/// <summary>
/// Called upon event OnModelImported in UrdfAssetImporterRuntime, when 3d model is imported.
/// </summary>
/// <param name="sender"></param>
/// <param name="args">Contains imported GameObject.</param>
private void OnModelImported(object sender, ImportedModelEventArgs args)
{
//Debug.Log("URDF: model imported");
Transform importedModel = args.RootGameObject.transform;
UrdfRobot[] urdfRobots = importedModel.GetComponentsInParent <UrdfRobot>(true);
if (urdfRobots != null)
{
UrdfRobot urdfRobot = urdfRobots[0];
// TODO: make sure that this robotModel check really works
// check if imported model corresponds to this robot
RobotModel robotModel = GetRobotModel(urdfRobot.gameObject);
if (robotModel != null)
{
if (args.CollidersOnly)
{
robotModel.SetLinkCollisionLoaded(importedModel.GetComponentsInParent <UrdfLink>(true)[0].name, importedModel.GetComponentsInParent <UrdfCollision>(true)[0]);
}
else
{
robotModel.SetLinkVisualLoaded(importedModel.GetComponentsInParent <UrdfLink>(true)[0].name, importedModel.GetComponentsInParent <UrdfVisual>(true)[0]);
}
//Debug.Log("URDF: model of the link: " + importedModel.parent.parent.parent.parent.name + " imported");
}
}
}
/// <summary>
/// Called upon event ColladaImporter.Instance.OnModelImported, when DAE file is imported.
/// </summary>
/// <param name="sender"></param>
/// <param name="args">Contains imported GameObject.</param>
private void OnColladaModelImported(object sender, ImportedColladaEventArgs args)
{
Debug.Log("URDF: Collada model imported");
Transform importedModel = args.Data.transform;
UrdfRobot[] urdfRobots = importedModel.GetComponentsInParent <UrdfRobot>(true);
if (urdfRobots != null)
{
UrdfRobot urdfRobot = urdfRobots[0];
// TODO: make sure that this robotModel check really works
// check if imported model corresponds to this robot
RobotModel robotModel = GetRobotModel(urdfRobot.gameObject);
if (robotModel != null)
{
// get rid of the placeholder object (New Game Object)
Transform placeholderGameObject = importedModel.parent;
importedModel.SetParent(placeholderGameObject.parent, worldPositionStays: false);
//TODO: Temporarily, colliders are added directly to Visuals
AddColliders(importedModel.gameObject, setConvex: true);
Destroy(placeholderGameObject.gameObject);
robotModel.SetLinkVisualLoaded(importedModel.parent.parent.parent.name, importedModel.parent.gameObject.GetComponent <UrdfVisual>());
Debug.Log("URDF: dae model of the link: " + importedModel.parent.parent.parent.name + " imported");
}
}
}