static Material defaultMaterial = null; // used RuntimeURDF
private static void CreateDefaultMaterial()
{
Material material = defaultMaterial;
#if UNITY_EDITOR
if (!RuntimeUrdf.IsRuntimeMode())
{
material = RuntimeUrdf.AssetDatabase_LoadAssetAtPath <Material>(UrdfAssetPathHandler.GetMaterialAssetPath(DefaultMaterialName));
}
#endif
if (material != null)
{
return;
}
material = MaterialExtensions.CreateBasicMaterial();
MaterialExtensions.SetMaterialColor(material, new Color(0.33f, 0.33f, 0.33f, 0.0f));
// just keep it in memory while the app is running.
defaultMaterial = material;
#if UNITY_EDITOR
if (!RuntimeUrdf.IsRuntimeMode())
{
// create the material to be reused
RuntimeUrdf.AssetDatabase_CreateAsset(material, UrdfAssetPathHandler.GetMaterialAssetPath(DefaultMaterialName));
}
#endif
}
// 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);
}
private static void CopyDaeTextureToExportDestination(string prefabPath, string newFolderLocation)
{
//Get material from Collada prefab
Material material = RuntimeUrdf.AssetDatabase_LoadAssetAtPath <Material>(prefabPath);
if (material == null || material.mainTexture == null)
{
return;
}
//Get relative subfolder where texture is, compared to the DAE file.
string commonFolder = Path.GetDirectoryName(prefabPath).SetSeparatorChar();
string texturePath = RuntimeUrdf.AssetDatabase_GetAssetPath(material.mainTexture).SetSeparatorChar();
string relativeLocation = "";
if (texturePath.Contains(commonFolder))
{
relativeLocation = texturePath.Substring(commonFolder.Length + 1);
}
string newTexturePath = Path.Combine(newFolderLocation, relativeLocation);
Directory.CreateDirectory(Path.GetDirectoryName(newTexturePath));
CopyFileToNewLocation(UrdfAssetPathHandler.GetFullAssetPath(texturePath), newTexturePath);
}
private static Material CreateMaterial(this Link.Visual.Material urdfMaterial)
{
if (urdfMaterial.name == "")
{
urdfMaterial.name = GenerateMaterialName(urdfMaterial);
}
var material = RuntimeUrdf.AssetDatabase_LoadAssetAtPath <Material>(UrdfAssetPathHandler.GetMaterialAssetPath(urdfMaterial.name));
if (material != null)
{ //material already exists
return(material);
}
material = MaterialExtensions.CreateBasicMaterial();
if (urdfMaterial.color != null)
{
MaterialExtensions.SetMaterialColor(material, CreateColor(urdfMaterial.color));
}
else if (urdfMaterial.texture != null)
{
material.mainTexture = LoadTexture(urdfMaterial.texture.filename);
}
RuntimeUrdf.AssetDatabase_CreateAsset(material, UrdfAssetPathHandler.GetMaterialAssetPath(urdfMaterial.name));
return(material);
}
private static string LocateAssetFile(string invalidPath)
{
string fileExtension = Path.GetExtension(invalidPath)?.Replace(".", "");
string newPath = RuntimeUrdf.EditorUtility_OpenFilePanel(
"Couldn't find asset at " + invalidPath + ". Select correct file.",
UrdfAssetPathHandler.GetPackageRoot(),
fileExtension);
return(UrdfAssetPathHandler.GetRelativeAssetPath(newPath));
}
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 void ConvertMeshToColliders(GameObject gameObject, string location = null, bool setConvex = true)
{
MeshFilter[] meshFilters = gameObject.GetComponentsInChildren <MeshFilter>();
if (UrdfRobotExtensions.importsettings.convexMethod == ImportSettings.convexDecomposer.unity)
{
foreach (MeshFilter meshFilter in meshFilters)
{
GameObject child = meshFilter.gameObject;
MeshCollider meshCollider = child.AddComponent <MeshCollider>();
meshCollider.sharedMesh = meshFilter.sharedMesh;
meshCollider.convex = setConvex;
Object.DestroyImmediate(child.GetComponent <MeshRenderer>());
Object.DestroyImmediate(meshFilter);
}
}
else
{
string templateFileName = "";
string filePath = "";
int meshIndex = 0;
if (!RuntimeUrdf.IsRuntimeMode() && location != null)
{
string meshFilePath = UrdfAssetPathHandler.GetRelativeAssetPathFromUrdfPath(location, false);
templateFileName = Path.GetFileNameWithoutExtension(meshFilePath);
filePath = Path.GetDirectoryName(meshFilePath);
}
foreach (MeshFilter meshFilter in meshFilters)
{
GameObject child = meshFilter.gameObject;
VHACD decomposer = child.AddComponent <VHACD>();
List <Mesh> colliderMeshes = decomposer.GenerateConvexMeshes(meshFilter.sharedMesh);
foreach (Mesh collider in colliderMeshes)
{
