private static Material CreateMaterial(this Link.Visual.Material urdfMaterial)
{
if (MaterialsCreated.ContainsKey(urdfMaterial.name))
{
return(MaterialsCreated[urdfMaterial.name]);
}
if (urdfMaterial.name == "")
{
urdfMaterial.name = GenerateMaterialName(urdfMaterial);
}
//var material = AssetDatabase.LoadAssetAtPath<Material>(UrdfAssetPathHandler.GetMaterialAssetPath(urdfMaterial.name));
var all = Resources.LoadAll("", typeof(Material));
var material = all.FirstOrDefault(x => x.name == urdfMaterial.name);
if (material != null) //material already exists
{
MaterialsCreated[urdfMaterial.name] = material as Material;
return(material as Material);
}
else
{
return(new Material(Shader.Find("Specular")));
}
}
private static Material CreateMaterial(this Link.Visual.Material urdfMaterial)
{
if (urdfMaterial.name == "")
{
urdfMaterial.name = GenerateMaterialName(urdfMaterial);
}
var material = AssetDatabase.LoadAssetAtPath <Material>(UrdfAssetPathHandler.GetMaterialAssetPath(urdfMaterial.name));
if (material != null) //material already exists
{
return(material);
}
material = InitializeMaterial();
if (urdfMaterial.color != null)
{
material.color = CreateColor(urdfMaterial.color);
}
else if (urdfMaterial.texture != null)
{
material.mainTexture = LoadTexture(urdfMaterial.texture.filename);
}
AssetDatabase.CreateAsset(material, UrdfAssetPathHandler.GetMaterialAssetPath(urdfMaterial.name));
return(material);
}
public static Link.Visual ExportVisualData(this UrdfVisual urdfVisual)
{
UrdfGeometry.CheckForUrdfCompatibility(urdfVisual.transform, urdfVisual.geometryType);
Link.Geometry geometry = UrdfGeometry.ExportGeometryData(urdfVisual.geometryType, urdfVisual.transform);
Link.Visual.Material material = null;
if ((geometry.mesh != null))
{
material = UrdfMaterial.ExportMaterialData(urdfVisual.GetComponentInChildren <MeshRenderer>().sharedMaterial);
}
string visualName = urdfVisual.name == "unnamed" ? null : urdfVisual.name;
return(new Link.Visual(geometry, visualName, UrdfOrigin.ExportOriginData(urdfVisual.transform), material));
}
public static Link.Visual ExportVisualData(this UrdfVisual urdfVisual)
{
UrdfGeometry.CheckForUrdfCompatibility(urdfVisual.transform, urdfVisual.GeometryType);
Link.Geometry geometry = UrdfGeometry.ExportGeometryData(urdfVisual.GeometryType, urdfVisual.transform);
Link.Visual.Material material = null;
if (!(geometry.mesh != null && geometry.mesh.filename.ToLower().EndsWith(".dae"))) //Collada files contain their own materials
{
material = UrdfMaterial.ExportMaterialData(urdfVisual.GetComponentInChildren <MeshRenderer>().sharedMaterial);
}
string visualName = urdfVisual.name == "unnamed" ? null : urdfVisual.name;
return(new Link.Visual(geometry, visualName, UrdfOrigin.ExportOriginData(urdfVisual.transform), material));
}
private SpatialMaterial CreateMaterial(Link.Visual.Material baseMat)
{
if (baseMat == null)
{
return(null);
}
SpatialMaterial temp = new SpatialMaterial();
var matColor = new Godot.Color();
matColor.r = (float)baseMat.color.rgba[0];
matColor.g = (float)baseMat.color.rgba[1];
matColor.b = (float)baseMat.color.rgba[2];
matColor.a = (float)baseMat.color.rgba[3];
temp.AlbedoColor = matColor;
return(temp);
}
public static void SetUrdfMaterial(GameObject gameObject, Link.Visual.Material urdfMaterial)
{
if (urdfMaterial != null)
{
var material = CreateMaterial(urdfMaterial);
SetMaterial(gameObject, material);
}
else
{
//If the URDF material is not defined, and the renderer is missing
//a material, assign the default material.
Renderer renderer = gameObject.GetComponentInChildren <Renderer>();
if (renderer != null && renderer.sharedMaterial == null)
{
var defaultMaterial = AssetDatabase.LoadAssetAtPath <Material>(UrdfAssetPathHandler.GetMaterialAssetPath(DefaultMaterialName));
SetMaterial(gameObject, defaultMaterial);
}
}
}
public static void SetUrdfMaterial(GameObject gameObject, Link.Visual.Material urdfMaterial)
{
if (urdfMaterial != null)
{
var material = CreateMaterial(urdfMaterial);
SetMaterial(gameObject, material);
}
else
{
//If the URDF material is not defined, and the renderer is missing
//a material, assign the default material.
