private static void CopyDaeTextureToExportDestination(string prefabPath, string newFolderLocation)
{
//Get material from Collada prefab
Material material = AssetDatabase.LoadAssetAtPath <Material>(prefabPath);
if (material.mainTexture == null)
{
return;
}
//Get relative subfolder where texture is, compared to the DAE file.
string commonFolder = Path.GetDirectoryName(prefabPath).SetSeparatorChar();
string texturePath = AssetDatabase.GetAssetPath(material.mainTexture).SetSeparatorChar();
string relativeLocation = "";
if (texturePath.Contains(commonFolder))
{
relativeLocation = texturePath.Substring(commonFolder.Length + 1);
}
string newTexturePath = Path.Combine(newFolderLocation, relativeLocation);
Directory.CreateDirectory(Path.GetDirectoryName(newTexturePath));
CopyFileToNewLocation(UrdfAssetPathHandler.GetFullAssetPath(texturePath), newTexturePath);
}
private static Link.Visual.Material.Texture ExportTextureData(Texture texture)
{
string oldTexturePath = UrdfAssetPathHandler.GetFullAssetPath(AssetDatabase.GetAssetPath(texture));
string newTexturePath = UrdfExportPathHandler.GetNewResourcePath(Path.GetFileName(oldTexturePath));
if (oldTexturePath != newTexturePath)
{
File.Copy(oldTexturePath, newTexturePath, true);
}
string packagePath = UrdfExportPathHandler.GetPackagePathForResource(newTexturePath);
return(new Link.Visual.Material.Texture(packagePath));
}
private static void CreateSimulatedUrdfObject()
{
string assetPath = AssetDatabase.GetAssetPath(Selection.activeObject);
if (Path.GetExtension(assetPath)?.ToLower() == ".urdf")
{
UrdfSimulatedRobotExtensions.CreateFromFile(UrdfAssetPathHandler.GetFullAssetPath(assetPath));
}
else
{
EditorUtility.DisplayDialog("Urdf Import As Simulation",
"The file you selected was not a URDF file. A robot can only be imported from a valid URDF file.", "Ok");
}
}
private static string CopyMeshToExportDestination(string prefabPath)
{
string newPrefabPath = UrdfExportPathHandler.GetNewMeshPath(Path.GetFileName(prefabPath));
if (Path.GetExtension(prefabPath)?.ToLower() == ".dae")
{
CopyDaeTextureToExportDestination(prefabPath, Path.GetDirectoryName(newPrefabPath));
}
prefabPath = UrdfAssetPathHandler.GetFullAssetPath(prefabPath);
CopyFileToNewLocation(prefabPath, newPrefabPath);
return(newPrefabPath);
}
private static void CreateUrdfObject()
{
//Get path to asset, check if it's a urdf file
string assetPath = AssetDatabase.GetAssetPath(Selection.activeObject);
if (Path.GetExtension(assetPath)?.ToLower() == ".urdf")
{
UrdfRobotExtensions.Create(UrdfAssetPathHandler.GetFullAssetPath(assetPath));
}
else
{
EditorUtility.DisplayDialog("URDF Import",
"The file you selected was not a URDF file. A robot can only be imported from a valid URDF file.", "Ok");
}
}
private static void CreateUrdfObject()
{
//Get path to asset, check if it's a urdf file
string assetPath = AssetDatabase.GetAssetPath(Selection.activeObject);
if (Path.GetExtension(assetPath)?.ToLower() == ".urdf")
{
// Get existing open window or if none, make a new one:
FileImportMenu window = (FileImportMenu)EditorWindow.GetWindow(typeof(FileImportMenu));
window.urdfFile = UrdfAssetPathHandler.GetFullAssetPath(assetPath);
window.minSize = new Vector2(500, 200);
window.Show();
}
else
{
EditorUtility.DisplayDialog("URDF Import",
"The file you selected was not a URDF file. Please select a valid URDF file.", "Ok");
}
}
