IEnumerator DownloadRobot(string urdfPath, Dictionary <string, string> packages, URDFRobot ur)
{
using (UnityWebRequest www = UnityWebRequest.Get(urdfPath)) {
yield return(www.SendWebRequest());
if (www.isNetworkError || www.isHttpError)
{
Debug.LogError(www.error);
}
else
{
Uri uri = new Uri(urdfPath);
string workingPath = uri.Host + Path.GetDirectoryName(uri.PathAndQuery);
URDFLoader.Options opt = new URDFLoader.Options()
{
workingPath = workingPath,
loadMeshCb = (path, ext, done) => StartCoroutine(DownloadModel(path, ext, done)),
target = ur
};
URDFLoader.BuildRobot(www.downloadHandler.text, packages, opt);
}
}
}
virtual protected URDFRobot CreateRobot(string urdf, Dictionary <string, string> packages)
{
URDFRobot ur = URDFLoader.LoadRobot(urdf, packages);
ur.name = urdf;
return(ur);
}
public ColladaLite(string content)
{
var doc = new XmlDocument();
doc.LoadXml(content);
XmlNode colladaNode = null;
foreach (XmlNode childNode in doc.ChildNodes)
{
if (childNode.Name == "COLLADA")
{
colladaNode = childNode;
break;
}
}
foreach (XmlNode childNode in colladaNode.ChildNodes)
{
if (childNode.Name == "library_images")
{
foreach (XmlNode imageNode in childNode.ChildNodes)
{
if (imageNode.Name == "image" && imageNode.HasChildNodes)
{
if (imageNode.FirstChild.Name == "init_from")
{
(textureNames ?? (textureNames = new List <string>())).Add(imageNode.FirstChild.InnerText);
}
}
}
}
else if (childNode.Name == "library_geometries")
{
if (childNode.HasChildNodes)
{
var fc = URDFLoader.GetXmlNodeChildByName(childNode, "geometry");
foreach (XmlNode mesh in fc.ChildNodes)
{
if (mesh.Name != "mesh")
{
continue;
}
var sources = new Dictionary <string, float[]>();
var vertsSource = "null";
Vector3[] triangles = null;
Vector3[] normals = null;
Vector2[] uvs = null;
int[] indices = null;
var inputs = new List <DaeInput>();
var triCount = 0;
foreach (XmlNode node in mesh.ChildNodes)
{
if (node.Name == "source")
{
var fa = URDFLoader.GetXmlNodeChildByName(node, "float_array");
if (fa != null)
{
sources.Add(node.Attributes["id"].Value,
fa.InnerText.Split(new[] { ' ' }, StringSplitOptions.RemoveEmptyEntries)
.Select(f => float.Parse(f))
.ToArray());
}
}
else if (node.Name == "vertices")
{
var vs = URDFLoader.GetXmlNodeChildByName(node, "input");
if (vs != null)
{
vertsSource = vs.Attributes["source"].Value.Replace("#", "");
}
}
else if (node.Name == "triangles")
{
triCount = int.Parse(node.Attributes["count"].Value) * 3;
inputs.AddRange(URDFLoader.GetXmlNodeChildrenByName(node, "input")
.Select(inputNode => new DaeInput {
semantic = inputNode.Attributes["semantic"].Value,
source = inputNode.Attributes["source"].Value,
offset = int.Parse(inputNode.Attributes["offset"].Value)
}));
indices = URDFLoader.GetXmlNodeChildByName(node, "p").InnerText
.Split(new[] { ' ' }, StringSplitOptions.RemoveEmptyEntries).Select(i => int.Parse(i))
.ToArray();
}
}
foreach (DaeInput input in inputs)
{
var source = input.source.Replace("#", "");
if (sources.ContainsKey(source))
{
if (input.semantic == "TEXCOORD")
{
var temp = new List <Vector2>();
for (int i = 0; i < sources[source].Length; i += 2)
{
temp.Add(new Vector2(sources[source][i], sources[source][i + 1]));
}
uvs = temp.ToArray();
}
else if (input.semantic == "NORMAL")
{
//not actually dealing with normals right now
}
}
else if (input.semantic == "VERTEX")
{
var temp = new List <Vector3>();
for (int i = 0; i < sources[vertsSource].Length; i += 3)
{
temp.Add(URDFLoader.URDFToUnityPos(new Vector3(sources[vertsSource][i],
sources[vertsSource][i + 1],
sources[vertsSource][i + 2])));
}
triangles = temp.ToArray();
}
}
if (triangles != null && triangles.Length > 2)
{
var sb = new StringBuilder();
var tris = new int[triCount];
var uvsActual = new Vector2[triangles.Length];
var uvOffset = inputs.First(u => u.semantic == "TEXCOORD").offset;
for (int i = 0; i < tris.Length; i++)
{
tris[i] = indices[i * 3];
}
Mesh temp = new Mesh();
temp.vertices = triangles;
temp.triangles = tris;
temp.uv = uvsActual.ToArray();
temp.RecalculateNormals();
(meshes ?? (meshes = new List <Mesh>())).Add(temp);
}
}
}
}
}
}
