/// <summary>
/// Loads mesh - takes care of downloading, updating and importing mesh
/// </summary>
/// <param name="mesh"></param>
/// <param name="aoId">ID of action object which is asociated with the mesh</param>
public void LoadModel(IO.Swagger.Model.Mesh mesh, string aoId)
{
if (CheckIfNewerRobotModelExists(mesh.Id, mesh.DataId))
{
StartCoroutine(DownloadMesh(mesh.Id, mesh.DataId, aoId));
}
else
{
StartCoroutine(ImportMeshWhenReady(string.Format("{0}/meshes/{1}/{2}", Application.persistentDataPath, mesh.Id, mesh.DataId), aoId, mesh.DataId));
}
}
public async void CreateNewObjectType()
{
Debug.Assert(ModelsList.Dropdown.dropdownItems.Count > 0, "No models");
Debug.Assert(ParentsList.Dropdown.dropdownItems.Count > 0, "No parent objects");
string objectId = NameInput.text;
IO.Swagger.Model.ObjectModel objectModel = new IO.Swagger.Model.ObjectModel();
string modelTypeString = (string)ModelsList.GetValue();
IO.Swagger.Model.ObjectTypeMeta objectTypeMeta;
if (ModelMenus.TryGetValue(modelTypeString, out GameObject type) && type != null)
{
IO.Swagger.Model.ObjectModel.TypeEnum modelType = new IO.Swagger.Model.ObjectModel.TypeEnum();
switch (modelTypeString)
{
case "Box":
modelType = IO.Swagger.Model.ObjectModel.TypeEnum.Box;
decimal sizeX = decimal.Parse(BoxX.text, NumberStyles.AllowDecimalPoint, CultureInfo.InvariantCulture);
decimal sizeY = decimal.Parse(BoxY.text, NumberStyles.AllowDecimalPoint, CultureInfo.InvariantCulture);
decimal sizeZ = decimal.Parse(BoxZ.text, NumberStyles.AllowDecimalPoint, CultureInfo.InvariantCulture);
// no need to transform from Unity to ROS, because we are setting those scales in ROS already
//(sizeX, sizeY, sizeZ) = TransformConvertor.UnityToROSScale(sizeX, sizeY, sizeZ);
IO.Swagger.Model.Box box = new IO.Swagger.Model.Box(objectId, sizeX, sizeY, sizeZ);
objectModel.Box = box;
break;
case "Sphere":
modelType = IO.Swagger.Model.ObjectModel.TypeEnum.Sphere;
decimal radius = decimal.Parse(SphereRadius.text, NumberStyles.AllowDecimalPoint, CultureInfo.InvariantCulture);
IO.Swagger.Model.Sphere sphere = new IO.Swagger.Model.Sphere(objectId, radius);
objectModel.Sphere = sphere;
break;
case "Cylinder":
modelType = IO.Swagger.Model.ObjectModel.TypeEnum.Cylinder;
decimal cylinderRadius = decimal.Parse(CylinderRadius.text, NumberStyles.AllowDecimalPoint, CultureInfo.InvariantCulture);
decimal cylinderHeight = decimal.Parse(CylinderHeight.text, NumberStyles.AllowDecimalPoint, CultureInfo.InvariantCulture);
IO.Swagger.Model.Cylinder cylinder = new IO.Swagger.Model.Cylinder(objectId, cylinderHeight, cylinderRadius);
objectModel.Cylinder = cylinder;
break;
case "Mesh":
modelType = IO.Swagger.Model.ObjectModel.TypeEnum.Mesh;
string meshId = MeshId.text;
IO.Swagger.Model.Mesh mesh = new IO.Swagger.Model.Mesh(id: meshId, focusPoints: new List <IO.Swagger.Model.Pose>(), uri: "");
objectModel.Mesh = mesh;
break;
default:
Debug.LogError("Model not defined!");
return;
}
objectModel.Type = modelType;
objectTypeMeta = new IO.Swagger.Model.ObjectTypeMeta(builtIn: false, description: "", type: objectId, objectModel: objectModel,
