/// <summary>
/// Initializes the paths of the python scripts.
/// </summary>
public void Initialize()
{
UpdaterUtility.ProjectFolder = Application.dataPath;
UpdaterUtility.PathToDownloadScript = UpdaterUtility.ProjectFolder + @"/ExternalTools/ModelDownloader.py";
UpdaterUtility.PathToScanScript = UpdaterUtility.ProjectFolder + @"/ExternalTools/ModelScanner.py";
UpdaterUtility.PathToSDFreader = UpdaterUtility.ProjectFolder + @"/ExternalTools/SDF_reader.py";
UpdaterUtility.showWarnings();
}
/// <summary>
/// Creates prefabs for every model which were downloaded.
/// </summary>
public void CreatePrefab()
{
foreach (string modelName in m_ModelNames)
{
string pathToSDFFile = UpdaterUtility.ProjectFolder + @"/temp" + modelName + "SDFs.txt";
if (!File.Exists(pathToSDFFile))
{
Debug.LogWarning("Scan file not found! Check whether it exists or if python script is working!");
return;
}
// get file content of format title:url
string[] sdfContent = File.ReadAllLines(pathToSDFFile);
File.Delete(pathToSDFFile);
List <string[]> linkList = new List <string[]>();
foreach (string line in sdfContent)
{
string[] SDFline = line.Split(';');
linkList.Add(SDFline);
}
GameObject modelParent = null;
string absoluteModelPath = UpdaterUtility.ProjectFolder + @"/SimulationModels/" + modelName + "/OriginModels";
for (int i = 0; i < linkList.Count; i++)
//foreach (string[] line in linkList)
{
if (linkList[i][0] == "model_name")
{
//Create GameObject where everything will be attached
modelParent = new GameObject(linkList[i][1]);
linkList.Remove(linkList[i]);
//continue;
}
}
//List for all downloaded visuals
List <string> visMeshList = new List <string>();
if (absoluteModelPath != "")
{
visMeshList = UpdaterUtility.getFilePathsFBX(absoluteModelPath + @"/visual");
}
//List for all downloaded colliders
List <string> colMeshList = new List <string>();
if (absoluteModelPath != "")
{
colMeshList = UpdaterUtility.getFilePathsFBX(absoluteModelPath + @"/collision");
}
foreach (string name in visMeshList)
{
string[] currentLine = null;
foreach (string[] line in linkList)
{
for (int j = 0; j < line.Length; j++)
{
string name1 = name.Replace(".fbx", "");
Debug.Log(name1 + " : " + name);
if (line[j].Contains(name1))
{
currentLine = line;
Debug.Log(currentLine.Length);
}
}
}
string[] pose = null;
string[] VIS_scale = null;
//string[] COL_scale = null;
for (int i = 0; i < currentLine.Length; i++)
{
if (currentLine[i].Contains("link_pose"))
{
pose = currentLine[i + 1].Split(' ');
}
if (currentLine[i].Contains("VIS_mesh_scale"))
{
VIS_scale = currentLine[i + 1].Split(' ');
}
//if (currentLine[i].Contains("COL_mesh_scale"))
//{
// COL_scale = currentLine[i + 1].Split(' ');
//}
}
GameObject meshPrefab = null;
string relativeModelPath = "Assets/SimulationModels/" + modelName + "/OriginModels/";
// import Mesh
meshPrefab = (GameObject)AssetDatabase.LoadAssetAtPath(relativeModelPath + @"visual/" + name, typeof(UnityEngine.Object));
//StartCoroutine(importModelCoroutine(path, (result) => { meshPrefab = result; }));
if (meshPrefab == null)
{
Debug.Log("Could not import model!");
continue;
}
GameObject meshCopy = Instantiate(meshPrefab);
Debug.Log(pose.Length);
meshCopy.tag = "RoboyPart";
meshCopy.transform.position = GazeboUtility.GazeboPositionToUnity(new Vector3(float.Parse(pose[0], CultureInfo.InvariantCulture.NumberFormat),
float.Parse(pose[1], CultureInfo.InvariantCulture.NumberFormat),
