/// <summary>
/// Handles post process on all assets within Unity Editor. Finds all meshes and creates
/// a Unity prefab allowing easy instation at runtime. For more information about this Unity
/// Message Handle: http://docs.unity3d.com/ScriptReference/AssetPostprocessor.OnPostprocessAllAssets.html
/// </summary>
/// <param name="importedAssets">List of paths to assets that have been imported</param>
/// <param name="deletedAssets">List of paths to assets that have been deleted</param>
/// <param name="movedAssets">List of paths to assets that have been moved</param>
/// <param name="movedFromAssetPaths">List of paths to assets that have been moved from paths</param>
static void OnPostprocessAllAssets(string[] importedAssets, string[] deletedAssets, string[] movedAssets, string[] movedFromAssetPaths)
{
if (importedAssets.Length > 0)
{
FileType type = FileType.UNKNOWN;
foreach (string assetPath in importedAssets)
{
string filename = FileManagerImpl.GetFileName(assetPath, false);
type = FileManagerImpl.GetFileType(assetPath);
UnityEngine.Object asset = AssetDatabase.LoadMainAssetAtPath(assetPath);
// Creating prefab here will cause this function to be invoked again causing an infinite loop of
// assets being generated. Proper Check of the Object is of type GameObject, isn't part of a prefab
// and that the asset is a proper model that can become a prefab.
if (asset.GetType() == typeof(GameObject) &&
PrefabUtility.GetPrefabParent(asset) == null &&
PrefabUtility.GetPrefabType(asset) == PrefabType.ModelPrefab)
{
// To properly create a prefab of the object we need to instantiate it into
// the game world and save that object as a prefab.
GameObject go = GameObject.Instantiate <GameObject>((GameObject)asset);
go.name = asset.name; // remove the (clone) within the name.
PrefabUtility.CreatePrefab(string.Format(prefabItemPathFormat, go.name), go);
GameObject.DestroyImmediate(go);
}
else if (type == FileType.URDF || type == FileType.XACRO)
{
string prefabName = CreateUrdfRobot(assetPath);
if (!String.IsNullOrEmpty(prefabName))
{
UrdfItemModel item = new UrdfItemModel();
item.name = filename;
item.urdfFilename = assetPath;
item.prefabFilename = prefabName;
item.visibility = 1;
UrdfDb db = new UrdfDb();
db.AddSensor(item);
}
}
}
}
}
/// <summary>
/// Handles putting together a robot GameObject or loads if already created
/// </summary>
/// <param name="robot">Robot XML description to generate robot with</param>
/// <returns>Gameobject representation of robot generated from description</returns>
/// Code from https://github.com/MangoMangoDevelopment/neptune
private static GameObject GenerateRobotGameObject(Robot robot)
{
#if UNITY_EDITOR
Debug.Log("----- Generating robot from description ------");
Directory.CreateDirectory(assetFolderPath);
Directory.CreateDirectory(prefabResourcesFolderPath);
string roboName = robot.Name;
GameObject parent = new GameObject(robot.Name);
ROSRobotModel rosRobotModel = parent.AddComponent <ROSRobotModel>();
rosRobotModel.robot = robot;
Robot rob2 = rosRobotModel.robot;
Debug.Log(rob2.Name);
Dictionary <string, GameObject> linkAsGos = new Dictionary <string, GameObject>();
// creating a list of gameobjects
foreach (KeyValuePair <string, Link> link in robot.Links)
{
GameObject linkGo = new GameObject(link.Key);
ROSLinkModel linkModel = linkGo.AddComponent <ROSLinkModel>();
linkModel.link = link.Value;
linkModel.name = link.Key;
if (link.Value.Visual.Count > 0)
{
GameObject linkVisualGo = null;
