static Material defaultMaterial = null; // used RuntimeURDF
private static void CreateDefaultMaterial()
{
Material material = defaultMaterial;
#if UNITY_EDITOR
if (!RuntimeUrdf.IsRuntimeMode())
{
material = RuntimeUrdf.AssetDatabase_LoadAssetAtPath <Material>(UrdfAssetPathHandler.GetMaterialAssetPath(DefaultMaterialName));
}
#endif
if (material != null)
{
return;
}
material = MaterialExtensions.CreateBasicMaterial();
MaterialExtensions.SetMaterialColor(material, new Color(0.33f, 0.33f, 0.33f, 0.0f));
// just keep it in memory while the app is running.
defaultMaterial = material;
#if UNITY_EDITOR
if (!RuntimeUrdf.IsRuntimeMode())
{
// create the material to be reused
RuntimeUrdf.AssetDatabase_CreateAsset(material, UrdfAssetPathHandler.GetMaterialAssetPath(DefaultMaterialName));
}
#endif
}
// Initializes import pipeline and reads the urdf file.
private static ImportPipelineData ImportPipelineInit(string filename, ImportSettings settings, bool loadStatus, bool forceRuntimeMode)
{
ImportPipelineData im = new ImportPipelineData();
im.settings = settings;
im.loadStatus = loadStatus;
im.wasRuntimeMode = RuntimeUrdf.IsRuntimeMode();
im.forceRuntimeMode = forceRuntimeMode;
if (forceRuntimeMode)
{
RuntimeUrdf.SetRuntimeMode(true);
}
im.robot = new Robot(filename);
if (!UrdfAssetPathHandler.IsValidAssetPath(im.robot.filename))
{
Debug.LogError("URDF file and ressources must be placed in Assets Folder:\n" + Application.dataPath);
if (forceRuntimeMode)
{ // set runtime mode back to what it was
RuntimeUrdf.SetRuntimeMode(im.wasRuntimeMode);
}
return(null);
}
return(im);
}
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)
{
Material material = defaultMaterial;
#if UNITY_EDITOR
if (!RuntimeUrdf.IsRuntimeMode())
{
material = RuntimeUrdf.AssetDatabase_LoadAssetAtPath <Material>(UrdfAssetPathHandler.GetMaterialAssetPath(DefaultMaterialName));
}
#endif
SetMaterial(gameObject, material);
}
}
}
private static GameObject CreateMeshVisual(Link.Geometry.Mesh mesh)
{
#if UNITY_EDITOR
if (!RuntimeUrdf.IsRuntimeMode())
{
GameObject meshObject = LocateAssetHandler.FindUrdfAsset <GameObject>(mesh.filename);
return(meshObject == null ? null : (GameObject)RuntimeUrdf.PrefabUtility_InstantiatePrefab(meshObject));
}
#endif
return(CreateMeshVisualRuntime(mesh));
}
public static bool IsValidAssetPath(string path)
{
#if UNITY_EDITOR
if (!RuntimeUrdf.IsRuntimeMode())
{
return(GetRelativeAssetPath(path) != null);
}
#endif
//RuntimeImporter. TODO: check if the path really exists
return(true);
}
private static void ConvertMeshToColliders(GameObject gameObject, string location = null, bool setConvex = true)
{
MeshFilter[] meshFilters = gameObject.GetComponentsInChildren <MeshFilter>();
if (UrdfRobotExtensions.importsettings.convexMethod == ImportSettings.convexDecomposer.unity)
{
foreach (MeshFilter meshFilter in meshFilters)
{
GameObject child = meshFilter.gameObject;
MeshCollider meshCollider = child.AddComponent <MeshCollider>();
meshCollider.sharedMesh = meshFilter.sharedMesh;
meshCollider.convex = setConvex;
Object.DestroyImmediate(child.GetComponent <MeshRenderer>());
Object.DestroyImmediate(meshFilter);
}
}
else
{
string templateFileName = "";
string filePath = "";
int meshIndex = 0;
if (!RuntimeUrdf.IsRuntimeMode() && location != null)
{
string meshFilePath = UrdfAssetPathHandler.GetRelativeAssetPathFromUrdfPath(location, false);
templateFileName = Path.GetFileNameWithoutExtension(meshFilePath);
