Add convex mesh colliders for GLTF meshes

Unity/DifferentialDrive.cs

@@ -133,8 +133,8 @@ namespace RoboidControl.Unity {
                     rb.velocity = 0.9f * rb.velocity + 0.1f * forwardSpeed * transform.forward;
                     rb.angularVelocity = 0.9f * rb.angularVelocity + 0.1f * turningSpeed * Vector3.up;
 
-                    core.position = LinearAlgebra.Spherical.FromVector3(this.transform.localPosition);
-                    core.orientation = LinearAlgebra.SwingTwist.FromQuaternion(this.transform.localRotation);
+                    core.ReplacePosition(LinearAlgebra.Spherical.FromVector3(this.transform.localPosition));
+                    core.ReplaceOrientation(LinearAlgebra.SwingTwist.FromQuaternion(this.transform.localRotation));
                  
                 }
             }

Unity/Thing.cs

@@ -177,6 +177,7 @@ namespace RoboidControl.Unity {
 
 #if GLTF            
         bool loadingModel = false;
+
         private async void ProcessGltfModel(RoboidControl.Thing coreThing) {
             if (!loadingModel) {
                 loadingModel = true;
@@ -192,7 +193,7 @@ namespace RoboidControl.Unity {
                     Thing[] things = FindObjectsOfType<Thing>();
                     Thing parentThing = null;
                     foreach (Thing thing in things) {
-                        if (thing.core.owner.networkId == coreThing.owner.networkId && thing.core.id == coreThing.id) {
+                        if (thing.core != null && thing.core.owner.networkId == coreThing.owner.networkId && thing.core.id == coreThing.id) {
                             parentTransform = thing.transform;
                             parentThing = thing;
                         }
@@ -212,7 +213,8 @@ namespace RoboidControl.Unity {
                     }
                     else
                         ScanForThings(parentTransform);
-                }
+
+                    AddMeshColliders(parentTransform);                }
                 else {
                     this.transform.localScale = Vector3.one * 1;
                 }
@@ -262,6 +264,15 @@ namespace RoboidControl.Unity {
             return null;
         }
 
+        private void AddMeshColliders(Transform rootTransform) {
+            MeshRenderer[] meshRenderers = rootTransform.GetComponentsInChildren<MeshRenderer>();
+            foreach (MeshRenderer meshRenderer in meshRenderers) {
+                MeshFilter meshFilter = meshRenderer.GetComponent<MeshFilter>();
+                MeshCollider meshCollider = meshRenderer.gameObject.AddComponent<MeshCollider>();
+                meshCollider.sharedMesh = meshFilter.sharedMesh;
+                meshCollider.convex = true;
+            }
+        }
 
         /// <summary>
         /// Handle a Pose event

src/Thing.cs

@@ -316,6 +316,10 @@ namespace RoboidControl {
         /// </summary>
         public bool positionUpdated = false;
 
+        public void ReplacePosition(Spherical newPosition) {
+            this._position = newPosition;
+        }
+
         private SwingTwist _orientation = SwingTwist.zero;
         /// <summary>
         /// The orientation of the thing in local space
@@ -336,6 +340,10 @@ namespace RoboidControl {
         /// </summary>
         public bool orientationUpdated = false;
 
+        public void ReplaceOrientation(SwingTwist newOrientation) {
+            this._orientation = newOrientation;
+        }
+
         private Spherical _linearVelocity = Spherical.zero;
         /// <summary>
         /// The linear velocity of the thing in local space in meters per second