private GameObject HandleVisualGeometry(XElement geometry, GameObject parentLink)
{
GameObject visual = null;
foreach (var childElement in geometry.Elements())
{
var scale = Vector3.one;
var rotation = Quaternion.identity;
visual = null;
switch (childElement.Name.ToString())
{
case "mesh":
var scaleElem = childElement.Element("scale");
if (scaleElem != null)
{
scale = ParseSDFSize(scaleElem);
}
var uri = childElement.Element("uri").Value;
var prefab = document.LoadAsset <GameObject>(uri);
if (prefab != null)
{
visual = PrefabUtility.InstantiatePrefab(prefab, parentLink.transform) as GameObject;
rotation = Quaternion.Euler(-90, 90, 0);
if (uri.ToLower().EndsWith(".stl"))
{
// STL import package has weird behaviour wrt right handed coordinate system
scale.Scale(new Vector3(-1, 1, 1));
}
}
break;
case "box":
visual = GameObject.CreatePrimitive(PrimitiveType.Cube);
scale = ParseSDFSize(childElement.Element("size"));
break;
case "sphere":
visual = GameObject.CreatePrimitive(PrimitiveType.Sphere);
var r = ParseSingle(childElement.Element("radius"), 1.0f);
scale = new Vector3(r, r, r);
break;
case "cylinder":
visual = GameObject.CreatePrimitive(PrimitiveType.Cylinder);
var radius = ParseSingle(childElement.Element("radius"), 1.0f);
var length = ParseSingle(childElement.Element("length"), 1.0f);
scale = new Vector3(radius * 2.0f, length * 0.5f, radius * 2.0f);
break;
case "plane":
visual = GameObject.CreatePrimitive(PrimitiveType.Plane);
var normal = ParseSDFVector(childElement.Element("normal"));
var(scaleX, scaleZ) = ParseXY(childElement.Element("size"), (1.0f, 1.0f));
scale = new Vector3(scaleX, 1.0f, scaleZ);
rotation = Quaternion.LookRotation(normal != Vector3.forward ? Vector3.forward : Vector3.left, normal);
break;
default:
Debug.Log("unhandled visual type " + childElement + " in " + geometry);
break;
}
if (visual != null)
{
foreach (var collider in visual.GetComponentsInChildren <Collider>())
{
GameObject.DestroyImmediate(collider);
}
visual.isStatic = parentLink.isStatic;
visual.transform.SetParent(parentLink.transform, false);
visual.transform.localPosition = Vector3.zero;
visual.transform.localScale = scale;
visual.transform.localRotation = rotation;
}
}
return(visual);
}
private void HandleCollisionGeometry(XElement geometryElement, GameObject collisionObject)
{
var scale = Vector3.one;
var rotation = Quaternion.identity;
var box = geometryElement.Element("box");
var cylinder = geometryElement.Element("cylinder");
var mesh = geometryElement.Element("mesh");
var plane = geometryElement.Element("plane");
if (mesh != null)
{
var scaleElem = mesh.Element("scale");
if (scaleElem != null)
{
var parts = scaleElem.Value.Split(' ');
scale = new Vector3(
Convert.ToSingle(parts[0], CultureInfo.InvariantCulture),
Convert.ToSingle(parts[1], CultureInfo.InvariantCulture),
Convert.ToSingle(parts[2], CultureInfo.InvariantCulture));
}
var meshAsset = document.LoadAsset <Mesh>(mesh.Element("uri"));
if (meshAsset != null)
{
var collider = collisionObject.AddComponent <MeshCollider>();
collider.sharedMesh = meshAsset;
collider.convex = !collisionObject.isStatic;
rotation = Quaternion.Euler(-90, 90, 0);
}
}
else if (box != null)
{
var collider = collisionObject.AddComponent <BoxCollider>();
var parts = box.Element("size")?.Value.Split(' ');
collider.size = new Vector3(
Convert.ToSingle(parts[0], CultureInfo.InvariantCulture),
Convert.ToSingle(parts[1], CultureInfo.InvariantCulture),
Convert.ToSingle(parts[2], CultureInfo.InvariantCulture));
