public override JObject Serialize(ZOSimDocumentRoot documentRoot, UnityEngine.Object parent = null)
{
JObject json = new JObject(
new JProperty("name", Name),
new JProperty("type", Type),
new JProperty("ros_topic", ROSTopic),
new JProperty("update_rate_hz", UpdateRateHz)
);
JSON = json;
return(json);
}
public JObject Serialize(ZOSimDocumentRoot documentRoot, UnityEngine.Object parent = null)
{
JObject json = new JObject(
new JProperty("name", Name),
new JProperty("type", Type),
new JProperty("hinge_joint", _hingeJoint.Name),
new JProperty("min_limit_degrees", MinSteeringLockDegrees),
new JProperty("max_limit_degrees", MaxSteeringLockDegrees),
new JProperty("pid_controller", _pidController.Serialize(documentRoot))
);
_json = json;
return(json);
}
public JObject Serialize(ZOSimDocumentRoot documentRoot, UnityEngine.Object parent = null)
{
JObject gripControllerJSON = new JObject(
new JProperty("name", Name),
new JProperty("type", Type),
new JProperty("servo_motor_actuators",
new JArray(_fingerActuators[0].Name, _fingerActuators[1].Name)),
new JProperty("min_limit_degrees", _minMaxLimitsDegrees.x),
new JProperty("max_limit_degrees", _minMaxLimitsDegrees.y),
new JProperty("speed", _onKeyMoveSpeed)
);
_json = gripControllerJSON;
return(gripControllerJSON);
}
public void Deserialize(ZOSimDocumentRoot documentRoot, JObject json)
{
// Assert.Equals(json["type"].Value<string>() == Type);
_json = json;
Name = json.ValueOrDefault("name", Name);
// TODO: build Hinge Joint if it doesn't exist?
MinSteeringLockDegrees = json.ValueOrDefault <float>("min_limit_degrees", MinSteeringLockDegrees);
MaxSteeringLockDegrees = json.ValueOrDefault <float>("max_limit_degrees", MaxSteeringLockDegrees);
if (_pidController == null)
{
_pidController = new ZOPIDController();
}
_pidController.Deserialize(documentRoot, json["pid_controller"].Value <JObject>());
}
public override void OnInspectorGUI()
{
DrawDefaultInspector();
ZOSimDocumentRoot zoSimBaseComponent = (ZOSimDocumentRoot)target;
if (GUILayout.Button("Save ZOSim"))
{
Debug.Log("INFO: ZOSimBaseComponent Save ZOSim");
if (EditorUtility.DisplayDialog("Override File:", "Override File: " + zoSimBaseComponent.ZOSimDocumentFilePath, "OK", "Cancel"))
{
zoSimBaseComponent.SaveToZOSimFile(zoSimBaseComponent.ZOSimDocumentFilePath);
}
}
if (GUILayout.Button("Load ZOSim"))
{
Debug.Log("INFO: ZOSimBaseComponent Load ZOSim");
if (EditorUtility.DisplayDialog("Override Object:", "Override Object with file: " + zoSimBaseComponent.ZOSimDocumentFilePath, "OK", "Cancel"))
{
zoSimBaseComponent.LoadFromZOSimFile(zoSimBaseComponent.ZOSimDocumentFilePath);
}
}
}
public void Deserialize(ZOSimDocumentRoot documentRoot, JObject json)
{
// Assert.Equals(json["type"].Value<string>() == Type);
_json = json;
Name = json.ValueOrDefault("name", Name);
UnityHingeJoint.anchor = json.ToVector3OrDefault("anchor", UnityHingeJoint.anchor);
UnityHingeJoint.axis = json.ToVector3OrDefault("axis", UnityHingeJoint.axis);
UnityHingeJoint.connectedAnchor = json.ToVector3OrDefault("connected_anchor", UnityHingeJoint.connectedAnchor);
UnityHingeJoint.useSpring = json.ValueOrDefault <bool>("use_spring", UnityHingeJoint.useSpring);
if (json.ContainsKey("spring"))
{
JObject springJSON = json["spring"].Value <JObject>();
JointSpring spring = UnityHingeJoint.spring;
spring.spring = springJSON.ValueOrDefault <float>("spring", spring.spring);
spring.damper = springJSON.ValueOrDefault <float>("damper", spring.damper);
spring.targetPosition = springJSON.ValueOrDefault <float>("target_position", spring.targetPosition);
UnityHingeJoint.spring = spring;
}
