// 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 void AssetDatabase_LoadAssetAtPath_Object()
{
RuntimeUrdf.SetRuntimeMode(false);
string path = "Packages/com.unity.robotics.urdf-importer/Tests/Runtime/RuntimeImport/RuntimeUrdfTests.cs";
Assert.IsNotNull(RuntimeUrdf.AssetDatabase_LoadAssetAtPath(path, typeof(UnityEngine.Object)));
}
public void SetUp()
{
// a robot tag needs to be added in project settings before runtime import can work
RuntimeUrdf.SetRuntimeMode(false);
UrdfRobotExtensions.CreateTag();
RuntimeUrdf.AssetDatabase_CreateFolder("Assets", "Tests");
RuntimeUrdf.AssetDatabase_CreateFolder("Assets/Tests", "Runtime");
RuntimeUrdf.AssetDatabase_CreateFolder("Assets/Tests/Runtime", "GeometryTests");
}
public void AssetExists_False()
{
RuntimeUrdf.SetRuntimeMode(false);
Assert.IsFalse(RuntimeUrdf.AssetExists($"{createAssetPath}/tEstAsset.Prefab")); // case
Assert.IsFalse(RuntimeUrdf.AssetExists($"{createAssetPath}/TestAsset.prefabs", true));
Assert.IsFalse(RuntimeUrdf.AssetExists($"{createAssetPath}/TestAsset.prefa", true));
Assert.IsFalse(RuntimeUrdf.AssetExists($"{createAssetPath}/estAsset.prefab", true));
Assert.IsFalse(RuntimeUrdf.AssetExists($"{createAssetPath}/sub/TestAsset.prefab", true));
}
// Post creation stuff: add to parent, fix axis and add collision exceptions.
private static void ImportPipelinePostCreate(ImportPipelineData im)
{
#if UNITY_EDITOR
GameObjectUtility.SetParentAndAlign(im.robotGameObject, Selection.activeObject as GameObject);
Undo.RegisterCreatedObjectUndo(im.robotGameObject, "Create " + im.robotGameObject.name);
Selection.activeObject = im.robotGameObject;
#endif
CorrectAxis(im.robotGameObject);
CreateCollisionExceptions(im.robot, im.robotGameObject);
if (im.forceRuntimeMode)
{ // set runtime mode back to what it was
RuntimeUrdf.SetRuntimeMode(im.wasRuntimeMode);
}
}
public void SetUp()
{
m_StlCubeCopyPath = k_AssetRoot + "/cube.stl";
RuntimeUrdf.SetRuntimeMode(false);
Directory.CreateDirectory(k_AssetRoot);
}
public void SetRuntimeMode_False()
{
RuntimeUrdf.SetRuntimeMode(false);
Assert.IsFalse(RuntimeUrdf.IsRuntimeMode());
}
public void AssetExists_True()
{
RuntimeUrdf.SetRuntimeMode(false);
Assert.IsTrue(RuntimeUrdf.AssetExists($"{createAssetPath}/TestAsset.prefab"));
Assert.IsTrue(RuntimeUrdf.AssetExists($"{createAssetPath}/tEstAsset.Prefab", true));
}