}
else if (cylinder != null)
{
float length = Convert.ToSingle(cylinder.Element("length")?.Value, CultureInfo.InvariantCulture);
float radius = Convert.ToSingle(cylinder.Element("radius")?.Value, CultureInfo.InvariantCulture);
if (length < radius * SDFDocument.cylinderUseMeshRadiusLengthFactor)
{
var collider = collisionObject.AddComponent <MeshCollider>();
var helper = GameObject.CreatePrimitive(PrimitiveType.Cylinder);
collider.sharedMesh = helper.GetComponent <MeshFilter>().sharedMesh;
GameObject.DestroyImmediate(helper);
collider.convex = !collisionObject.isStatic;
scale = new Vector3(2 * radius, length * 0.5f, 2 * radius);
}
else
{
// FIXME a cylinder is not a capsule actually
var collider = collisionObject.AddComponent <CapsuleCollider>();
collider.height = length;
collider.radius = radius;
}
}
else if (plane != null)
{
var helper = GameObject.CreatePrimitive(PrimitiveType.Plane);
var collider = collisionObject.AddComponent <MeshCollider>();
collider.sharedMesh = helper.GetComponent <MeshFilter>().sharedMesh;
GameObject.DestroyImmediate(helper);
var normal = ParseSDFVector(plane.Element("normal"));
var(scaleX, scaleZ) = ParseXY(plane.Element("size"), (1.0f, 1.0f));
scale = new Vector3(scaleX, 1.0f, scaleZ);
rotation = Quaternion.LookRotation(normal != Vector3.forward ? Vector3.forward : Vector3.left, normal);
}
else
{
Debug.Log("unhandled collision type in " + geometryElement);
}
if (collisionObject.GetComponent <Collider>() != null)
{
ApplyPose(geometryElement.Parent, collisionObject);
collisionObject.transform.localScale = scale;
collisionObject.transform.rotation *= rotation;
}
}
private GameObject HandleVisualGeometry(XElement geometry, GameObject parentLink)
{
GameObject visual = null;
var scale = Vector3.one;
var rotation = Quaternion.identity;
var box = geometry.Element("box");
var cylinder = geometry.Element("cylinder");
var mesh = geometry.Element("mesh");
var plane = geometry.Element("plane");
if (mesh != null)
{
var scaleElem = mesh.Element("scale");
if (scaleElem != null)
{
var parts = scaleElem.Value.Split(' ');
scale = new Vector3(
Convert.ToSingle(parts[0], CultureInfo.InvariantCulture),
Convert.ToSingle(parts[1], CultureInfo.InvariantCulture),
Convert.ToSingle(parts[2], CultureInfo.InvariantCulture));
}
var prefab = document.LoadAsset <GameObject>(mesh.Element("uri"));
if (prefab != null)
{
visual = PrefabUtility.InstantiatePrefab(prefab) as GameObject;
rotation = Quaternion.Euler(-90, 90, 0);
}
}
else if (box != null)
{
visual = GameObject.CreatePrimitive(PrimitiveType.Cube);
GameObject.DestroyImmediate(visual.GetComponent <Collider>());
var parts = box.Element("size")?.Value.Split(' ');
scale = new Vector3(
Convert.ToSingle(parts[0], CultureInfo.InvariantCulture),
Convert.ToSingle(parts[1], CultureInfo.InvariantCulture),
Convert.ToSingle(parts[2], CultureInfo.InvariantCulture));
}
else if (cylinder != null)
{
visual = GameObject.CreatePrimitive(PrimitiveType.Cylinder);
GameObject.DestroyImmediate(visual.GetComponent <Collider>());
var radius = Convert.ToSingle(cylinder.Element("radius")?.Value, CultureInfo.InvariantCulture);
var length = Convert.ToSingle(cylinder.Element("length")?.Value, CultureInfo.InvariantCulture);
scale = new Vector3(radius * 2.0f, length * 0.5f, radius * 2.0f);
}
else if (plane != null)
{
visual = GameObject.CreatePrimitive(PrimitiveType.Plane);
GameObject.DestroyImmediate(visual.GetComponent <Collider>());
var normal = ParseSDFVector(plane.Element("normal"));
