public static void Create(string filename)
{
Robot robot = new Robot();
robot.ConstructFromFile(filename);
if (!UrdfAssetPathHandler.IsValidAssetPath(robot.filename))
{
Debug.LogError("URDF file and ressources must be placed in Assets Folder:\n" + Application.dataPath);
return;
}
GameObject robotGameObject = new GameObject(robot.name);
robotGameObject.AddComponent <UrdfRobot>();
UrdfAssetPathHandler.SetPackageRoot(Path.GetDirectoryName(robot.filename));
UrdfMaterial.InitializeRobotMaterials(robot);
UrdfPlugins.Create(robotGameObject.transform, robot.plugins);
UrdfLinkExtensions.Create(robotGameObject.transform, robot.root);
GameObjectUtility.SetParentAndAlign(robotGameObject, Selection.activeObject as GameObject);
Undo.RegisterCreatedObjectUndo(robotGameObject, "Create " + robotGameObject.name);
Selection.activeObject = robotGameObject;
}
public static IEnumerator Create(string filename, ImportSettings settings, bool loadStatus = false)
{
CreateTag();
importsettings = settings;
Robot robot = new Robot(filename);
settings.totalLinks = robot.links.Count;
if (!UrdfAssetPathHandler.IsValidAssetPath(robot.filename))
{
Debug.LogError("URDF file and ressources must be placed in Assets Folder:\n" + Application.dataPath);
yield break;
}
GameObject robotGameObject = new GameObject(robot.name);
robotGameObject.tag = tagName;
robotGameObject.AddComponent <UrdfRobot>();
robotGameObject.AddComponent <RosSharp.Control.Controller>();
robotGameObject.GetComponent <UrdfRobot>().SetAxis(settings.choosenAxis);
UrdfAssetPathHandler.SetPackageRoot(Path.GetDirectoryName(robot.filename));
UrdfMaterial.InitializeRobotMaterials(robot);
UrdfPlugins.Create(robotGameObject.transform, robot.plugins);
Stack <Tuple <Link, Transform, Joint> > importStack = new Stack <Tuple <Link, Transform, Joint> >();
importStack.Push(new Tuple <Link, Transform, Joint>(robot.root, robotGameObject.transform, null));
while (importStack.Count != 0)
{
Tuple <Link, Transform, Joint> currentLink = importStack.Pop();
GameObject importedLink = UrdfLinkExtensions.Create(currentLink.Item2, currentLink.Item1, currentLink.Item3);
settings.linksLoaded++;
foreach (Joint childJoint in currentLink.Item1.joints)
{
Link child = childJoint.ChildLink;
importStack.Push(new Tuple <Link, Transform, Joint>(child, importedLink.transform, childJoint));
}
if (loadStatus)
{
yield return(null);
}
}
GameObjectUtility.SetParentAndAlign(robotGameObject, Selection.activeObject as GameObject);
Undo.RegisterCreatedObjectUndo(robotGameObject, "Create " + robotGameObject.name);
Selection.activeObject = robotGameObject;
CorrectAxis(robotGameObject);
CreateCollisionExceptions(robot, robotGameObject);
}
public static void CreateFromString(string urdfString)
{
Robot robot = new Robot();
robot.ConstructFromString(urdfString);
UrdfAssetPathHandler.SetPackageRoot(Application.dataPath + "/Urdf/FromString");
Create(robot);
}
public static void CreateFromFile(string filename)
{
Robot robot = new Robot();
robot.ConstructFromFile(filename);
if (!UrdfAssetPathHandler.IsValidAssetPath(robot.filename))
{
Debug.LogError("URDF file and ressources must be placed in Assets Folder:\n" + Application.dataPath);
return;
}
UrdfAssetPathHandler.SetPackageRoot(Path.GetDirectoryName(robot.filename));
Create(robot);
}
private static string LocateRootAssetFolder <T>(string urdfFileName) where T : UnityEngine.Object
{
string newAssetPath = 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));
}
public static void Create(string filename, ImportSettings settings)
{
CreateTag();
importsettings = settings;
Robot robot = new Robot(filename);
if (!UrdfAssetPathHandler.IsValidAssetPath(robot.filename))
{
Debug.LogError("URDF file and ressources must be placed in Assets Folder:\n" + Application.dataPath);
return;
}
GameObject robotGameObject = new GameObject(robot.name);
robotGameObject.tag = tagName;
robotGameObject.AddComponent <UrdfRobot>();
robotGameObject.AddComponent <RosSharp.Control.Controller>();
robotGameObject.GetComponent <UrdfRobot>().SetAxis(settings.choosenAxis);
UrdfAssetPathHandler.SetPackageRoot(Path.GetDirectoryName(robot.filename));
UrdfMaterial.InitializeRobotMaterials(robot);
UrdfPlugins.Create(robotGameObject.transform, robot.plugins);
UrdfLinkExtensions.Create(robotGameObject.transform, robot.root);
GameObjectUtility.SetParentAndAlign(robotGameObject, Selection.activeObject as GameObject);
Undo.RegisterCreatedObjectUndo(robotGameObject, "Create " + robotGameObject.name);
Selection.activeObject = robotGameObject;
CorrectAxis(robotGameObject);
CreateCollisionExceptions(robot, robotGameObject);
}