filePath = Path.GetDirectoryName(meshFilePath);
}
foreach (MeshFilter meshFilter in meshFilters)
{
GameObject child = meshFilter.gameObject;
VHACD decomposer = child.AddComponent <VHACD>();
List <Mesh> colliderMeshes = decomposer.GenerateConvexMeshes(meshFilter.sharedMesh);
foreach (Mesh collider in colliderMeshes)
{
if (!RuntimeUrdf.IsRuntimeMode())
{
meshIndex++;
string name = $"{filePath}/{templateFileName}_{meshIndex}.asset";
Debug.Log($"Creating new mesh file: {name}");
RuntimeUrdf.AssetDatabase_CreateAsset(collider, name);
RuntimeUrdf.AssetDatabase_SaveAssets();
}
MeshCollider current = child.AddComponent <MeshCollider>();
current.sharedMesh = collider;
current.convex = setConvex;
}
Component.DestroyImmediate(child.GetComponent <VHACD>());
Object.DestroyImmediate(child.GetComponent <MeshRenderer>());
Object.DestroyImmediate(meshFilter);
}
}
}
private static Material GetDefaultDiffuseMaterial()
{
#if UNITY_EDITOR
// also save the material in the Assets
if (!RuntimeUrdf.IsRuntimeMode() && MaterialExtensions.GetRenderPipelineType() == MaterialExtensions.RenderPipelineType.Standard)
{
s_DefaultDiffuse = RuntimeUrdf.AssetDatabase_GetBuiltinExtraResource <Material>("Default-Diffuse.mat");
}
#endif
if (s_DefaultDiffuse)
{ // Could't use the "Default-Diffuse.mat", either because of HDRP or runtime. so let's create one.
s_DefaultDiffuse = MaterialExtensions.CreateBasicMaterial();
}
return(s_DefaultDiffuse);
}
public static string GetRelativeAssetPath(string absolutePath)
{
var absolutePathUnityFormat = absolutePath.SetSeparatorChar();
if (!absolutePathUnityFormat.StartsWith(Application.dataPath.SetSeparatorChar()))
{
#if UNITY_EDITOR
if (!RuntimeUrdf.IsRuntimeMode())
{
return(null);
}
#endif
return(absolutePath); // so that it works in runtime
}
var assetPath = "Assets" + absolutePath.Substring(Application.dataPath.Length);
return(assetPath.SetSeparatorChar());
}
private static GameObject CreateMeshCollider(Link.Geometry.Mesh mesh)
{
if (!RuntimeUrdf.IsRuntimeMode())
{
GameObject prefabObject = LocateAssetHandler.FindUrdfAsset <GameObject>(mesh.filename);
if (prefabObject == null)
{
Debug.LogError("Unable to create mesh collider for the mesh: " + mesh.filename);
return(null);
}
GameObject meshObject = (GameObject)RuntimeUrdf.PrefabUtility_InstantiatePrefab(prefabObject);
ConvertMeshToColliders(meshObject, location: mesh.filename);
return(meshObject);
}
return(CreateMeshColliderRuntime(mesh));
}
private static void ConvertCylinderToCollider(MeshFilter filter)
{
GameObject go = filter.gameObject;
var collider = filter.sharedMesh;
// Only create an asset if not runtime import
if (!RuntimeUrdf.IsRuntimeMode())
{
var packageRoot = UrdfAssetPathHandler.GetPackageRoot();
var filePath = RuntimeUrdf.AssetDatabase_GUIDToAssetPath(RuntimeUrdf.AssetDatabase_CreateFolder($"{packageRoot}", "meshes"));
var name = $"{filePath}/Cylinder.asset";
Debug.Log($"Creating new cylinder file: {name}");
RuntimeUrdf.AssetDatabase_CreateAsset(collider, name, uniquePath: true);
RuntimeUrdf.AssetDatabase_SaveAssets();
}
MeshCollider current = go.AddComponent <MeshCollider>();
current.sharedMesh = collider;
current.convex = true;
Object.DestroyImmediate(go.GetComponent <MeshRenderer>());
Object.DestroyImmediate(filter);
}
public static void CreateTag()
{
#if UNITY_EDITOR
if (RuntimeUrdf.IsRuntimeMode())
{
// This is to make the behavior consistent with Runtime mode
// as tags cannot be created in a Standalone build.
