public void AssetDatabase_GUIDToAssetPath_AssetAsRoot()
{
RuntimeUrdf.runtimeModeEnabled = false;
string createdGUID = RuntimeUrdf.AssetDatabase_CreateFolder(createAssetPath, "RuntimeUrdf");
Assert.AreEqual(createFolderPath, RuntimeUrdf.AssetDatabase_GUIDToAssetPath(AssetDatabase.AssetPathToGUID(createFolderPath)));
}
public static bool AssetExists(string assetPath, bool ignoreCase = false)
{
#if UNITY_EDITOR
string[] foldersToSearch = { Path.GetDirectoryName(assetPath) };
var assetName = Path.GetFileNameWithoutExtension(assetPath);
foreach (var guid2 in AssetDatabase_FindAssets(assetName, foldersToSearch))
{
var possiblePath = RuntimeUrdf.AssetDatabase_GUIDToAssetPath(guid2);
if (string.Equals(possiblePath, assetPath, ignoreCase ? StringComparison.OrdinalIgnoreCase : StringComparison.Ordinal))
{
return(true);
}
}
#endif
return(false);
}
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);
}
public static string CopyOrCreateMesh(GameObject geometryObject, bool isCollisionGeometry)
{
string prefabPath = GetPrefabPath(geometryObject);
bool foundExistingColladaOrStl = false;
if (prefabPath != null && prefabPath != "")
{
if (Path.GetExtension(prefabPath).ToLower() == ".dae")
{
foundExistingColladaOrStl = true;
}
else //Find STL file that corresponds to the prefab, if it already exists
{
string[] foldersToSearch = { Path.GetDirectoryName(prefabPath) };
string prefabName = Path.GetFileNameWithoutExtension(prefabPath);
foreach (string guid2 in RuntimeUrdf.AssetDatabase_FindAssets(prefabName, foldersToSearch))
{
string possiblePath = RuntimeUrdf.AssetDatabase_GUIDToAssetPath(guid2);
if (possiblePath.ToLower().Contains(".stl"))
{
prefabPath = possiblePath;
foundExistingColladaOrStl = true;
break;
}
}
}
}
if (foundExistingColladaOrStl)
{
return(CopyMeshToExportDestination(prefabPath));
}
return(CreateNewStlFile(geometryObject, isCollisionGeometry));
}
