protected static void SetScale(Transform transform, Link.Geometry geometry, GeometryTypes geometryType)
{
switch (geometryType)
{
case GeometryTypes.Box:
transform.localScale =
new Vector3((float)geometry.box.size[1], (float)geometry.box.size[2], (float)geometry.box.size[0]);
break;
case GeometryTypes.Cylinder:
transform.localScale = new Vector3(
(float)geometry.cylinder.radius * 2,
(float)geometry.cylinder.length / 2,
(float)geometry.cylinder.radius * 2);
break;
case GeometryTypes.Sphere:
transform.localScale = new Vector3(
(float)geometry.sphere.radius * 2,
(float)geometry.sphere.radius * 2,
(float)geometry.sphere.radius * 2);
break;
case GeometryTypes.Mesh:
if (geometry?.mesh?.scale != null)
{
Vector3 scale = geometry.mesh.scale.ToVector3().Ros2UnityScale();
transform.localScale = Vector3.Scale(transform.localScale, scale);
transform.localPosition = Vector3.Scale(transform.localPosition, scale);
}
break;
}
}
public static Link.Geometry ExportGeometryData(GeometryTypes geometryType, Transform transform, bool isCollisionGeometry = false)
{
Link.Geometry geometry = null;
switch (geometryType)
{
case GeometryTypes.Box:
geometry = new Link.Geometry(new Link.Geometry.Box(ExportUrdfSize(transform)));
break;
case GeometryTypes.Cylinder:
geometry = new Link.Geometry(
null,
new Link.Geometry.Cylinder(ExportUrdfRadius(transform), ExportCylinderHeight(transform)));
break;
case GeometryTypes.Sphere:
geometry = new Link.Geometry(null, null, new Link.Geometry.Sphere(ExportUrdfRadius(transform)));
break;
case GeometryTypes.Mesh:
geometry = ExportGeometryMeshData(transform.GetChild(0).gameObject, ExportUrdfSize(transform), isCollisionGeometry);
break;
}
return(geometry);
}
public Link.Collision ExportCollisionData()
{
CheckForUrdfCompatibility();
Link.Geometry geometry = UrdfGeometry.ExportGeometryData(geometryType, transform, true);
string collisionName = gameObject.name == "unnamed" ? null : gameObject.name;
return(new Link.Collision(geometry, collisionName, UrdfOrigin.ExportOriginData(transform)));
}
public Link.Visual ExportVisualData()
{
CheckForUrdfCompatibility();
Link.Geometry geometry = UrdfGeometry.ExportGeometryData(geometryType, transform);
Link.Visual.Material material = null;
if (!(geometry.mesh != null && geometry.mesh.filename.ToLower().EndsWith(".dae"))) //Collada files contain their own materials
{
material = UrdfMaterial.ExportMaterialData(gameObject.GetComponentInChildren <MeshRenderer>().sharedMaterial);
}
string visualName = gameObject.name == "unnamed" ? null : gameObject.name;
return(new Link.Visual(geometry, visualName, UrdfOrigin.ExportOriginData(transform), material));
}
public static GeometryTypes GetGeometryType(Link.Geometry geometry)
{
if (geometry.box != null)
{
return(GeometryTypes.Box);
}
if (geometry.cylinder != null)
{
return(GeometryTypes.Cylinder);
}
if (geometry.sphere != null)
{
return(GeometryTypes.Sphere);
}
return(GeometryTypes.Mesh);
}
public static void Create(Transform parent, GeometryTypes geometryType, Link.Geometry geometry = null)
{
GameObject geometryGameObject = null;
switch (geometryType)
{
case GeometryTypes.Box:
geometryGameObject = new GameObject(geometryType.ToString());
geometryGameObject.AddComponent <BoxCollider>();
break;
case GeometryTypes.Cylinder:
geometryGameObject = CreateCylinderCollider();
break;
case GeometryTypes.Sphere:
geometryGameObject = new GameObject(geometryType.ToString());
geometryGameObject.AddComponent <SphereCollider>();
break;
case GeometryTypes.Mesh:
if (geometry != null)
{
geometryGameObject = CreateMeshCollider(geometry.mesh);
}
else
{
geometryGameObject = new GameObject(geometryType.ToString());
geometryGameObject.AddComponent <MeshCollider>();
}
break;
}
if (geometryGameObject != null)
{
geometryGameObject.transform.SetParentAndAlign(parent);
if (geometry != null)
{
SetScale(parent, geometry, geometryType);
}
}
}
public static void Create(Transform parent, GeometryTypes geometryType, Link.Geometry geometry = null)
{
GameObject geometryGameObject = null;
switch (geometryType)
{
case GeometryTypes.Box:
geometryGameObject = GameObject.CreatePrimitive(PrimitiveType.Cube);
geometryGameObject.transform.DestroyImmediateIfExists <BoxCollider>();
break;
case GeometryTypes.Cylinder:
geometryGameObject = GameObject.CreatePrimitive(PrimitiveType.Cylinder);
geometryGameObject.transform.DestroyImmediateIfExists <CapsuleCollider>();
break;
case GeometryTypes.Sphere:
geometryGameObject = GameObject.CreatePrimitive(PrimitiveType.Sphere);
geometryGameObject.transform.DestroyImmediateIfExists <SphereCollider>();
break;
case GeometryTypes.Mesh:
if (geometry != null)
{
geometryGameObject = CreateMeshVisual(geometry.mesh);
}
//else, let user add their own mesh gameObject
break;
}
if (geometryGameObject != null)
{
geometryGameObject.transform.SetParentAndAlign(parent);
if (geometry != null)
{
SetScale(parent, geometry, geometryType);
}
}
}