_base: (string)ParentsList.GetValue(), needsServices: new List <string>());
}
else
{
objectTypeMeta = new IO.Swagger.Model.ObjectTypeMeta(builtIn: false, description: "", type: objectId,
_base: (string)ParentsList.GetValue(), needsServices: new List <string>());
}
bool success = await Base.GameManager.Instance.CreateNewObjectType(objectTypeMeta);
if (success)
{
MenuManager.Instance.NewObjectTypeMenu.Close();
}
}
public IO.Swagger.Model.ObjectTypeMeta CreateObjectTypeMeta()
{
string objectId = NameInput.text;
IO.Swagger.Model.ObjectModel objectModel = new IO.Swagger.Model.ObjectModel();
string modelTypeString = (string)ModelsList.GetValue();
IO.Swagger.Model.ObjectTypeMeta objectTypeMeta;
if (HasSelectedParentPose() && ModelMenus.TryGetValue(modelTypeString, out GameObject type) && type != null)
{
IO.Swagger.Model.ObjectModel.TypeEnum modelType = new IO.Swagger.Model.ObjectModel.TypeEnum();
switch (modelTypeString)
{
case "Box":
modelType = IO.Swagger.Model.ObjectModel.TypeEnum.Box;
decimal sizeX = decimal.Parse(BoxX.text, NumberStyles.AllowDecimalPoint, CultureInfo.InvariantCulture);
decimal sizeY = decimal.Parse(BoxY.text, NumberStyles.AllowDecimalPoint, CultureInfo.InvariantCulture);
decimal sizeZ = decimal.Parse(BoxZ.text, NumberStyles.AllowDecimalPoint, CultureInfo.InvariantCulture);
// no need to transform from Unity to ROS, because we are setting those scales in ROS already
//(sizeX, sizeY, sizeZ) = TransformConvertor.UnityToROSScale(sizeX, sizeY, sizeZ);
IO.Swagger.Model.Box box = new IO.Swagger.Model.Box(objectId, sizeX, sizeY, sizeZ);
objectModel.Box = box;
break;
case "Sphere":
modelType = IO.Swagger.Model.ObjectModel.TypeEnum.Sphere;
decimal radius = decimal.Parse(SphereRadius.text, NumberStyles.AllowDecimalPoint, CultureInfo.InvariantCulture);
IO.Swagger.Model.Sphere sphere = new IO.Swagger.Model.Sphere(objectId, radius);
objectModel.Sphere = sphere;
break;
case "Cylinder":
modelType = IO.Swagger.Model.ObjectModel.TypeEnum.Cylinder;
decimal cylinderRadius = decimal.Parse(CylinderRadius.text, NumberStyles.AllowDecimalPoint, CultureInfo.InvariantCulture);
decimal cylinderHeight = decimal.Parse(CylinderHeight.text, NumberStyles.AllowDecimalPoint, CultureInfo.InvariantCulture);
IO.Swagger.Model.Cylinder cylinder = new IO.Swagger.Model.Cylinder(objectId, cylinderHeight, cylinderRadius);
objectModel.Cylinder = cylinder;
break;
case "Mesh":
modelType = IO.Swagger.Model.ObjectModel.TypeEnum.Mesh;
string meshId = MeshId.text;
IO.Swagger.Model.Mesh mesh = new IO.Swagger.Model.Mesh(id: meshId, focusPoints: new List <IO.Swagger.Model.Pose>(), uri: "");
objectModel.Mesh = mesh;
break;
default:
Debug.LogError("Model not defined!");
return(null);
}
objectModel.Type = modelType;
objectTypeMeta = new IO.Swagger.Model.ObjectTypeMeta(builtIn: false, description: "", type: objectId, objectModel: objectModel,
_base: (string)ParentsList.GetValue(), hasPose: true);
}
else
{
objectTypeMeta = new IO.Swagger.Model.ObjectTypeMeta(builtIn: false, description: "", type: objectId,
_base: (string)ParentsList.GetValue(), hasPose: false);
}
return(objectTypeMeta);
}