/// <summary>
/// Creates a resource loader if none is provided. This resource loader replaces
/// "package:/" with <paramref name="dataDirectory"/> and <paramref name="dataDirectory"/>
/// must be relative to a resource folder, i.e., if you put the data in Something/Resources/foo
/// the <paramref name="dataDirectory"/> should be "foo".
///
/// When Collada is a resource any rotation of the loaded game objects are removed.
/// </summary>
/// <remarks>
/// - If a Collada resource is missing, this loader checks if there's a .obj file with
/// the same name.
/// - If this method is used within the Editor, <paramref name="dataDirectory"/> should be relative
/// to the project directory (i.e, start with "Assets").
/// </remarks>
/// <param name="dataDirectory">Directory relative to a resource folder. Default: "" assuming
/// the data to be structured as referenced in the URDF file inside
/// a "Resources" folder.</param>
/// <param name="resourceLoad">The actual call to Load. UnityEngine.Resources.Load by default (if null) and, e.g.,
/// AssetDataBase.LoadAssetAtPath can be used when in the editor.</param>
/// <returns>Resource loader function.</returns>
public static Func <string, ResourceType, Object> CreateDefaultResourceLoader(string dataDirectory = "",
Func <string, ResourceType, Object> resourceLoad = null)
{
var isPlayerResource = resourceLoad == null;
if (!string.IsNullOrEmpty(dataDirectory))
{
dataDirectory.Replace('\\', '/');
if (!dataDirectory.EndsWith("/"))
{
dataDirectory += '/';
}
}
var loadedInstances = new List <GameObject>();
Func <string, ResourceType, Object> resourceLoader = (resourceFilename, type) =>
{
if (type == ResourceType.FinalizedLoad)
{
loadedInstances.ForEach(instance => Object.DestroyImmediate(instance));
loadedInstances = null;
return(null);
}
if (resourceFilename.StartsWith("package:/"))
{
resourceFilename = dataDirectory + resourceFilename.Substring("package://".Length);
}
else if (!string.IsNullOrEmpty(dataDirectory))
{
resourceFilename = dataDirectory + resourceFilename;
}
var hasExtension = Path.HasExtension(resourceFilename);
var isStlFile = hasExtension && Path.GetExtension(resourceFilename).ToLowerInvariant() == ".stl";
var isCollada = hasExtension && !isStlFile && Path.GetExtension(resourceFilename).ToLowerInvariant() == ".dae";
// STL file we instantiate it and delete them at FinalizeLoad.
if (isStlFile)
{
var stlInstances = StlFileImporter.Instantiate(resourceFilename);
loadedInstances.AddRange(stlInstances);
return(stlInstances.FirstOrDefault());
}
// Remove file extension when using Resources.Load.
else if (isPlayerResource && hasExtension)
{
resourceFilename = resourceFilename.Substring(0, resourceFilename.LastIndexOf('.'));
}
// Search for .obj file instead of Collada if we're not loading from Resources.
if (!isPlayerResource &&
!File.Exists(resourceFilename) &&
isCollada)
{
resourceFilename = resourceFilename.Substring(0, resourceFilename.Length - 3) + "obj";
}
var resource = resourceLoad != null?
resourceLoad(resourceFilename, type) :
Resources.Load <Object>(resourceFilename);
if (!isPlayerResource && isCollada && resource != null)
{
var colladaInfo = Utils.ParseColladaInfo(resourceFilename);
var resourceGo = resource as GameObject;
// Model implementation assumes Z-up, anything other than that
// has to be transformed.