float.Parse(pose[2], CultureInfo.InvariantCulture.NumberFormat)));
meshCopy.transform.eulerAngles = GazeboUtility.GazeboPositionToUnity(new Vector3(Mathf.Rad2Deg * float.Parse(pose[3], CultureInfo.InvariantCulture.NumberFormat),
Mathf.Rad2Deg * float.Parse(pose[4], CultureInfo.InvariantCulture.NumberFormat),
Mathf.Rad2Deg * float.Parse(pose[5], CultureInfo.InvariantCulture.NumberFormat)));
if (VIS_scale != null)
{
meshCopy.transform.localScale = GazeboUtility.GazeboPositionToUnity(new Vector3(100 * float.Parse(VIS_scale[0], CultureInfo.InvariantCulture.NumberFormat),
100 * float.Parse(VIS_scale[1], CultureInfo.InvariantCulture.NumberFormat),
100 * float.Parse(VIS_scale[2], CultureInfo.InvariantCulture.NumberFormat)));
}
UpdaterUtility.attachCollider(meshCopy, relativeModelPath, name);
var regex1 = new Regex(Regex.Escape("(Clone)"));
meshCopy.name = regex1.Replace(meshCopy.name, "", 1);
var regex2 = new Regex(Regex.Escape("VIS_"));
meshCopy.name = regex2.Replace(meshCopy.name, "", 1);
SelectableObject selectableObjectComponent = meshCopy.AddComponent <SelectableObject>();
selectableObjectComponent.TargetedMaterial = Resources.Load("RoboyMaterials/TargetedMaterial") as Material;
selectableObjectComponent.SelectedMaterial = Resources.Load("RoboyMaterials/SelectedMaterial") as Material;
meshCopy.AddComponent <RoboyPart>();
// Attach Model with mesh to parent GO
meshCopy.transform.parent = modelParent.transform;
}
modelParent.tag = "Roboy";
//Create Prefab of existing GO
UnityEngine.Object prefab = PrefabUtility.CreateEmptyPrefab("Assets/SimulationModels/" + modelName + "/" + modelName + ".prefab");
PrefabUtility.ReplacePrefab(modelParent, prefab, ReplacePrefabOptions.ConnectToPrefab);
//Destroy GO after prefab is created
DestroyImmediate(modelParent);
}
m_ModelNames.Clear();
}
/// <summary>
/// Creates a GameObject for each .world file and attaches related models, with their given pose.
/// </summary>
public void CreateWorld()
{
//stores every individual model in a list, to later create prefabs
List <string> modelNames = new List <string>();
foreach (ModelTransformation model in modellist)
{
if (!modelNames.Contains(model.name))
{
modelNames.Add(model.name);
}
}
//Create Prefab for individual models
foreach (string modelName in modelNames)
{
string absoluteModelPath = UpdaterUtility.ProjectFolder + @"/SimulationWorlds/Models/" + modelName + @"/meshes";
//Create GameObject where everything will be attached
GameObject modelParent = new GameObject(modelName);
//List for all downloaded visuals
List <string> MeshList = new List <string>();
if (absoluteModelPath != "")
{
MeshList = UpdaterUtility.getFilePathsFBX(absoluteModelPath);
}
foreach (string name in MeshList)
{
GameObject meshPrefab = null;
string relativeModelPath = @"Assets/SimulationWorlds/Models/" + modelName + @"/meshes/";
//Debug.Log(relativeModelPath + name);
// import Mesh (from visual if we changed folder structure of roboy_worlds/models
meshPrefab = (GameObject)AssetDatabase.LoadAssetAtPath(relativeModelPath + name, typeof(Object));
if (meshPrefab == null)
{
Debug.Log("Could not import model!");
continue;
}
GameObject meshCopy = Instantiate(meshPrefab);
// set scale of childs to (1,1,1) in case the .stl file has childs with different scale
foreach (Transform child in meshCopy.transform)
{
child.localScale = Vector3.one;
}
meshCopy.transform.localScale = Vector3.one;
//foreach (ModelTransformation model in modellist)
//{
// string name1 = name.Replace(".fbx", "");
