saving OBJ that satifies URDF orientation

Author: micahpearlman

Editor/ZOExportOBJEditor.cs

@@ -10,7 +10,8 @@ namespace ZO.Export {
 
     public class ZOExportOBJEditor : EditorWindow {
         public bool _exportSubMeshes = true;
-        public bool _zeroPosition = true;
+        public bool _applyLocalTransform = false;
+        public ZOExportOBJ.Orientation _orientation = ZOExportOBJ.Orientation.URDF;
         private string _selectedNames;
 
         [MenuItem("Zero Sim/Export OBJ...")]
@@ -23,7 +24,8 @@ public static void DoOBJExport() {
 
         private void OnGUI() {
             _exportSubMeshes = EditorGUILayout.Toggle("Export Sub Meshes: ", _exportSubMeshes);
-            _zeroPosition = EditorGUILayout.Toggle("Zero Position: ", _zeroPosition);
+            _applyLocalTransform = EditorGUILayout.Toggle("Apply Local Transform: ", _applyLocalTransform);
+            _orientation = (ZOExportOBJ.Orientation)EditorGUILayout.EnumPopup("Export orientation:", _orientation);
 
             foreach (var t in Selection.objects) {
                 _selectedNames += t.name + " ";
@@ -37,7 +39,7 @@ private void OnGUI() {
                 string meshName = Selection.gameObjects[0].name;
                 string fileDirectory = EditorUtility.OpenFolderPanel("Export .OBJ to directory", "", "");
 
-                DoExport(_exportSubMeshes, fileDirectory);
+                DoExport(_exportSubMeshes, fileDirectory, _applyLocalTransform, _orientation);
             }
             EditorGUI.EndDisabledGroup();
 
@@ -47,7 +49,7 @@ private void OnInspectorUpdate() {
             Repaint();
         }
 
-        public static void DoExport(bool makeSubmeshes, string directoryPath, bool zeroPosition = true, GameObject gameObject = null) {
+        public static void DoExport(bool makeSubmeshes, string directoryPath, bool applyLocalTransform, ZOExportOBJ.Orientation orientation, GameObject gameObject = null) {
 
             if (gameObject == null && Selection.gameObjects.Length == 0) {
                 Debug.Log("ERROR: Didn't Export Any Meshes; Nothing was selected!");
@@ -58,7 +60,7 @@ public static void DoExport(bool makeSubmeshes, string directoryPath, bool zeroP
                 gameObject = Selection.gameObjects[0];
             }
             ZOExportOBJ exportOBJ = new ZOExportOBJ();
-            exportOBJ.ExportToDirectory(gameObject, directoryPath, makeSubmeshes, zeroPosition);
+            exportOBJ.ExportToDirectory(gameObject, directoryPath, makeSubmeshes, applyLocalTransform, orientation);
         }
 
     }

Runtime/Scripts/Util/ImportExport/ZOExportOBJ.cs

@@ -8,6 +8,11 @@
 namespace ZO.ImportExport {
     public class ZOExportOBJ {
 
+        public enum Orientation {
+            URDF, 
+            Unity // Unity Default direction
+        }
+
         protected string _objString = null;
         public string OBJString {
             get { return _objString; }
@@ -31,19 +36,25 @@ public List<string> TextureAssetPaths {
 
         private int _startIndex = 0;
 
-        public void Start() {
+        protected void Start() {
             _startIndex = 0;
         }
-        public void End() {
+        protected void End() {
             _startIndex = 0;
         }
 
 
-        protected string MeshToString(MeshFilter meshFilter, Transform transform) {
+        protected string MeshToString(MeshFilter meshFilter, Transform transform, bool applyLocalTransform, ZOExportOBJ.Orientation orientation) {
             Vector3 s = transform.localScale;
             Vector3 p = transform.localPosition;
             Quaternion r = transform.localRotation;
 
+            if (applyLocalTransform == false) {
+                s = Vector3.one;
+                p = Vector3.zero;
+                r = Quaternion.identity;
+            }
+
 
             int numVertices = 0;
             Mesh mesh = meshFilter.sharedMesh;
@@ -54,15 +65,26 @@ protected string MeshToString(MeshFilter meshFilter, Transform transform) {
 
             StringBuilder sb = new StringBuilder();
 
-            foreach (Vector3 vv in mesh.vertices) {
-                Vector3 v = transform.TransformPoint(vv);
+            foreach (Vector3 vv in mesh.vertices) {                
+                Vector3 v = vv;
+                if (applyLocalTransform == true) {
+                    v = transform.TransformPoint(vv);
+                }
                 numVertices++;
-                sb.AppendLine($"v {v.x} {v.y} {v.z}");
+                if (orientation == Orientation.Unity) {
+                    sb.AppendLine($"v {v.x} {v.y} {v.z}");
+                } else if (orientation == Orientation.URDF) {
+                    sb.AppendLine($"v {v.z} {v.x} {v.y}");
+                }
             }
             sb.AppendLine();
             foreach (Vector3 nn in mesh.normals) {
                 Vector3 v = r * nn;
-                sb.AppendLine($"vn {v.x} {v.y} {v.z}");
+                if (orientation == Orientation.Unity) {
+                    sb.AppendLine($"vn {v.x} {v.y} {v.z}");
+                } else if (orientation == Orientation.URDF) {
+                    sb.AppendLine($"vn {v.z} {v.x} {v.y}");
+                }
             }
             sb.AppendLine();
             foreach (Vector3 v in mesh.uv) {
@@ -106,7 +128,7 @@ protected string MaterialToString(Material material) {
             return sb.ToString();
         }
 