Vector3 linkScale = new Vector3();
Vector3 linkPosition = new Vector3();
Vector3 linkRotation = new Vector3();
float radiusScale = 0.0f;
foreach (Visual obj in link.Value.Visual)
{
if ((Geometry.Shapes.Mesh == obj.Geometry.Shape) && (obj.Geometry.Mesh != null))
{
linkModel.hasMesh = true;
string fileName = FileManagerImpl.GetFileName(obj.Geometry.Mesh.FileName, false);
string[] guids = AssetDatabase.FindAssets(string.Format("{0} t:GameObject", fileName));
foreach (string guid in guids)
{
UnityEngine.Object asset = AssetDatabase.LoadMainAssetAtPath(AssetDatabase.GUIDToAssetPath(guid));
if (asset.name == fileName)
{
linkVisualGo = GameObject.Instantiate <GameObject>((GameObject)asset);
break;
}
}
if (obj.Geometry.Mesh.Size != null)
{
linkScale = new Vector3((float)obj.Geometry.Mesh.Size.Length, (float)obj.Geometry.Mesh.Size.Height, (float)obj.Geometry.Mesh.Size.Width);
}
else
{
linkScale = new Vector3(1f, 1f, 1f);
}
linkPosition = new Vector3((float)obj.Origin.Xyz.X, (float)obj.Origin.Xyz.Y, (float)obj.Origin.Xyz.Z);
linkRotation = new Vector3(Mathf.Rad2Deg * (float)obj.Origin.Rpy.R, Mathf.Rad2Deg * (float)obj.Origin.Rpy.P, Mathf.Rad2Deg * (float)obj.Origin.Rpy.Y);
}
else
{
PrimitiveType type = PrimitiveType.Cube;
switch (obj.Geometry.Shape)
{
case Geometry.Shapes.Cylinder:
type = PrimitiveType.Cylinder;
radiusScale = (float)obj.Geometry.Cylinder.Radius * 2;
linkScale = new Vector3(radiusScale, (float)obj.Geometry.Cylinder.Length / 2, radiusScale);
break;
case Geometry.Shapes.Sphere:
type = PrimitiveType.Sphere;
radiusScale = (float)obj.Geometry.Sphere.Radius * 2;
linkScale = new Vector3(radiusScale, radiusScale, radiusScale);
break;
case Geometry.Shapes.Box:
type = PrimitiveType.Cube;
linkScale = new Vector3((float)obj.Geometry.Box.Size.Length, (float)obj.Geometry.Box.Size.Height, (float)obj.Geometry.Box.Size.Width);
break;
}
linkVisualGo = GameObject.CreatePrimitive(type);
linkPosition = new Vector3((float)obj.Origin.Xyz.X, (float)obj.Origin.Xyz.Z, (float)obj.Origin.Xyz.Y);
linkRotation = new Vector3(Mathf.Rad2Deg * (float)obj.Origin.Rpy.R, Mathf.Rad2Deg * (float)obj.Origin.Rpy.Y, Mathf.Rad2Deg * (float)obj.Origin.Rpy.P);
}
if (linkVisualGo != null)
{
linkVisualGo.transform.localEulerAngles = linkRotation;
linkVisualGo.transform.localScale = linkScale;
linkVisualGo.transform.localPosition = linkPosition;
if (obj.Material != null && obj.Material.Color != null)
{
Material mat = new Material(Shader.Find("Standard"));
mat.color = new Color((float)obj.Material.Color.Rgb.R / 255,
(float)obj.Material.Color.Rgb.G / 255,
(float)obj.Material.Color.Rgb.B / 255);
if (!Directory.Exists(assetFolderPath + "/" + parent.name))
{
AssetDatabase.CreateFolder(assetFolderPath, parent.name);
}
AssetDatabase.CreateAsset(mat, string.Format(assetPathFormat, parent.name, link.Key));
if (linkVisualGo.GetComponentInChildren <MeshRenderer>() != null)
{
linkVisualGo.GetComponentInChildren <MeshRenderer>().sharedMaterial = mat;
}
}
linkVisualGo.transform.SetParent(linkGo.transform);
}
}
}
linkGo.transform.SetParent(parent.transform);
linkAsGos.Add(link.Key, linkGo);
}
foreach (KeyValuePair <string, UrdfToUnity.Urdf.Models.Joint> joint in robot.Joints)
{
GameObject child = linkAsGos[joint.Value.Child.Name];
child.transform.SetParent(linkAsGos[joint.Value.Parent.Name].transform);
// Very strange, imported object will have the proper associated XYZ coordinates where as
// a generated primitive types have the YZ coordinates are swapped.
