private static string LocateAssetFile <T>(string invalidPath) where T : UnityEngine.Object
{
string fileExtension = Path.GetExtension(invalidPath)?.Replace(".", "");
string newPath = EditorUtility.OpenFilePanel(
"Couldn't find asset at " + invalidPath + ". Select correct file.",
UrdfAssetPathHandler.GetAssetRootFolder(),
fileExtension);
return(UrdfAssetPathHandler.GetRelativeAssetPath(newPath));
}
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"),
"");
UrdfAssetPathHandler.SetAssetRootFolder(UrdfAssetPathHandler.GetRelativeAssetPath(newAssetPath));
return(GetAssetPathFromUrdfPath(urdfFileName));
}
public static void InitializeRobotMaterials(Robot robot)
{
if (!AssetDatabase.IsValidFolder(Path.Combine(UrdfAssetPathHandler.GetAssetRootFolder(), materialFolderName)))
{
AssetDatabase.CreateFolder(UrdfAssetPathHandler.GetAssetRootFolder(), materialFolderName);
}
CreateDefaultMaterialAsset();
foreach (var material in robot.materials)
{
CreateMaterialAsset(material);
}
}
private static string GetAssetPathFromUrdfPath(string urdfPath)
{
if (!urdfPath.StartsWith(@"package://"))
{
Debug.LogWarning(urdfPath + " is not a valid URDF package file path. Path should start with \"package://\".");
return(null);
}
var path = urdfPath.Substring(10)
.Replace(Path.AltDirectorySeparatorChar, Path.DirectorySeparatorChar);
if (Path.GetExtension(path).ToLowerInvariant() == ".stl")
{
path = path.Substring(0, path.Length - 3) + "prefab";
}
return(Path.Combine(UrdfAssetPathHandler.GetAssetRootFolder(), path));
}
public static GameObject Create(this Robot robot)
{
if (UrdfAssetPathHandler.IsValidAssetPath(robot.filename))
{
Debug.LogError("URDF file and ressources must be placed in Assets Folder:\n" + Application.dataPath);
return(null);
}
UrdfAssetPathHandler.SetAssetRootFolder(robot);
UrdfMaterialHandler.InitializeRobotMaterials(robot);
GameObject gameObject = new GameObject(robot.name);
robot.root.Create(gameObject);
GameObjectUtility.SetParentAndAlign(gameObject, Selection.activeObject as GameObject);
Undo.RegisterCreatedObjectUndo(gameObject, "Create " + gameObject.name);
Selection.activeObject = gameObject;
SetKinematic(gameObject, true);
return(gameObject);
}
private static string GetMaterialAssetPath(string materialName)
{
var path = Path.Combine(materialFolderName, Path.GetFileName(materialName) + ".mat");
return(Path.Combine(UrdfAssetPathHandler.GetAssetRootFolder(), path));
}
public static T FindUrdfAsset <T>(string urdfFileName) where T : UnityEngine.Object
{
string fileAssetPath = GetAssetPathFromUrdfPath(urdfFileName);
T assetObject = AssetDatabase.LoadAssetAtPath <T>(fileAssetPath);
if (assetObject != null)
{
return(assetObject);
}
//If asset was not found, let user choose whether to search for
//or ignore the missing asset.
string invalidPath = fileAssetPath ?? urdfFileName;
int option = EditorUtility.DisplayDialogComplex("Urdf Importer: Asset Not Found",
"Current root folder: " + UrdfAssetPathHandler.GetAssetRootFolder() +
"\n\nExpected asset path: " + invalidPath,
"Locate Asset",
"Ignore Missing Asset",
"Locate Root Folder");
switch (option)
{
case 0:
fileAssetPath = LocateAssetFile <T>(invalidPath);
break;
case 1: break;
case 2:
fileAssetPath = LocateRootAssetFolder <T>(urdfFileName);
break;
}
assetObject = (T)AssetDatabase.LoadAssetAtPath(fileAssetPath, typeof(T));
if (assetObject != null)
{
return(assetObject);
}
ChooseFailureOption(urdfFileName);
return(null);
}