return;
}
// Open tag manager
SerializedObject tagManager = new SerializedObject(AssetDatabase.LoadAllAssetsAtPath("ProjectSettings/TagManager.asset")[0]);
SerializedProperty tagsProp = tagManager.FindProperty("tags");
// First check if it is not already present
bool found = false;
for (int i = 0; i < tagsProp.arraySize; i++)
{
SerializedProperty t = tagsProp.GetArrayElementAtIndex(i);
if (t.stringValue.Equals(FKRobot.k_TagName))
{
found = true;
break;
}
}
// if not found, add it
if (!found)
{
tagsProp.InsertArrayElementAtIndex(0);
SerializedProperty n = tagsProp.GetArrayElementAtIndex(0);
n.stringValue = FKRobot.k_TagName;
}
tagManager.ApplyModifiedProperties();
#endif
}
public void OnPreprocessModel()
{
#if UNITY_EDITOR
if (!RuntimeUrdf.IsRuntimeMode())
{
ModelImporter modelImporter = (ModelImporter)assetImporter;
isCollada = Path.GetExtension(modelImporter.assetPath).ToLowerInvariant() == ".dae";
if (!isCollada)
{
return;
}
if (modelImporter.useFileScale)
{
modelImporter.globalScale = ReadGlobalScale(getAbsolutePath(modelImporter.assetPath));
}
modelImporter.animationType = ModelImporterAnimationType.None;
modelImporter.importCameras = false;
modelImporter.importLights = false;
orientation = readColladaOrientation(getAbsolutePath(modelImporter.assetPath));
}
#endif
}
// Creates the robot game object.
private static void ImportPipelineCreateObject(ImportPipelineData im)
{
im.robotGameObject = new GameObject(im.robot.name);
importsettings = im.settings;
im.settings.totalLinks = im.robot.links.Count;
CreateTag();
SetTag(im.robotGameObject);
im.robotGameObject.AddComponent <UrdfRobot>();
im.robotGameObject.AddComponent <Unity.Robotics.UrdfImporter.Control.Controller>();
if (RuntimeUrdf.IsRuntimeMode())
{// In runtime mode, we have to disable controller while robot is being constructed.
im.robotGameObject.GetComponent <Unity.Robotics.UrdfImporter.Control.Controller>().enabled = false;
}
im.robotGameObject.GetComponent <UrdfRobot>().SetAxis(im.settings.choosenAxis);
UrdfAssetPathHandler.SetPackageRoot(Path.GetDirectoryName(im.robot.filename));
UrdfMaterial.InitializeRobotMaterials(im.robot);
UrdfPlugins.Create(im.robotGameObject.transform, im.robot.plugins);
}
public void SetRuntimeMode_False()
{
RuntimeUrdf.SetRuntimeMode(false);
Assert.IsFalse(RuntimeUrdf.IsRuntimeMode());
}
public void IsRuntimeMode_True()
{
RuntimeUrdf.runtimeModeEnabled = true;
Assert.IsTrue(RuntimeUrdf.IsRuntimeMode());
}
