Initial release of the Unity plugin.

PiperOrigin-RevId: 425947505

unity/Editor/Importer/StlMeshImporter.cs

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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.IO;
+using System.Linq;
+using UnityEditor.AssetImporters;
+using UnityEngine;
+
+namespace Mujoco {
+// Importer for STL mesh files.
+[ScriptedImporter(version: 1, ext: "stl")]
+public class StlMeshImporter : ScriptedImporter {
+
+  public override void OnImportAsset(AssetImportContext ctx) {
+    var assetName = Path.GetFileNameWithoutExtension(ctx.assetPath);
+    var modelContents = File.ReadAllBytes(ctx.assetPath);
+
+    var mesh = StlMeshParser.ParseBinary(modelContents, Vector3.one);
+
+    ctx.AddObjectToAsset(assetName, mesh);
+    ctx.SetMainObject(mesh);
+  }
+}
+}