UnityHingeJoint.useMotor = json.ValueOrDefault <bool>("use_motor", UnityHingeJoint.useMotor);
if (json.ContainsKey("use_motor"))
{
JObject motorJSON = json["motor"].Value <JObject>();
JointMotor motor = UnityHingeJoint.motor;
motor.targetVelocity = motorJSON.ValueOrDefault <float>("target_velocity", motor.targetVelocity);
motor.force = motorJSON.ValueOrDefault <float>("force", motor.force);
motor.freeSpin = motorJSON.ValueOrDefault <bool>("free_spin", motor.freeSpin);
UnityHingeJoint.motor = motor;
}
UnityHingeJoint.useLimits = json.ValueOrDefault <bool>("use_limits", UnityHingeJoint.useLimits);
if (json.ContainsKey("limits"))
{
JObject limitsJSON = json["limits"].Value <JObject>();
JointLimits limits = UnityHingeJoint.limits;
limits.min = limitsJSON.ValueOrDefault <float>("min", limits.min);
limits.max = limitsJSON.ValueOrDefault <float>("max", limits.max);
limits.bounciness = limitsJSON.ValueOrDefault <float>("bounciness", limits.bounciness);
limits.bounceMinVelocity = limitsJSON.ValueOrDefault <float>("bounce_min_velocity", UnityHingeJoint.limits.bounceMinVelocity);
limits.contactDistance = limitsJSON.ValueOrDefault <float>("contact_distance", limits.contactDistance);
UnityHingeJoint.limits = limits;
}
// find connected body. this likely will need to be done post LoadFromJSON as it may
// not be created yet.
documentRoot.OnPostDeserializationNotification((docRoot) => {
if (JSON.ContainsKey("connected_occurrence"))
{
ZOSimOccurrence connectedOccurrence = docRoot.GetOccurrence(JSON["connected_occurrence"].Value <string>());
if (connectedOccurrence)
{
UnityHingeJoint.connectedBody = connectedOccurrence.GetComponent <Rigidbody>();
}
else
{
Debug.LogWarning("WARNING: ZOHingeJoint failed to find connected occurrence: " + JSON["connected_occurrence"].Value <string>());
}
}
});
}
/// <summary>
/// Serializes the ZOHingeJoint to ZOSim JSON.
/// </summary>
/// <param name="documentRoot"></param>
/// <param name="parent"></param>
/// <returns></returns>
public JObject Serialize(ZOSimDocumentRoot documentRoot, UnityEngine.Object parent = null)
{
// calculate the world anchor positions relative to the document root transform
// BUGBUG: maybe from the base of the joint chain which is not necessarily the document root?
Vector3 worldAnchor = this.transform.TransformPoint(UnityHingeJoint.anchor);
worldAnchor = documentRoot.transform.InverseTransformPoint(worldAnchor);
Vector3 worldConnectedAnchor = this.transform.TransformPoint(UnityHingeJoint.connectedAnchor);
worldConnectedAnchor = documentRoot.transform.InverseTransformPoint(worldConnectedAnchor);
Vector3 worldAxis = this.transform.rotation * UnityHingeJoint.axis;
worldAxis = documentRoot.transform.InverseTransformDirection(worldAxis);
JObject json = new JObject(
new JProperty("name", Name),
new JProperty("type", Type),
new JProperty("anchor", ZOSimDocumentRoot.ToJSON(UnityHingeJoint.anchor)),
new JProperty("world_anchor", ZOSimDocumentRoot.ToJSON(worldAnchor)),
new JProperty("axis", ZOSimDocumentRoot.ToJSON(UnityHingeJoint.axis)),
new JProperty("world_axis", ZOSimDocumentRoot.ToJSON(worldAxis)),
new JProperty("connected_anchor", ZOSimDocumentRoot.ToJSON(UnityHingeJoint.connectedAnchor)),
new JProperty("world_connected_anchor", ZOSimDocumentRoot.ToJSON(worldConnectedAnchor)),
new JProperty("use_spring", UnityHingeJoint.useSpring),
new JProperty("spring", new JObject(
new JProperty("spring", UnityHingeJoint.spring.spring),
new JProperty("damper", UnityHingeJoint.spring.damper),
new JProperty("target_position", UnityHingeJoint.spring.targetPosition)
)),
new JProperty("use_motor", UnityHingeJoint.useMotor),
new JProperty("motor", new JObject(
