Importing robots, scenes and maps · onephysics docs

RecursiveAI.OnePhysics.Interchange turns files other tools write into this library's definitions. Nothing in it touches the file system: you read the file, the importer returns definitions and a list of warnings for what it could not express.

using RecursiveAI.OnePhysics.Interchange;
 
// A robot: URDF or MJCF to an articulation.
var robot = UrdfImporter.Import(File.ReadAllText("arm.urdf"), new UrdfOptions { Meshes = name => LoadMesh(name) });
var arm = world.AddArticulation(robot.Definition, at: new Vector3D(0, 0, 0));
arm.SetJointTarget(robot.FindLink("elbow"), 0.5f);
foreach (var w in robot.Warnings) { Console.WriteLine(w.Code + ": " + w.Message); }
 
// A glTF scene with physics extensions to the public scene format, then a world.
var gltf = GltfPhysicsImporter.Import(File.ReadAllBytes("level.glb"));
var world3 = gltf.Scene.CreateWorld3D();
 
// A Tiled map or an LDtk level to tile grids and shapes.
var map = TiledImporter.Import(File.ReadAllText("level.tmj"));   // or LdtkImporter.Import(json, "Level_0")
var instance = map.Apply(world2);

A file the importer cannot read throws InterchangeException, which names the format, the place in the file and what was expected. Ask for nothing else: hostile files are refused with that exception and no other.

The rules each importer follows, the unit conversions, which attributes map where, and what is left out are in the importer specification. The conventions for maps (which layers are collision layers, the kind, oneway and body properties) are there too.