Renderer renderer = gameObject.GetComponentInChildren <Renderer>();
if (renderer != null && renderer.sharedMaterial == null)
{
var defaultMaterial = new Material(Shader.Find("Specular"));
SetMaterial(gameObject, defaultMaterial);
}
}
}
private static string GenerateMaterialName(Link.Visual.Material urdfMaterial)
{
var materialName = "";
if (urdfMaterial.color != null)
{
materialName = "rgba-";
for (var i = 0; i < urdfMaterial.color.rgba.Length; i++)
{
materialName += urdfMaterial.color.rgba[i];
if (i != urdfMaterial.color.rgba.Length - 1)
{
materialName += "-";
}
}
}
else if (urdfMaterial.texture != null)
{
materialName = "texture-" + Path.GetFileName(urdfMaterial.texture.filename);
}
return(materialName);
}
/// <summary>
/// Compares material information of two visuals
/// </summary>
/// <param name="source">First visual's material information to be compared</param>
/// <param name="exported">Second visuals's material information to be compared</param>
/// <param name="indent">Indent level in the log file</param>
/// <returns></returns>
private bool CompareMaterial(Link.Visual.Material source, Link.Visual.Material exported, int indent)
{
bool materialNameEqual = source.name == exported.name;
linkLog.AppendLine(String.Format("{0}Name Equal:{1,6}", Indent(indent), materialNameEqual));
linkLog.AppendLine(String.Format("{0}Name: Source: {1,12} ", Indent(indent), source.name));
linkLog.AppendLine(String.Format("{0}Exported: {1,12}", Indent(indent), exported.name));
if (!materialNameEqual)
{
return(false);
}
if (source.color != null && exported.color != null)
{
for (int i = 0; i < 3; i++)
{
if (source.color.rgba[i] != exported.color.rgba[i])
{
linkLog.AppendLine(String.Format("{0}Colors Equal: {1,6}", Indent(indent), "False"));
linkLog.AppendLine(String.Format("{0}RGB Source: {1,5:F3} {2,5:F3} {3,5:F3} ", Indent(indent), source.color.rgba[0], source.color.rgba[1], source.color.rgba[2]));
linkLog.AppendLine(String.Format("{0}RGB Exported: {1,5:F3} {2,5:F3} {3,5:F3}", Indent(indent), exported.color.rgba[0], exported.color.rgba[1], exported.color.rgba[2]));
return(false);
}
}
linkLog.AppendLine(String.Format("{0}Colors Equal: {1,6}", Indent(indent), "True"));
linkLog.AppendLine(String.Format("{0}RGB :{1,5:F3} {2,5:F3} {3,5:F3} ", Indent(indent), source.color.rgba[0], source.color.rgba[1], source.color.rgba[2]));
}
else if (source.color == null && exported.color == null)
{
linkLog.AppendLine(String.Format("{0} Color nullity equality:{1,6}", Indent(indent), "True"));
}
else
{
linkLog.AppendLine(String.Format("{0} Color nullity equality:{1,6}", Indent(indent), "False"));
return(false);
}
if (source.texture != null && exported.texture != null)
{
bool textureNameEqual = (source.texture.filename != exported.texture.filename);
linkLog.AppendLine(String.Format("{0}Name Equal: {1,6}", Indent(indent), textureNameEqual));
linkLog.AppendLine(String.Format("{0}Name: Source:{1,12}", Indent(indent), source.texture.filename));
linkLog.AppendLine(String.Format("{0}Exported:{1,12}", Indent(indent), exported.texture.filename));
if (!textureNameEqual)
{
return(false);
}
}
else if (source.texture == null && source.texture == null)
{
linkLog.AppendLine(String.Format("{0}Texture nullity equality:{1,6}", Indent(indent), "True"));
}
else
{
linkLog.AppendLine(String.Format("{0}Texture nullity equality:{1,6}", Indent(indent), "False"));
return(false);
}
return(true);
}
private static void Main(string[] args)
{
string newRobotAssetPath = Path.Combine(Directory.GetCurrentDirectory(), "..", "..", "TestResults");
Directory.CreateDirectory(newRobotAssetPath);
string exportPath = Path.Combine(newRobotAssetPath, "testing_export.urdf");
Robot robot = new Robot(exportPath, "TestRobot");
//Test material library
Link.Visual.Material material = new Link.Visual.Material("blue", new Link.Visual.Material.Color(new double[] { 0, 0, 1, 1 }));
robot.materials.Add(material);
//Test link
Link link = new Link("test_link_1", new Link.Inertial(
111.0,
new Origin(new double[] { 0, 1, 2 },
new double[] { 0, 1, 2 }),
new Link.Inertial.Inertia(0.01, 0.02, 0.03, 0.04, 0.05, 0.06)
));
link.visuals.Add(new Link.Visual(
new Link.Geometry(new Link.Geometry.Box(new double[] { 4, 1, 2 })),
null,
new Origin(new double[] { 0, 0, 0 },
new double[] { 0, 1, 1 }),
new Link.Visual.Material("blue"))
);
link.collisions.Add(new Link.Collision(
new Link.Geometry(new Link.Geometry.Box(new double[] { 4, 1, 2 })))
);
robot.links.Add(link);
//Test second link
robot.links.Add(new Link("test_link_2"));
//Test joint
Joint joint = new Joint(
"test_joint_1",
"fixed",
"test_link_1",
"test_link_2",
new Origin(new double[] { 0, 1, 2 },
new double[] { 0, 1, 2 }),
new Joint.Axis(new[] { 0.1, 0.2, 0.3 }),
new Joint.Calibration(0.1),
new Joint.Dynamics(0.4, 0.000001),
new Joint.Limit(0, 0, 3, 10),
new Joint.Mimic("test_joint_1"),
new Joint.SafetyController(-10, 10, 0, 2)
);
robot.joints.Add(joint);
//Test plugin
Plugin plugin = new Plugin("<hello>\n\tWORLD!\n</hello>");
robot.plugins.Add(plugin);
//Test export to URDF
robot.WriteToUrdf();
//Output file to console
Console.WriteLine("Test URDF was written to " + exportPath + "\n");
if (File.Exists(exportPath))
{
using (TextReader tr = new StreamReader(exportPath))
{
string line;
while ((line = tr.ReadLine()) != null)
{
Console.WriteLine(line);
}
}
}
Console.WriteLine("\nPress any key to close...");
Console.ReadKey(true);
}
