Merge pull request #2378 from Balint-H:feature/unity-obj

PiperOrigin-RevId: 772619174
Change-Id: I62a2bbeb0d8bb0fb007af1abc93d6e8b3449b3fe

unity/Runtime/Components/Shapes/MjMeshFilter.cs

@@ -41,19 +41,19 @@ public class MjMeshFilter : MonoBehaviour {
       return;
     }
 
-    _shapeChangeStamp = currentChangeStamp;
-    Tuple<Vector3[], int[]> meshData = _geom.BuildMesh();
-
-    if (meshData == null) {
-      throw new ArgumentException("Unsupported geom shape detected");
-    }
-
-    if(_geom.ShapeType == MjShapeComponent.ShapeTypes.Mesh) { 
+    if(_geom.ShapeType == MjShapeComponent.ShapeTypes.Mesh) {
       MjMeshShape meshShape = _geom.Shape as MjMeshShape;
       _meshFilter.sharedMesh = meshShape.Mesh;
       return;
     }
 
+    _shapeChangeStamp = currentChangeStamp;
+    Tuple<Vector3[], int[]> meshData = _geom.BuildMesh();
+    if (meshData == null)
+    {
+      throw new ArgumentException("Unsupported geom shape detected");
+    }
+
     DisposeCurrentMesh();
 
     var mesh = new Mesh();
@@ -67,7 +67,6 @@ public class MjMeshFilter : MonoBehaviour {
       uvs[i] = new Vector2(mesh.vertices[i].x, mesh.vertices[i].z);
     }
     mesh.uv = uvs;
-    
     mesh.RecalculateNormals();
     mesh.RecalculateTangents();
   }

unity/Runtime/Components/Shapes/MjMeshShape.cs

@@ -36,7 +36,7 @@ public class MjMeshShape : IMjShape {
     var assetName = MjEngineTool.Sanitize(
         mjcf.GetStringAttribute("mesh", defaultValue: string.Empty));
     if (!string.IsNullOrEmpty(assetName)) {
-      Mesh = (Mesh)Resources.Load(assetName);
+      Mesh = Resources.Load<Mesh>(assetName);
     }
   }