new JProperty("target_velocity", UnityHingeJoint.motor.targetVelocity),
new JProperty("force", UnityHingeJoint.motor.force),
new JProperty("free_spin", UnityHingeJoint.motor.freeSpin)
)),
new JProperty("use_limits", UnityHingeJoint.useLimits),
new JProperty("limits", new JObject(
new JProperty("min", UnityHingeJoint.limits.min),
new JProperty("max", UnityHingeJoint.limits.max),
new JProperty("bounciness", UnityHingeJoint.limits.bounciness),
new JProperty("bounce_min_velocity", UnityHingeJoint.limits.bounceMinVelocity),
new JProperty("contact_distance", UnityHingeJoint.limits.contactDistance)
))
);
if (UnityHingeJoint.connectedBody)
{
ZOSimOccurrence connected_occurrence = UnityHingeJoint.connectedBody.gameObject.GetComponent <ZOSimOccurrence>();
if (connected_occurrence)
{
json["connected_occurrence"] = connected_occurrence.Name;
}
else
{
Debug.LogWarning("WARNING: Could not get connected occurrence for ZOHingeJoint: " + Name + "\nPerhaps there is a missing ZOSimOccurrence?");
}
}
else
{
Debug.LogWarning("WARNING: Could not get connected occurrence for ZOHingeJoint: " + Name);
}
ZOSimOccurrence parent_occurrence = GetComponent <ZOSimOccurrence>();
if (parent_occurrence)
{
json["parent_occurrence"] = parent_occurrence.Name;
}
_json = json;
return(json);
}
protected override void ZOUpdate()
{
// handle any spawn model requests
while (_spawnZOSimModelRequests.Count > 0)
{
Tuple <ZOSimSpawnServiceRequest, string> spawnRequestAndId = _spawnZOSimModelRequests.Dequeue();
ZOSimSpawnServiceRequest spawnRequest = spawnRequestAndId.Item1;
string service_request_id = spawnRequestAndId.Item2;
Debug.Log("INFO: Spawning ZeroSim model: " + spawnRequest.model_name);
try {
// spawn a new gameobject
GameObject newZoSimModel = new GameObject(spawnRequest.model_name);
newZoSimModel.transform.parent = null; // make it child of the world
// set the initial position and orientation
Vector3 position = spawnRequest.initial_pose.position.ToUnityVector3();
Debug.Log("INFO: Spawning at location: " + position.ToString());
Quaternion rotation = spawnRequest.initial_pose.orientation.ToUnityQuaternion();
newZoSimModel.transform.position = position;
newZoSimModel.transform.rotation = rotation;
// load from JSON
ZOSimDocumentRoot simDocumentRoot = newZoSimModel.AddComponent <ZOSimDocumentRoot>();
JObject zosimModelJSON = JObject.Parse(spawnRequest.model_zosim);
simDocumentRoot.Deserialize(zosimModelJSON);
// fixup name
// TODO: check that the name is unique and if not generate a unique name or maybe return a
// warning that the name is not unique? probably the later.
simDocumentRoot.Name = spawnRequest.model_name;
// report back success
ROSBridgeConnection.ServiceResponse <ZOSimSpawnServiceResponse>(new ZOSimSpawnServiceResponse()
{
success = true,
status_message = "success!"
}, ROSTopic, true, service_request_id);
} catch (System.Exception e) {
Debug.LogError("ERROR: spawning model: " + e.ToString());
// report back error
ROSBridgeConnection.ServiceResponse <ZOSimSpawnServiceResponse>(new ZOSimSpawnServiceResponse()
{
success = true,
status_message = "ERROR: " + e.ToString()
}, ROSTopic, true, service_request_id);
}
// GameObject loadedAsset = DefaultAssets.LoadAsset<GameObject>(spawnRequest.model_name);
// if (loadedAsset != null) {
// Vector3 position = spawnRequest.initial_pose.position.ToUnityVector3();
// Quaternion rotation = spawnRequest.initial_pose.orientation.ToUnityQuaternion();
// Instantiate(loadedAsset, position, rotation);
// // report back success
// ROSBridgeConnection.ServiceResponse<ZOSimSpawnServiceResponse>(new ZOSimSpawnServiceResponse() {
// success = true,
// status_message = "done!"
