Initial release of the Unity plugin.

PiperOrigin-RevId: 425947505

unity/Runtime/Components/MjMeshShape.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.Linq;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+[Serializable]
+public class MjMeshShape : IMjShape {
+
+  public Mesh Mesh;
+
+  public void ToMjcf(XmlElement mjcf, Transform transform) {
+    var scene = MjScene.Instance;
+    var assetName = scene.GenerationContext.AddMeshAsset(Mesh);
+    mjcf.SetAttribute("mesh", assetName);
+  }
+
+  public void FromMjcf(XmlElement mjcf) {
+    // When the asset was parsed and stored its name was sanitized, so we should load it using a
+    // sanitized name:
+    var assetName = MjEngineTool.Sanitize(
+        mjcf.GetStringAttribute("mesh", defaultValue: string.Empty));
+    if (!string.IsNullOrEmpty(assetName)) {
+      Mesh = (Mesh)Resources.Load(assetName);
+    }
+  }
+
+  public Tuple<Vector3[], int[]> BuildMesh() {
+    return Tuple.Create(Mesh.vertices, Mesh.triangles);
+  }
+
+  public Vector4 GetChangeStamp() {
+    return Vector4.one;
+  }
+
+  public void DebugDraw(Transform transform) {
+    Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, transform.lossyScale);
+    Gizmos.DrawWireMesh(Mesh);
+  }
+}
+}