if (child.GetComponent <ROSLinkModel>().hasMesh)
{
child.transform.localPosition = new Vector3((float)joint.Value.Origin.Xyz.X, (float)joint.Value.Origin.Xyz.Y, (float)joint.Value.Origin.Xyz.Z);
}
else
{
// URDF considers going up as the FloorIndex-axis where as unity consider going up is Y-axis
child.transform.localPosition = new Vector3((float)joint.Value.Origin.Xyz.X, (float)joint.Value.Origin.Xyz.Z, (float)joint.Value.Origin.Xyz.Y);
}
child.transform.localEulerAngles = new Vector3(Mathf.Rad2Deg * (float)joint.Value.Origin.Rpy.R, Mathf.Rad2Deg * (float)joint.Value.Origin.Rpy.Y, Mathf.Rad2Deg * (float)joint.Value.Origin.Rpy.P);
}
MeshRenderer[] children = parent.GetComponentsInChildren <MeshRenderer>();
foreach (MeshRenderer child in children)
{
if (child.transform == parent.transform)
{
continue;
}
if (child.gameObject.GetComponent <Renderer>())
{
child.gameObject.AddComponent <MeshCollider>();
MeshCollider mc = child.gameObject.GetComponent <MeshCollider>();
mc.sharedMesh = child.gameObject.GetComponent <MeshFilter>().sharedMesh;
}
}
Debug.Log("Saved in: " + string.Format(prefabPathFormat, roboName));
return(PrefabUtility.CreatePrefab(string.Format(prefabPathFormat, roboName), parent));
#endif
#if UNITY_STANDALONE
Debug.LogError("Script can only be run from editor");
return(null);
#endif
}
/// <summary>
/// Handles putting together a robot GameObject and saving it as a prefab for
/// later use.
/// </summary>
/// <param name="path">The path of the URDF</param>
/// <returns>A string represenation of the path and name of the prefab created.</returns>
static string CreateUrdfRobot(string path)
{
FileManagerImpl fileManager = new FileManagerImpl();
string filename = FileManagerImpl.GetFileName(path, false);
Robot robo = fileManager.GetRobotFromFile(path);
string roboName = "";
if (robo != null)
{
roboName = filename + "/" + robo.Name;
GameObject parent = new GameObject(robo.Name);
parent.AddComponent <RosRobotModel>();
parent.GetComponent <RosRobotModel>().robot = robo;
Robot rob2 = parent.GetComponent <RosRobotModel>().robot;
Debug.Log(rob2.Name);
Dictionary <string, GameObject> linkAsGos = new Dictionary <string, GameObject>();
// creating a list of gameobjects
foreach (KeyValuePair <string, Link> link in robo.Links)
{
GameObject linkGo = new GameObject(link.Key);
linkGo.AddComponent <RosLinkModel>();
RosLinkModel linkModel = linkGo.GetComponent <RosLinkModel>();
linkModel.link = link.Value;
linkModel.name = link.Key;
if (link.Value.Visual.Count > 0)
{
GameObject linkVisualGo = null;
Vector3 linkScale = new Vector3();
Vector3 linkPosition = new Vector3();
Vector3 linkRotation = new Vector3();
float radiusScale = 0.0f;
foreach (Visual obj in link.Value.Visual)
{
if ((Geometry.Shapes.Mesh == obj.Geometry.Shape) && (obj.Geometry.Mesh != null))
{
linkModel.hasMesh = true;
string fileName = FileManagerImpl.GetFileName(obj.Geometry.Mesh.FileName, false);
string[] guids = AssetDatabase.FindAssets(string.Format("{0} t:GameObject", fileName));
foreach (string guid in guids)
{
UnityEngine.Object asset = AssetDatabase.LoadMainAssetAtPath(AssetDatabase.GUIDToAssetPath(guid));
if (asset.name == fileName)
{
linkVisualGo = GameObject.Instantiate <GameObject>((GameObject)asset);
break;
}
}
if (obj.Geometry.Mesh.Size != null)
{
linkScale = new Vector3((float)obj.Geometry.Mesh.Size.Length, (float)obj.Geometry.Mesh.Size.Height, (float)obj.Geometry.Mesh.Size.Width);
