public static T FindUrdfAsset <T>(string urdfFileName) where T : UnityEngine.Object { string fileAssetPath = UrdfAssetPathHandler.GetRelativeAssetPathFromUrdfPath(urdfFileName); // check if it is an asset tha requires post processing (AIRO-908) var originalUrdfPath = UrdfAssetPathHandler.GetRelativeAssetPathFromUrdfPath(urdfFileName, false); if (originalUrdfPath.ToLower().EndsWith(".stl")) { // it is an asset that requires post processing if (UrdfRobotExtensions.importsettings.OverwriteExistingPrefabs || !RuntimeUrdf.AssetExists(fileAssetPath, true)) { // post process again to (re)create prefabs StlAssetPostProcessor.PostprocessStlFile(originalUrdfPath); } } T assetObject = RuntimeUrdf.AssetDatabase_LoadAssetAtPath <T>(fileAssetPath); if (assetObject) { return(assetObject); } //If asset was not found, let user choose whether to search for //or ignore the missing asset. string invalidPath = fileAssetPath ?? urdfFileName; int option = RuntimeUrdf.EditorUtility_DisplayDialogComplex("Urdf Importer: Asset Not Found", "Current root folder: " + UrdfAssetPathHandler.GetPackageRoot() + "\n\nExpected asset path: " + invalidPath, "Locate Asset", "Ignore Missing Asset", "Locate Root Folder"); switch (option) { case 0: fileAssetPath = LocateAssetFile(invalidPath); break; case 1: break; case 2: fileAssetPath = LocateRootAssetFolder <T>(urdfFileName); break; } assetObject = (T)RuntimeUrdf.AssetDatabase_LoadAssetAtPath(fileAssetPath, typeof(T)); if (assetObject != null) { return(assetObject); } ChooseFailureOption(urdfFileName); return(null); }
private static GameObject CreateMeshColliderRuntime(Link.Geometry.Mesh mesh) { string meshFilePath = UrdfAssetPathHandler.GetRelativeAssetPathFromUrdfPath(mesh.filename, false); GameObject meshObject = null; if (meshFilePath.ToLower().EndsWith(".stl")) { meshObject = StlAssetPostProcessor.CreateStlGameObjectRuntime(meshFilePath); } else { Debug.LogError("Unable to create mesh collider for the mesh: " + mesh.filename); } if (meshObject != null) { ConvertMeshToColliders(meshObject); } return(meshObject); }
private static GameObject CreateMeshVisualRuntime(Link.Geometry.Mesh mesh) { GameObject meshObject = null; if (!string.IsNullOrEmpty(mesh.filename)) { try { string meshFilePath = UrdfAssetPathHandler.GetRelativeAssetPathFromUrdfPath(mesh.filename, false); if (meshFilePath.ToLower().EndsWith(".stl")) { meshObject = StlAssetPostProcessor.CreateStlGameObjectRuntime(meshFilePath); } else if (meshFilePath.ToLower().EndsWith(".dae")) { float globalScale = ColladaAssetPostProcessor.ReadGlobalScale(meshFilePath); meshObject = MeshImporter.Load(meshFilePath, globalScale, globalScale, globalScale); if (meshObject != null) { ColladaAssetPostProcessor.ApplyColladaOrientation(meshObject, meshFilePath); } } else if (meshFilePath.ToLower().EndsWith(".obj")) { meshObject = MeshImporter.Load(meshFilePath); } } catch (Exception ex) { Debug.LogAssertion(ex); } if (meshObject == null) { Debug.LogError("Unable to load visual mesh: " + mesh.filename); } } return(meshObject); }