private static Link.Geometry ExportGeometryMeshData(GameObject geometryObject, double[] urdfSize, bool isCollisionGeometry)
{
string newFilePath = UrdfMeshExportHandler.CopyOrCreateMesh(geometryObject, isCollisionGeometry);
string packagePath = UrdfExportPathHandler.GetPackagePathForMesh(newFilePath);
return(new Link.Geometry(null, null, null, new Link.Geometry.Mesh(packagePath, urdfSize)));
}
public void ExportGeometryData_MeshUnityDecomposer_DefaultGeometry()
{
// Force runtime mode to set testing package root
RuntimeUrdf.runtimeModeEnabled = true;
UrdfAssetPathHandler.SetPackageRoot("Packages/com.unity.robotics.urdf-importer/Tests/Runtime/Assets/URDF/cube/");
RuntimeUrdf.runtimeModeEnabled = false;
UrdfRobotExtensions.importsettings = ImportSettings.DefaultSettings();
UrdfRobotExtensions.importsettings.convexMethod = ImportSettings.convexDecomposer.unity;
var parent = new GameObject("Parent").transform;
string path = "package://meshes/cube.stl";
var meshGeometry = new Geometry(mesh: new Mesh(path, new double[] { 1, 1, 1 }));
UrdfCollisionExtensions.Create(parent, new Collision(meshGeometry));
UrdfExportPathHandler.SetExportPath("Assets");
var t = parent.GetComponentInChildren <UrdfCollision>().transform.GetChild(0);
var export = UrdfGeometry.ExportGeometryData(GeometryTypes.Mesh, t);
Assert.IsNotNull(export);
Object.DestroyImmediate(parent.gameObject);
List <string> outFailedPaths = new List <string>();
AssetDatabase.DeleteAssets(new string[] { "Assets/meshes" }, outFailedPaths);
}
private static Link.Visual.Material.Texture ExportTextureData(Texture texture)
{
string oldTexturePath = UrdfAssetPathHandler.GetFullAssetPath(AssetDatabase.GetAssetPath(texture));
string newTexturePath = UrdfExportPathHandler.GetNewResourcePath(Path.GetFileName(oldTexturePath));
if (oldTexturePath != newTexturePath)
{
File.Copy(oldTexturePath, newTexturePath, true);
}
string packagePath = UrdfExportPathHandler.GetPackagePathForResource(newTexturePath);
return(new Link.Visual.Material.Texture(packagePath));
}
private static string CopyMeshToExportDestination(string prefabPath)
{
string newPrefabPath = UrdfExportPathHandler.GetNewMeshPath(Path.GetFileName(prefabPath));
if (Path.GetExtension(prefabPath)?.ToLower() == ".dae")
{
CopyDaeTextureToExportDestination(prefabPath, Path.GetDirectoryName(newPrefabPath));
}
prefabPath = UrdfAssetPathHandler.GetFullAssetPath(prefabPath);
CopyFileToNewLocation(prefabPath, newPrefabPath);
return(newPrefabPath);
}
private static string CreateNewStlFile(GameObject geometryObject, bool isCollisionGeometry)
{
Debug.Log("Did not find an existing STL or DAE file for Geometry Mesh "
+ geometryObject.name + ". Exporting a new STL file.", geometryObject);
string newMeshPath = UrdfExportPathHandler.GetNewMeshPath(geometryObject.name + ".stl");
StlExporter stlExporter = new StlExporter(newMeshPath, geometryObject, isCollisionGeometry);
if (!stlExporter.Export())
{
Debug.LogWarning("Mesh export for geometry " + geometryObject.name + " failed.", geometryObject);
}
return(newMeshPath);
}
public static void ExportRobotToUrdf(this UrdfRobot urdfRobot, string exportRootFolder, string exportDestination)
{
UrdfExportPathHandler.SetExportPath(exportRootFolder, exportDestination);
urdfRobot.FilePath = Path.Combine(UrdfExportPathHandler.GetExportDestination(), urdfRobot.name + ".urdf");
Robot robot = urdfRobot.ExportRobotData();
if (robot == null)
{
return;
}
robot.WriteToUrdf();
UnityEngine.Debug.Log(robot.name + " was exported to " + UrdfExportPathHandler.GetExportDestination());
UrdfMaterial.Materials.Clear();
UrdfExportPathHandler.Clear();
AssetDatabase.Refresh();
}