// if (model.link.VIS_meshName.Contains(name1))
// {
// if (model.link.position != null)
// {
// meshCopy.transform.position = model.link.position;
// }
// if (model.link.rotation != null)
// {
// meshCopy.transform.eulerAngles = model.link.rotation;
// }
// if (model.link.VIS_scale != null)
// {
// meshCopy.transform.localScale = model.link.VIS_scale;
// }
// }
//}
//meshCopy.tag = "WorldPart";
// !!!! the following part could be shortened if we change folder structure of roboy_worlds/models
//UpdaterUtility.attachCollider(meshCopy, relativeModelPath, name);
// get the object which serves as mesh collider
GameObject colliderPrefab = (GameObject)AssetDatabase.LoadAssetAtPath(relativeModelPath + name, typeof(Object));
if (colliderPrefab == null)
{
Debug.Log("Did not find a collider object for mesh: " + name);
return;
}
// set scale of childs to (1,1,1) in case the .stl file has childs with different scale
foreach (Transform child in colliderPrefab.transform)
{
child.localScale = Vector3.one;
}
colliderPrefab.transform.localScale = Vector3.one;
// go through each mesh filter and add all mesh references as mesh colliders to the gameObject
List <MeshFilter> collRenderers = colliderPrefab.GetComponentsInChildren <MeshFilter>().ToList();
foreach (MeshFilter collRenderer in collRenderers)
{
MeshCollider meshCollider = meshCopy.AddComponent <MeshCollider>();
meshCollider.sharedMesh = collRenderer.sharedMesh;
}
var regex1 = new Regex(Regex.Escape("(Clone)"));
meshCopy.name = regex1.Replace(meshCopy.name, "", 1);
//var regex2 = new Regex(Regex.Escape("VIS_"));
//meshCopy.name = regex2.Replace(meshCopy.name, "", 1);
// Attach Model with mesh to parent GO
meshCopy.transform.parent = modelParent.transform;
}
//Create Prefab of existing GO
Object prefab = PrefabUtility.CreateEmptyPrefab("Assets/SimulationWorlds/Models/" + modelName + "/" + modelName + ".prefab");
GameObject test1 = PrefabUtility.ReplacePrefab(modelParent, prefab, ReplacePrefabOptions.ConnectToPrefab);
//add to dictionary to instanciate later
m_PrefabDictionary.Add(modelName, test1);
//Destroy GO after prefab is created
DestroyImmediate(modelParent);
}
List <KeyValuePair <string, bool> > tempURLList = WorldChoiceDictionary.Where(entry => entry.Value == true).ToList();
foreach (var urlEntry in tempURLList)
{
//this is the parent object of the entire world
GameObject worldParent = new GameObject(urlEntry.Key);
//foreach model in the .world files
foreach (ModelTransformation model in modellist)
{
string absoluteWorldPath = UpdaterUtility.ProjectFolder + @"/SimulationWorlds/" + model.name;
//if model is part of the world urlEntry.Key
if (model.worldname == urlEntry.Key)
{
GameObject model1 = Instantiate(m_PrefabDictionary[model.name]);
var regex1 = new Regex(Regex.Escape("(Clone)"));
model1.name = regex1.Replace(model1.name, "", 1);
//set transform with the values gathered in .world file
model1.transform.position = model.position;
model1.transform.eulerAngles = model.rotation;
//model1.transform.localScale = model.scale;
model1.transform.parent = worldParent.transform;
}
}
// save whole world as prefab
Object prefab = PrefabUtility.CreateEmptyPrefab("Assets/SimulationWorlds/" + urlEntry.Key + "/" + urlEntry.Key + ".prefab");
GameObject test1 = PrefabUtility.ReplacePrefab(worldParent, prefab, ReplacePrefabOptions.ConnectToPrefab);
//Destroy GO after prefab is created
DestroyImmediate(worldParent);
}
}
