public virtual void InitActionObject(string id, string type, Vector3 position, Quaternion orientation, string uuid, ActionObjectMetadata actionObjectMetadata, IO.Swagger.Model.CollisionModels customCollisionModels = null, bool loadResuources = true)
{
Data.Id = id;
Data.Type = type;
SetScenePosition(position);
SetSceneOrientation(orientation);
Data.Id = uuid;
ActionObjectMetadata = actionObjectMetadata;
CreateModel(customCollisionModels);
enabled = true;
visibility = PlayerPrefsHelper.LoadFloat(SceneManager.Instance.SceneMeta.Id + "/ActionObject/" + id + "/visibility", 1);
SetVisibility(visibility);
}
public abstract void CreateModel(IO.Swagger.Model.CollisionModels customCollisionModels = null);
public virtual void InitActionObject(IO.Swagger.Model.SceneObject sceneObject, Vector3 position, Quaternion orientation, ActionObjectMetadata actionObjectMetadata, IO.Swagger.Model.CollisionModels customCollisionModels = null, bool loadResuources = true)
{
Data.Id = sceneObject.Id;
Data.Type = sceneObject.Type;
name = sceneObject.Name; // show actual object name in unity hierarchy
ActionObjectMetadata = actionObjectMetadata;
if (actionObjectMetadata.HasPose)
{
SetScenePosition(position);
SetSceneOrientation(orientation);
}
CreateModel(customCollisionModels);
enabled = true;
SelectorItem = SelectorMenu.Instance.CreateSelectorItem(this);
if (VRModeManager.Instance.VRModeON)
{
SetVisibility(PlayerPrefsHelper.LoadFloat("AOVisibilityVR", 1f));
}
else
{
SetVisibility(PlayerPrefsHelper.LoadFloat("AOVisibilityAR", 0f));
}
if (PlayerPrefsHelper.LoadBool($"ActionObject/{GetId()}/blocklisted", false))
{
Enable(false, true, false);
}
}
public override void InitActionObject(string id, string type, Vector3 position, Quaternion orientation, string uuid, ActionObjectMetadata actionObjectMetadata, IO.Swagger.Model.CollisionModels customCollisionModels = null)
{
throw new System.NotImplementedException();
}
public override void InitActionObject(string id, string type, Vector3 position, Quaternion orientation, string uuid, ActionObjectMetadata actionObjectMetadata, IO.Swagger.Model.CollisionModels customCollisionModels = null)
{
base.InitActionObject(id, type, position, orientation, uuid, actionObjectMetadata);
Data.Id = id;
Data.Type = type;
SetScenePosition(position);
SetSceneOrientation(orientation);
Data.Id = uuid;
ActionObjectMetadata = actionObjectMetadata;
CreateModel(customCollisionModels);
enabled = true;
SetVisibility(visibility);
}
public async override void InitActionObject(IO.Swagger.Model.SceneObject sceneObject, Vector3 position, Quaternion orientation, ActionObjectMetadata actionObjectMetadata, IO.Swagger.Model.CollisionModels customCollisionModels = null, bool loadResources = true)
{
base.InitActionObject(sceneObject, position, orientation, actionObjectMetadata);
// if there should be an urdf robot model
if (ActionsManager.Instance.RobotsMeta.TryGetValue(sceneObject.Type, out RobotMeta robotMeta))
{
RobotMeta = robotMeta;
if (!string.IsNullOrEmpty(robotMeta.UrdfPackageFilename))
{
// Get the robot model, if it returns null, the robot will be loading itself
RobotModel = UrdfManager.Instance.GetRobotModelInstance(robotMeta.Type, robotMeta.UrdfPackageFilename);
if (RobotModel != null)
{
RobotModelLoaded();
}
else
{
// Robot is not loaded yet, let's wait for it to be loaded
UrdfManager.Instance.OnRobotUrdfModelLoaded += OnRobotModelLoaded;
modelLoading = true;
}
}
}
ResourcesLoaded = false;
}
public async override void InitActionObject(string id, string type, Vector3 position, Quaternion orientation, string uuid, ActionObjectMetadata actionObjectMetadata, IO.Swagger.Model.CollisionModels customCollisionModels = null, bool loadResources = true)
{
base.InitActionObject(id, type, position, orientation, uuid, actionObjectMetadata);
//UrdfManager.Instance.OnUrdfReady += OnUrdfDownloaded;
// if there should be an urdf robot model
if (ActionsManager.Instance.RobotsMeta.TryGetValue(type, out RobotMeta robotMeta) && !string.IsNullOrEmpty(robotMeta.UrdfPackageFilename))
{
// check if robot model exists
if (UrdfManager.Instance.CheckIfRobotModelExists(type))
{
// check if newer robot model exists on the server
if (UrdfManager.Instance.CheckIfNewerRobotModelExists(robotMeta.UrdfPackageFilename, type))
{
// TODO destroy the old robot version
UrdfManager.Instance.RemoveOldModels(type);
// download newer version of the urdf
UrdfManager.Instance.OnRobotUrdfModelLoaded += OnRobotModelLoaded;
StartCoroutine(UrdfManager.Instance.DownloadUrdfPackage(robotMeta.UrdfPackageFilename, robotMeta.Type));
}
else
{
// get the robot model
RobotModel = UrdfManager.Instance.GetRobotModelInstance(type);
if (RobotModel != null)
{
RobotModelLoaded();
}
else
{
Debug.LogError("Fatal error, robot model should be present and loaded, but it is not. Report bug.");
}
}
}
// robot model is not loaded at all, check if urdf is downloaded locally and import it, otherwise download it
else
{
// check if newer robot model exists on the server.. if it is not downloaded at all, it will return true
if (UrdfManager.Instance.CheckIfNewerRobotModelExists(robotMeta.UrdfPackageFilename, type))
{
UrdfManager.Instance.OnRobotUrdfModelLoaded += OnRobotModelLoaded;
StartCoroutine(UrdfManager.Instance.DownloadUrdfPackage(robotMeta.UrdfPackageFilename, robotMeta.Type));
}
else // the robot zip is downloaded, thus start direct build
{
UrdfManager.Instance.OnRobotUrdfModelLoaded += OnRobotModelLoaded;
UrdfManager.Instance.BuildRobotModelFromUrdf(type);
}
}
}
//LoadResources = loadResources;
ResourcesLoaded = false;
}
