simple primitive creation

Author: micahpearlman

Runtime/Scripts/Util/ImportExport/ZOImportURDF.cs

@@ -17,8 +17,13 @@ namespace ZO.ImportExport {
 
     public class ZOImportURDF {
 
+        public static string WorkingDirectory {
+            get; set;
+        } = ".";
+
         public static ZOSimDocumentRoot Import(string urdfFilePath) {
             using (StreamReader streamReader = new StreamReader(urdfFilePath)) {
+                WorkingDirectory = Path.GetDirectoryName(urdfFilePath);
                 XmlDocument xmlDocument = new XmlDocument();
                 xmlDocument.Load(streamReader);
                 return Import(xmlDocument);
@@ -28,7 +33,7 @@ public static ZOSimDocumentRoot Import(string urdfFilePath) {
         public static ZOSimDocumentRoot Import(XmlDocument xmlDocument) {
             XmlNode robot = xmlDocument.GetChildByName("robot");
 
-            GameObject rootObject = new GameObject(robot.Name);
+            GameObject rootObject = new GameObject(robot.Attributes["name"].Value);
 
             ZOSimDocumentRoot simDocumentRoot = rootObject.AddComponent<ZOSimDocumentRoot>();
 
@@ -43,21 +48,45 @@ public static ZOSimDocumentRoot Import(XmlDocument xmlDocument) {
 
                 string linkName = xmlLink.Attributes["name"].Value;
                 GameObject goLink = new GameObject(linkName);
-                ZOSimOccurrence occurrence = goLink.AddComponent<ZOSimOccurrence>();
 
                 GameObject goVisualsEmpty = new GameObject("visuals");
                 goVisualsEmpty.transform.SetParent(goLink.transform);
-                
+
                 GameObject goCollisionsEmpty = new GameObject("collisions");
                 goCollisionsEmpty.transform.SetParent(goLink.transform);
 
                 goLinks[linkName] = new Tuple<XmlNode, GameObject>(xmlLink, goLink);
-                // // process the visuals
-                // XmlNode[] visuals = xmlLink.GetChildrenByName("visual");
 
-                // foreach (XmlNode visual in visuals) {
+                // process the visuals
+                XmlNode[] xmlVisuals = xmlLink.GetChildrenByName("visual");
+
+                foreach (XmlNode xmlVisual in xmlVisuals) {
+                    XmlNode[] xmlGeometries = xmlVisual.GetChildrenByName("geometry");
+
+                    foreach (XmlNode xmlGeom in xmlGeometries) {
+                        XmlNode xmlBox = xmlGeom.GetChildByName("box");
+                        GameObject visualGeo = null;
+                        if (xmlBox != null) {
+                            visualGeo = GameObject.CreatePrimitive(PrimitiveType.Cube);
+                        }
+                        XmlNode xmlCylinder = xmlGeom.GetChildByName("cylinder");
+                        if (xmlCylinder != null) {
+                            visualGeo = GameObject.CreatePrimitive(PrimitiveType.Cylinder);
+                        }
+                        XmlNode xmlSphere = xmlGeom.GetChildByName("sphere");
+                        if (xmlSphere != null) {
+                            visualGeo = GameObject.CreatePrimitive(PrimitiveType.Sphere);
+                        }
+                        XmlNode xmlMesh = xmlGeom.GetChildByName("mesh");
+                        if (xmlMesh != null) {
+                            // TODO
+                        }
+                        if (visualGeo != null) {
+                            visualGeo.transform.SetParent(goVisualsEmpty.transform);
+                        }
 
-                // }
+                    }
+                }
 
                 // get the origin
                 // XmlNode origin = 
@@ -84,6 +113,8 @@ public static ZOSimDocumentRoot Import(XmlDocument xmlDocument) {
                 }
 
                 goLink.Value.Item2.transform.SetParent(linkParent.transform);
+                ZOSimOccurrence occurrence = goLink.Value.Item2.AddComponent<ZOSimOccurrence>();
+
             }
 
             return simDocumentRoot;