// }, "gazebo/spawn_urdf_model", true, id);
// } else { // error loading asset
// ROSBridgeConnection.ServiceResponse<ZOSimSpawnServiceResponse>(new ZOSimSpawnServiceResponse() {
// success = false,
// status_message = "ERROR: loading model: " + spawnRequest.model_name
// }, "gazebo/spawn_urdf_model", false, id);
// }
}
}
void DoImport()
{
Debug.Log("INFO: Zero Sim Import...");
ZeroSimProjectFile = null; // HACKHACK. Doing this because we don't want todo the "drag & drop" project into Unity. Instead we always want to ask for the project file.
if (ZeroSimProjectFile == null)
{
ZeroSimProjectFile = EditorUtility.OpenFilePanelWithFilters("Import Fusion 360 Project", "", new[] { "ZoSim", "zosim, zsim, json" });
}
Debug.Log("INFO: Zero Sim Import Project File: " + ZeroSimProjectFile);
// Parse the ZoSim JSON
ZeroSimJSON = JObject.Parse(File.ReadAllText(ZeroSimProjectFile));
DocumentName = ZeroSimJSON["document_name"].Value <string>();
ExportDirectoryPath = EditorUtility.OpenFolderPanel("Select Save To Folder", Application.dataPath + "/Assets", "");
// create directory structures
if (Directory.Exists(RootExportDirectory) == false)
{
Directory.CreateDirectory(RootExportDirectory);
}
if (Directory.Exists(VisualMeshDirectory) == false)
{
Directory.CreateDirectory(VisualMeshDirectory);
}
if (Directory.Exists(CollisionMeshDirectory) == false)
{
Directory.CreateDirectory(CollisionMeshDirectory);
}
if (Directory.Exists(AssetBundlesDirectory) == false)
{
Directory.CreateDirectory(AssetBundlesDirectory);
}
// read all components and load any assets like visual and collision meshes
foreach (JObject component in ZeroSimJSON["components"])
{
OnComponent(component);
}
// set the scales that were set in the import UI
// save out scales to JSON
ZeroSimJSON["position_transform_scale"] = new JArray(_positionTransformScale.x, _positionTransformScale.y, _positionTransformScale.z);
ZeroSimJSON["mesh_transform_scale"] = new JArray(_meshTransformScale.x, _meshTransformScale.y, _meshTransformScale.z);
ZeroSimJSON["asset_bundle"] = DocumentName.ToLower();
// create the root game object that contains the ZOSimDocumentRoot
GameObject rootGameObject = new GameObject(ZeroSimJSON["document_name"].Value <string>());
// add the document root component
_documentRoot = rootGameObject.AddComponent <ZOSimDocumentRoot>();
string zosimSaveToFilePath = Path.Combine(RootExportDirectory, DocumentName + ".zosim");
string zosimSaveToFilePathUnityRelative = MakeRelativePath(Application.dataPath, zosimSaveToFilePath);
// deserialize the ZoSim JSON file
_documentRoot.ZOSimDocumentFilePath = zosimSaveToFilePathUnityRelative;
_documentRoot.Deserialize(ZeroSimJSON);
// turn off self collisions
rootGameObject.AddComponent <ZO.Util.ZOTurnOffSelfCollision>();
// NOTE: occurrence handling is happening now in the occurrence.
// We may want to do some asset handling of occurrence stuff though here when an occurrence has assets.
// foreach (JObject occurrence in ZeroSimJSON["occurrences"]) {
// OnOccurrence(occurrence, rootGameObject, ZeroSimJSON);
// }
// save prefab
string prefabFilePath = Path.Combine(RelativeRootExportDirectory, DocumentName + ".prefab");
prefabFilePath = AssetDatabase.GenerateUniqueAssetPath(prefabFilePath);
Debug.Log("INFO: Saving Prefab: " + prefabFilePath);
PrefabUtility.SaveAsPrefabAsset(rootGameObject, prefabFilePath);
// Save ZoSim file
File.WriteAllText(zosimSaveToFilePath, ZeroSimJSON.ToString());
// force Unity to load the assets
UnityEditor.AssetDatabase.SaveAssets();
UnityEditor.AssetDatabase.Refresh();
// Add the directory we exported to (ExportDirectory + DocumentName) as an asset bundle
AssetImporter assetImporter = AssetImporter.GetAtPath(RelativeRootExportDirectory);
assetImporter.SetAssetBundleNameAndVariant(DocumentName, "");
// build the asset bundle
Debug.Log("INFO: Building asset bundles...");
BuildPipeline.BuildAssetBundles(AssetBundlesDirectory, BuildAssetBundleOptions.None, BuildTarget.StandaloneLinux64);
ZeroSimProjectFile = null; // need to reset
}
public override void Deserialize(ZOSimDocumentRoot documentRoot, JObject json)
{
Name = json["name"].Value <string>();
ROSTopic = json["ros_topic"].Value <string>();
UpdateRateHz = json["update_rate_hz"].Value <float>();
}
public void Deserialize(ZOSimDocumentRoot documentRoot, JObject json)
{
throw new System.NotImplementedException("TODO!");
}