-        protected string ProcessTransform(Transform transform, bool makeSubmeshes) {
+        protected string ProcessTransform(Transform transform, bool makeSubmeshes, bool applyLocalTransform, ZOExportOBJ.Orientation orientation) {
             StringBuilder meshString = new StringBuilder();
 
             meshString.Append("#" + transform.name
@@ -119,18 +141,18 @@ protected string ProcessTransform(Transform transform, bool makeSubmeshes) {
 
             MeshFilter meshFilter = transform.GetComponent<MeshFilter>();
             if (meshFilter != null) {
-                meshString.Append(MeshToString(meshFilter, transform));
+                meshString.Append(MeshToString(meshFilter, transform, applyLocalTransform, orientation));
             }
 
             for (int i = 0; i < transform.childCount; i++) {
-                meshString.Append(ProcessTransform(transform.GetChild(i), makeSubmeshes));
+                meshString.Append(ProcessTransform(transform.GetChild(i), makeSubmeshes, applyLocalTransform, orientation));
             }
 
             return meshString.ToString();
         }
 
 
-        public void BuildExportData(GameObject gameObject, bool makeSubmeshes, bool zeroPosition = true) {
+        public void BuildExportData(GameObject gameObject, bool makeSubmeshes, bool applyLocalTransform, ZOExportOBJ.Orientation orientation) {
             Debug.Assert(gameObject != null, "ERROR: invalid GameObject in BuildExport");
 
             string meshName = gameObject.name;
@@ -149,19 +171,19 @@ public void BuildExportData(GameObject gameObject, bool makeSubmeshes, bool zero
 
             Transform transform = gameObject.transform;
 
-            Vector3 originalPosition = transform.position;
-            if (zeroPosition == true) {
-                transform.position = Vector3.zero;
-            }
+            // Vector3 originalPosition = transform.position;
+            // if (zeroPosition == true) {
+            //     transform.position = Vector3.zero;
+            // }
 
             if (!makeSubmeshes) {
                 meshString.Append("g ").Append(transform.name).Append("\n");
             }
-            meshString.Append(ProcessTransform(transform, makeSubmeshes));
+            meshString.Append(ProcessTransform(transform, makeSubmeshes, applyLocalTransform, orientation));
 
             OBJString = meshString.ToString();
 
-            transform.position = originalPosition;
+            // transform.position = originalPosition;
 
             // export materials and textures
             StringBuilder mtlFileString = new StringBuilder();
@@ -222,8 +244,8 @@ public void BuildExportData(GameObject gameObject, bool makeSubmeshes, bool zero
 
         }
 
-        public void ExportToDirectory(GameObject gameObject, string directoryPath, bool makeSubmeshes, bool zeroPosition = true) {
-            BuildExportData(gameObject, makeSubmeshes, zeroPosition);
+        public void ExportToDirectory(GameObject gameObject, string directoryPath, bool makeSubmeshes, bool applyLocalTransform, ZOExportOBJ.Orientation orientation) {
+            BuildExportData(gameObject, makeSubmeshes, applyLocalTransform, orientation);
 
             // write out obj file
             string objFilePath = Path.Combine(directoryPath, $"{gameObject.name}.obj");

Runtime/Scripts/Util/ImportExport/ZOExportURDF.cs

@@ -62,7 +62,6 @@ public List<Transform> CollisionMeshesToExport {
             get { return _collisionMeshesToExport; }
         }
 
-        static protected float _meshScale = 10.0f; 
 
         public static void ExportToDirectory(ZOSimDocumentRoot documentRoot, string directoryPath) {
             ZOExportURDF exportURDF = new ZOExportURDF();
@@ -73,12 +72,12 @@ public static void ExportToDirectory(ZOSimDocumentRoot documentRoot, string dire
             // save out visual and collision meshes
             foreach(Transform meshTransform in exportURDF.VisualMeshesToExport) {
                 ZOExportOBJ exportOBJ = new ZOExportOBJ();
-                exportOBJ.ExportToDirectory(meshTransform.gameObject, directoryPath, true, true);
+                exportOBJ.ExportToDirectory(meshTransform.gameObject, directoryPath, true, false, ZOExportOBJ.Orientation.URDF);
             }
 
             foreach(Transform meshTransform in exportURDF.CollisionMeshesToExport) {
                 ZOExportOBJ exportOBJ = new ZOExportOBJ();
-                exportOBJ.ExportToDirectory(meshTransform.gameObject, directoryPath, true, true);
+                exportOBJ.ExportToDirectory(meshTransform.gameObject, directoryPath, true, false, ZOExportOBJ.Orientation.URDF);
             }
 
             Debug.Log($"INFO: ZOExportURDF Saved URDF: {urdfFilePath}");
@@ -334,7 +333,7 @@ protected void BuildURDFVisuals(Transform visualTransform, XElement link, Vector
                 } else {  // regular mesh so export meshes as OBJ
                     XElement mesh = new XElement("mesh");
                     mesh.SetAttributeValue("filename", $"{visualTransform.name}.obj");
-                    Vector3 scale = visualTransform.localScale * _meshScale;
+                    Vector3 scale = visualTransform.localScale;
                     mesh.SetAttributeValue("scale", scale.ToXMLString());
                     geometry.Add(mesh);
 

package.json

@@ -1,6 +1,6 @@
 {
   "name": "com.fsstudio.zerosim",
-  "version": "0.1.2",
+  "version": "0.1.3",
   "displayName": "ZeroSim",
   "description": "ZeroSim ROS robotic simulator in Unity.",
   "unity": "2020.1",