormals();
mesh.RecalculateTangents();
}
protected void OnDestroy() {
DisposeCurrentMesh();
}
// Dynamically created meshes with no references are only disposed automatically on scene changes.
// This prevents resource leaks in case the host environment doesn't reload scenes.
private void DisposeCurrentMesh() {
if (_meshFilter.sharedMesh != null) {
#if UNITY_EDITOR
DestroyImmediate(_meshFilter.sharedMesh);
#else
Destroy(_meshFilter.sharedMesh);
#endif
}
}
}
}
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