start of urdf import.

Author: micahpearlman

Runtime/Scripts/Util/Extensions/ZOXMLExtensions.cs

@@ -0,0 +1,38 @@
+using System.Xml;
+using System.Collections.Generic;
+
+namespace ZO.Util.Extensions {
+    public static class ZOXMLExtensions {
+        static public XmlNode GetChildByName(this XmlNode xmlNode, string name) {
+            foreach (XmlNode child in xmlNode) {
+                if (child.Name == name) {
+                    return child;
+                }
+            }
+
+            return null;
+        }
+
+        public static XmlNode[] GetChildrenByName(this XmlNode xmlNode, string name, bool recursive = false) {
+
+            List<XmlNode> children = new List<XmlNode>();
+            foreach (XmlNode child in xmlNode.ChildNodes) {
+                if (child.Name == name) {
+                    children.Add(child);
+                }
+
+                if (recursive) {
+                    XmlNode[] recursiveChildren = child.GetChildrenByName(name, recursive); 
+                    foreach (XmlNode childrensChild in recursiveChildren) {
+                        children.Add(childrensChild);
+                    }
+                }
+            }
+
+            return children.ToArray();
+
+        }
+
+
+    }
+}

Runtime/Scripts/Util/Extensions/ZOXMLExtensions.cs.meta

@@ -9,10 +9,39 @@
 using ZO.Math;
 using ZO.Util.Extensions;
 using System.Xml.Linq;
+using System.Xml;
 
 namespace ZO.ImportExport {
 
 
     public class ZOImportURDF {
+
+        public ZOSimDocumentRoot Import(string urdfFilePath) {
+            using(StreamReader streamReader = new StreamReader(urdfFilePath)) {
+                XmlDocument xmlDocument = new XmlDocument();
+                xmlDocument.Load(streamReader);
+                return Import(xmlDocument);
+            }
+        }
+
+        public ZOSimDocumentRoot Import(XmlDocument xmlDocument) {                        
+            XmlNode robot = xmlDocument.GetChildByName("robot");
+
+            GameObject rootObject = new GameObject(robot.Name);            
+
+            ZOSimDocumentRoot simDocumentRoot = rootObject.AddComponent<ZOSimDocumentRoot>();
+
+
+            // create the URDF links in Unity 
+            XmlNode[] links = robot.GetChildrenByName("link");
+            foreach(XmlNode link in links) {
+                // process the visuals
+                XmlNode[] visuals = link.GetChildrenByName("visual");
+
+            }
+
+            return simDocumentRoot;
+        }
+
     }
 }