if (!RuntimeUrdf.IsRuntimeMode())
{
meshIndex++;
string name = $"{filePath}/{templateFileName}_{meshIndex}.asset";
Debug.Log($"Creating new mesh file: {name}");
RuntimeUrdf.AssetDatabase_CreateAsset(collider, name);
RuntimeUrdf.AssetDatabase_SaveAssets();
}
MeshCollider current = child.AddComponent <MeshCollider>();
current.sharedMesh = collider;
current.convex = setConvex;
}
Component.DestroyImmediate(child.GetComponent <VHACD>());
Object.DestroyImmediate(child.GetComponent <MeshRenderer>());
Object.DestroyImmediate(meshFilter);
}
}
}
private static void MoveMaterialsToNewLocation(string oldPackageRoot)
{
if (RuntimeUrdf.AssetDatabase_IsValidFolder(Path.Combine(oldPackageRoot, MaterialFolderName)))
{
RuntimeUrdf.AssetDatabase_MoveAsset(
Path.Combine(oldPackageRoot, MaterialFolderName),
Path.Combine(UrdfAssetPathHandler.GetPackageRoot(), MaterialFolderName));
}
else
{
RuntimeUrdf.AssetDatabase_CreateFolder(UrdfAssetPathHandler.GetPackageRoot(), MaterialFolderName);
}
}
private static Link.Visual.Material.Texture ExportTextureData(Texture texture)
{
string oldTexturePath = UrdfAssetPathHandler.GetFullAssetPath(RuntimeUrdf.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 LocateRootAssetFolder <T>(string urdfFileName) where T : UnityEngine.Object
{
string newAssetPath = RuntimeUrdf.EditorUtility_OpenFolderPanel(
"Locate package root folder",
Path.Combine(Path.GetDirectoryName(Application.dataPath), "Assets"),
"");
if (UrdfAssetPathHandler.IsValidAssetPath(newAssetPath))
{
UrdfAssetPathHandler.SetPackageRoot(newAssetPath, true);
}
else
{
Debug.LogWarning("Selected package root " + newAssetPath + " is not within the Assets folder.");
}
return(UrdfAssetPathHandler.GetRelativeAssetPathFromUrdfPath(urdfFileName));
}
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);
}
private static void ConvertCylinderToCollider(MeshFilter filter)
{
GameObject go = filter.gameObject;
var collider = filter.sharedMesh;
// Only create an asset if not runtime import
if (!RuntimeUrdf.IsRuntimeMode())
{
var packageRoot = UrdfAssetPathHandler.GetPackageRoot();
var filePath = RuntimeUrdf.AssetDatabase_GUIDToAssetPath(RuntimeUrdf.AssetDatabase_CreateFolder($"{packageRoot}", "meshes"));
var name = $"{filePath}/Cylinder.asset";
Debug.Log($"Creating new cylinder file: {name}");
RuntimeUrdf.AssetDatabase_CreateAsset(collider, name, uniquePath: true);
RuntimeUrdf.AssetDatabase_SaveAssets();
}
MeshCollider current = go.AddComponent <MeshCollider>();
current.sharedMesh = collider;
current.convex = true;
Object.DestroyImmediate(go.GetComponent <MeshRenderer>());
Object.DestroyImmediate(filter);
}
// Creates the robot game object.
private static void ImportPipelineCreateObject(ImportPipelineData im)
{
im.robotGameObject = new GameObject(im.robot.name);
importsettings = im.settings;
im.settings.totalLinks = im.robot.links.Count;
CreateTag();
SetTag(im.robotGameObject);
im.robotGameObject.AddComponent <UrdfRobot>();
im.robotGameObject.AddComponent <Unity.Robotics.UrdfImporter.Control.Controller>();
if (RuntimeUrdf.IsRuntimeMode())
{// In runtime mode, we have to disable controller while robot is being constructed.
im.robotGameObject.GetComponent <Unity.Robotics.UrdfImporter.Control.Controller>().enabled = false;
}
im.robotGameObject.GetComponent <UrdfRobot>().SetAxis(im.settings.choosenAxis);
UrdfAssetPathHandler.SetPackageRoot(Path.GetDirectoryName(im.robot.filename));
UrdfMaterial.InitializeRobotMaterials(im.robot);
UrdfPlugins.Create(im.robotGameObject.transform, im.robot.plugins);
}
public static void SetUrdfMaterial(GameObject gameObject, Link.Visual.Material urdfMaterial)
{
if (urdfMaterial != null)
{
var material = CreateMaterial(urdfMaterial);
SetMaterial(gameObject, material);
}
else
{
//If the URDF material is not defined, and the renderer is missing
//a material, assign the default material.
Renderer renderer = gameObject.GetComponentInChildren <Renderer>();
if (renderer != null && renderer.sharedMaterial == null)
{
Material material = defaultMaterial;
#if UNITY_EDITOR
if (!RuntimeUrdf.IsRuntimeMode())
{
material = RuntimeUrdf.AssetDatabase_LoadAssetAtPath <Material>(UrdfAssetPathHandler.GetMaterialAssetPath(DefaultMaterialName));
}
#endif
SetMaterial(gameObject, material);
}
}
}
