private static Link.Geometry ExportGeometryMeshData(GameObject geometryObject, double[] urdfSize, bool isCollisionGeometry)
{
string newFilePath = UrdfMeshExportHandler.CopyOrCreateMesh(geometryObject, isCollisionGeometry);
string packagePath = UrdfExportPathHandler.GetPackagePathForMesh(newFilePath);
return(new Link.Geometry(null, null, null, new Link.Geometry.Mesh(packagePath, urdfSize)));
}
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 CreateNewStlFile(GameObject geometryObject, bool isCollisionGeometry)
{
Debug.Log("Did not find an existing STL or DAE file for Geometry Mesh "
+ geometryObject.name + ". Exporting a new STL file.", geometryObject);
string newMeshPath = UrdfExportPathHandler.GetNewMeshPath(geometryObject.name + ".stl");
StlExporter stlExporter = new StlExporter(newMeshPath, geometryObject, isCollisionGeometry);
if (!stlExporter.Export())
{
Debug.LogWarning("Mesh export for geometry " + geometryObject.name + " failed.", geometryObject);
}
return(newMeshPath);
}
public static void ExportRobotToUrdf(this UrdfRobot urdfRobot, string exportRootFolder, string exportDestination = "")
{
#if UNITY_EDITOR
UrdfExportPathHandler.SetExportPath(exportRootFolder, exportDestination);
urdfRobot.FilePath = Path.Combine(UrdfExportPathHandler.GetExportDestination(), urdfRobot.name + ".urdf");
Robot robot = urdfRobot.ExportRobotData();
if (robot == null)
{
return;
}
robot.WriteToUrdf();
Debug.Log(robot.name + " was exported to " + UrdfExportPathHandler.GetExportDestination());
UrdfMaterial.Materials.Clear();
UrdfExportPathHandler.Clear();
AssetDatabase.Refresh();
#else
Debug.LogError("URDF Export is only available in Editor.");
#endif
}