working obj mesh import for urdf

Author: micahpearlman

Runtime/Scripts/Util/ImportExport/ZOImportOBJ.cs

@@ -60,7 +60,7 @@ protected static Material[] ImportMTLFile(string mtlFilePath) {
                         currentMaterial.name = data;
                     } else if (lineComponents[0] == "Kd") {
                         currentMaterial.SetColor("_Color", ParseColor(lineComponents));
-                    } else if (lineComponents[0] == "map_Kd") {
+                    } else if (lineComponents[0] == "map_Kd" && lineComponents.Length > 1) {
                         string texturePath = Path.Combine(workingDirectory, lineComponents[1]);
                         string textureType = Path.GetExtension(texturePath);
                         if (textureType == ".png" || textureType == ".jpg") {
@@ -240,14 +240,9 @@ public static GameObject Import(StreamReader streamReader, string meshName, stri
             if (objectNames.Count == 0)
                 objectNames.Add("default");
 
-            //build objects
-            GameObject parentObject = new GameObject(meshName);
-
-
+            GameObject meshGameObject = new GameObject(meshName);
             foreach (string obj in objectNames) {
-                GameObject subObject = new GameObject(obj);
-                subObject.transform.parent = parentObject.transform;
-                subObject.transform.localScale = new Vector3(-1, 1, 1);
+                meshGameObject.transform.localScale = new Vector3(-1, 1, 1);
                 Mesh m = new Mesh();
                 m.name = obj;
                 List<Vector3> processedVertices = new List<Vector3>();
@@ -273,9 +268,7 @@ public static GameObject Import(StreamReader streamReader, string meshName, stri
 
                         for (int i = 0; i < indexes.Length; i++) {
                             int idx = indexes[i];
-                            //build remap table
                             if (remapTable.ContainsKey(idx)) {
-                                //ezpz
                                 indexes[i] = remapTable[idx];
                             } else {
                                 processedVertices.Add(uvertices[idx]);
@@ -306,8 +299,8 @@ public static GameObject Import(StreamReader streamReader, string meshName, stri
                 m.RecalculateBounds();
                 ;
 
-                MeshFilter mf = subObject.AddComponent<MeshFilter>();
-                MeshRenderer mr = subObject.AddComponent<MeshRenderer>();
+                MeshFilter mf = meshGameObject.AddComponent<MeshFilter>();
+                MeshRenderer mr = meshGameObject.AddComponent<MeshRenderer>();
 
                 Material[] processedMaterials = new Material[meshMaterialNames.Count];
                 for (int i = 0; i < meshMaterialNames.Count; i++) {
@@ -331,7 +324,7 @@ public static GameObject Import(StreamReader streamReader, string meshName, stri
 
             }
 
-            return parentObject;
+            return meshGameObject;
         }
 
     }

Runtime/Scripts/Util/ImportExport/ZOImportURDF.cs

@@ -17,20 +17,16 @@ 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);
+                return Import(xmlDocument, Path.GetDirectoryName(urdfFilePath));
             }
         }
 
-        public static ZOSimDocumentRoot Import(XmlDocument xmlDocument) {
+        public static ZOSimDocumentRoot Import(XmlDocument xmlDocument, string workingDirectory) {
             XmlNode robot = xmlDocument.GetChildByName("robot");
 
             GameObject rootObject = new GameObject(robot.Attributes["name"].Value);
@@ -94,7 +90,16 @@ public static ZOSimDocumentRoot Import(XmlDocument xmlDocument) {
 
                         XmlNode xmlMesh = xmlGeom.GetChildByName("mesh");
                         if (xmlMesh != null) {
-                            // TODO
+                            string meshFileName = xmlMesh.Attributes["filename"].Value;
+                            string meshFilePath = Path.Combine(workingDirectory, meshFileName);
+                            visualGeo = ZOImportOBJ.Import(meshFilePath);
+                            if (xmlMesh.Attributes["scale"] != null) {
+                                Vector3 scale = xmlMesh.Attributes["scale"].Value.FromURDFStringToVector3().Ros2UnityScale();
+                                visualGeo.transform.localScale = new Vector3(visualGeo.transform.localScale.x * scale.x, visualGeo.transform.localScale.y * scale.y, visualGeo.transform.localScale.z * scale.z);
+                            }
+                            
+                            visualGeo.transform.localRotation = Quaternion.Euler(270, 90, 0);
+                            
                         }
                         if (visualGeo != null) {
                             // set parent
@@ -107,8 +112,8 @@ public static ZOSimDocumentRoot Import(XmlDocument xmlDocument) {
                             // set transform
                             XmlNode xmlOrigin = xmlVisual.GetChildByName("origin");
                             Tuple<Vector3, Quaternion> transform = OriginXMLToUnity(xmlOrigin);
-                            visualGeo.transform.localPosition = transform.Item1;
-                            visualGeo.transform.localRotation = transform.Item2;
+                            visualGeo.transform.localPosition += transform.Item1;
+                            visualGeo.transform.localRotation *= transform.Item2;
 
                         }
 

package.json

@@ -1,6 +1,6 @@
 {
   "name": "com.fsstudio.zerosim",
-  "version": "0.1.10",
+  "version": "0.1.11",
   "displayName": "ZeroSim",
   "description": "ZeroSim ROS robotic simulator in Unity.",
   "unity": "2020.1",