}
else
{
linkScale = new Vector3(0.1f, 0.1f, 0.1f);
}
linkPosition = new Vector3((float)obj.Origin.Xyz.X, (float)obj.Origin.Xyz.Y, (float)obj.Origin.Xyz.Z);
linkRotation = new Vector3(Mathf.Rad2Deg * (float)obj.Origin.Rpy.R, Mathf.Rad2Deg * (float)obj.Origin.Rpy.P, Mathf.Rad2Deg * (float)obj.Origin.Rpy.Y);
}
else
{
PrimitiveType type = PrimitiveType.Cube;
switch (obj.Geometry.Shape)
{
case Geometry.Shapes.Cylinder:
type = PrimitiveType.Cylinder;
radiusScale = (float)obj.Geometry.Cylinder.Radius * 2;
linkScale = new Vector3(radiusScale, (float)obj.Geometry.Cylinder.Length / 2, radiusScale);
break;
case Geometry.Shapes.Sphere:
type = PrimitiveType.Sphere;
radiusScale = (float)obj.Geometry.Sphere.Radius * 2;
linkScale = new Vector3(radiusScale, radiusScale, radiusScale);
break;
case Geometry.Shapes.Box:
type = PrimitiveType.Cube;
linkScale = new Vector3((float)obj.Geometry.Box.Size.Length, (float)obj.Geometry.Box.Size.Height, (float)obj.Geometry.Box.Size.Width);
break;
}
linkVisualGo = GameObject.CreatePrimitive(type);
linkPosition = new Vector3((float)obj.Origin.Xyz.X, (float)obj.Origin.Xyz.Z, (float)obj.Origin.Xyz.Y);
linkRotation = new Vector3(Mathf.Rad2Deg * (float)obj.Origin.Rpy.R, Mathf.Rad2Deg * (float)obj.Origin.Rpy.Y, Mathf.Rad2Deg * (float)obj.Origin.Rpy.P);
}
if (linkVisualGo != null)
{
linkVisualGo.transform.localEulerAngles = linkRotation;
linkVisualGo.transform.localScale = linkScale;
linkVisualGo.transform.localPosition = linkPosition;
if (obj.Material != null && obj.Material.Color != null)
{
Material mat = new Material(Shader.Find("Standard"));
mat.color = new Color(obj.Material.Color.Rgb.R, obj.Material.Color.Rgb.G, obj.Material.Color.Rgb.B);
if (!Directory.Exists(assetFolderPath + "/" + parent.name))
{
AssetDatabase.CreateFolder(assetFolderPath, parent.name);
}
AssetDatabase.CreateAsset(mat, string.Format(assetPathFormat, parent.name, link.Key));
linkVisualGo.GetComponent <Renderer>().sharedMaterial = mat;
}
linkVisualGo.transform.SetParent(linkGo.transform);
}
}
}
linkGo.transform.SetParent(parent.transform);
linkAsGos.Add(link.Key, linkGo);
}
foreach (KeyValuePair <string, UrdfUnity.Urdf.Models.Joint> joint in robo.Joints)
{
GameObject child = linkAsGos[joint.Value.Child.Name];
child.transform.SetParent(linkAsGos[joint.Value.Parent.Name].transform);
// Very strange, imported object will have the proper associated XYZ coordinates where as
// a generated primitive types have the YZ coordinates are swapped.
if (child.GetComponent <RosLinkModel>().hasMesh)
{
child.transform.localPosition = new Vector3((float)joint.Value.Origin.Xyz.X, (float)joint.Value.Origin.Xyz.Y, (float)joint.Value.Origin.Xyz.Z);
}
else
{
// URDF considers going up as the Z-axis where as unity consider going up is Y-axis
child.transform.localPosition = new Vector3((float)joint.Value.Origin.Xyz.X, (float)joint.Value.Origin.Xyz.Z, (float)joint.Value.Origin.Xyz.Y);
}
child.transform.localEulerAngles = new Vector3(Mathf.Rad2Deg * (float)joint.Value.Origin.Rpy.R, Mathf.Rad2Deg * (float)joint.Value.Origin.Rpy.Y, Mathf.Rad2Deg * (float)joint.Value.Origin.Rpy.P);
}
AssetDatabase.CreateFolder(prefabFolderPath, filename);
PrefabUtility.CreatePrefab(string.Format(prefabPathFormat, filename, parent.name), parent);
GameObject.DestroyImmediate(parent);
}
else
{
Debug.Log("Fail");
LOGGER.Warn("No Robot generated from URDF.");
}
return(roboName);
}