if (resourceGo != null && !colladaInfo.IsDefault)
{
var colladaInstance = Object.Instantiate <GameObject>(resourceGo);
if (colladaInfo.UpAxis == Utils.ColladaInfo.Axis.Y)
{
colladaInstance.transform.rotation = Quaternion.Euler(-90, 0, 0) * colladaInstance.transform.rotation;
}
else if (colladaInfo.UpAxis == Utils.ColladaInfo.Axis.X)
{
colladaInstance.transform.rotation = Quaternion.Euler(-90, 0, 90) * colladaInstance.transform.rotation;
}
loadedInstances.Add(colladaInstance);
resource = colladaInstance;
}
}
return(resource);
};
return(resourceLoader);
}
/// <summary>
/// Creates a resource loader if none is provided. This resource loader replaces
/// "package:/" with <paramref name="dataDirectory"/> and <paramref name="dataDirectory"/>
/// must be relative to a resource folder, i.e., if you put the data in Something/Resources/foo
/// the <paramref name="dataDirectory"/> should be "foo".
///
/// When Collada is a resource any rotation of the loaded game objects are removed.
/// </summary>
/// <remarks>
/// - If a Collada resource is missing, this loader checks if there's a .obj file with
/// the same name.
/// - If this method is used within the Editor, <paramref name="dataDirectory"/> should be relative
/// to the project directory (i.e, start with "Assets").
/// </remarks>
/// <param name="dataDirectory">Directory relative to a resource folder. Default: "" assuming
/// the data to be structured as referenced in the URDF file inside
/// a "Resources" folder.</param>
/// <param name="resourceLoad">The actual call to Load. UnityEngine.Resources.Load by default (if null) and, e.g.,
/// AssetDataBase.LoadAssetAtPath can be used when in the editor.</param>
/// <returns>Resource loader function.</returns>
public static Func <string, ResourceType, Object> CreateDefaultResourceLoader(string dataDirectory = "",
Func <string, ResourceType, Object> resourceLoad = null)
{
var isPlayerResource = resourceLoad == null;
if (!string.IsNullOrEmpty(dataDirectory))
{
dataDirectory.Replace('\\', '/');
if (!dataDirectory.EndsWith("/"))
{
dataDirectory += '/';
}
}
var loadedInstances = new List <GameObject>();
Func <string, ResourceType, Object> resourceLoader = (resourceFilename, type) =>
{
if (type == ResourceType.FinalizedLoad)
{
loadedInstances.ForEach(instance => Object.DestroyImmediate(instance));
loadedInstances = null;
return(null);
}
if (resourceFilename.StartsWith("package:/"))
{
resourceFilename = dataDirectory + resourceFilename.Substring("package://".Length);
}
else if (!string.IsNullOrEmpty(dataDirectory))
{
resourceFilename = dataDirectory + resourceFilename;
}
var hasExtension = Path.HasExtension(resourceFilename);
var patchRotation = hasExtension && Path.GetExtension(resourceFilename).ToLower() == ".dae";
var isStlFile = hasExtension && Path.GetExtension(resourceFilename).ToLower() == ".stl";
// STL file we instantiate it and delete them at FinalizeLoad.
if (isStlFile)
{
var stlInstances = StlFileImporter.Instantiate(resourceFilename);
loadedInstances.AddRange(stlInstances);
return(stlInstances.FirstOrDefault());
}
// Remove file extension when using Resources.Load.
else if (isPlayerResource && Path.HasExtension(resourceFilename))
{
resourceFilename = resourceFilename.Substring(0, resourceFilename.LastIndexOf('.'));
}
// Search for .obj file instead of Collada if we're not loading from Resources.
if (!isPlayerResource &&
!File.Exists(resourceFilename) &&
resourceFilename.EndsWith(".dae"))
{
resourceFilename = resourceFilename.Substring(0, resourceFilename.Length - 3) + "obj";
}
var resource = resourceLoad != null?
resourceLoad(resourceFilename, type) :
Resources.Load <Object>(resourceFilename);
// Unity adds a -90 rotation about x for unknown reasons - reverting that.
if (resource != null && patchRotation)
{
var resourceGo = resource as GameObject;
var transforms = resourceGo.GetComponentsInChildren <Transform>();
foreach (var transform in transforms)
{
transform.rotation = Quaternion.identity;
}
}
return(resource);
};
return(resourceLoader);
}