var(scaleX, scaleZ) = ParseXY(plane.Element("size"), (1.0f, 1.0f));
scale = new Vector3(scaleX, 1.0f, scaleZ);
visual.transform.rotation = Quaternion.LookRotation(normal != Vector3.forward ? Vector3.forward : Vector3.left, normal);
}
else
{
Debug.Log("unhandled visual type in " + geometry);
}
visual.transform.SetParent(parentLink.transform, false);
visual.transform.localScale = scale;
visual.transform.rotation *= rotation;
return(visual);
}
private void HandleCollisionGeometry(XElement geometryElement, GameObject collisionObject)
{
bool createSubObjects = geometryElement.Elements().Count() > 1;
foreach (var childElement in geometryElement.Elements())
{
switch (childElement.Name.ToString())
{
case "mesh":
{
var geometryObject = CreateChildObject(geometryElement, collisionObject);
var uri = childElement.Element("uri").Value;
var meshAssets = document.LoadSubAsset <Mesh>(uri);
foreach (var meshAsset in meshAssets)
{
var meshCollider = geometryObject.AddComponent <MeshCollider>();
meshCollider.sharedMesh = meshAsset;
meshCollider.convex = !collisionObject.isStatic;
}
var scaleElem = childElement.Element("scale");
var scale = Vector3.one;
if (scaleElem != null)
{
scale = ParseSDFSize(scaleElem);
}
if (uri.ToLower().EndsWith(".stl"))
{
// STL import package has weird behaviour wrt right handed coordinate system
scale.Scale(new Vector3(-1, 1, 1));
}
geometryObject.transform.localScale = scale;
geometryObject.transform.localRotation = Quaternion.Euler(-90, 90, 0);
break;
}
case "box":
{
var boxCollider = collisionObject.AddComponent <BoxCollider>();
boxCollider.size = ParseSDFSize(childElement.Element("size"));
break;
}
case "sphere":
{
var sphereCollider = collisionObject.AddComponent <SphereCollider>();
sphereCollider.radius = ParseSingle(childElement.Element("radius"), 1.0f);
break;
}
case "cylinder":
{
float length = ParseSingle(childElement.Element("length"), 1.0f);
float radius = ParseSingle(childElement.Element("radius"), 1.0f);
if (length < radius * SDFDocument.cylinderUseMeshRadiusLengthFactor)
{
var geometryObject = CreateChildObject(geometryElement, collisionObject);
var meshCollider = geometryObject.AddComponent <MeshCollider>();
var helper = GameObject.CreatePrimitive(PrimitiveType.Cylinder);
meshCollider.sharedMesh = helper.GetComponent <MeshFilter>().sharedMesh;
GameObject.DestroyImmediate(helper);
meshCollider.convex = !collisionObject.isStatic;
geometryObject.transform.localScale = new Vector3(2 * radius, length * 0.5f, 2 * radius);
}
else
{
// FIXME a cylinder is not a capsule actually
var capsuleCollider = collisionObject.AddComponent <CapsuleCollider>();
capsuleCollider.height = length;
capsuleCollider.radius = radius;
}
break;
}
case "plane":
{
var geometryObject = CreateChildObject(geometryElement, collisionObject);
var helper = GameObject.CreatePrimitive(PrimitiveType.Plane);
var meshCollider = geometryObject.AddComponent <MeshCollider>();
meshCollider.sharedMesh = helper.GetComponent <MeshFilter>().sharedMesh;
GameObject.DestroyImmediate(helper);
var normal = ParseSDFVector(childElement.Element("normal"));
var(scaleX, scaleZ) = ParseXY(childElement.Element("size"), (1.0f, 1.0f));
geometryObject.transform.localScale = new Vector3(scaleX, 1.0f, scaleZ);
geometryObject.transform.localRotation = Quaternion.LookRotation(normal != Vector3.forward ? Vector3.forward : Vector3.left, normal);
break;
}
default:
Debug.Log("unhandled collision type " + childElement + " in " + geometryElement);
break;
}
}
}
