public static void Create(GameObject linkObject, Link.Inertial inertial = null)
{
UrdfInertial urdfInertial = linkObject.AddComponent <UrdfInertial>();
#if UNITY_2020_1_OR_NEWER
ArticulationBody robotLink = urdfInertial.GetComponent <ArticulationBody>();
#else
Rigidbody robotLink = urdfInertial.GetComponent <Rigidbody>();
#endif
if (inertial != null)
{
robotLink.mass = (float)inertial.mass;
if (inertial.origin != null)
{
robotLink.centerOfMass = UrdfOrigin.GetPositionFromUrdf(inertial.origin);
}
else
{
robotLink.centerOfMass = Vector3.zero;
}
urdfInertial.ImportInertiaData(inertial);
urdfInertial.useUrdfData = true;
}
urdfInertial.displayInertiaGizmo = false;
}
public static void Create(GameObject linkObject, Link.Inertial inertial = null)
{
UrdfInertial urdfInertial = linkObject.AddComponent <UrdfInertial>();
Rigidbody _rigidbody = urdfInertial.GetComponent <Rigidbody>();
if (inertial != null)
{
_rigidbody.mass = (float)inertial.mass;
if (inertial.origin != null)
{
_rigidbody.centerOfMass = UrdfOrigin.GetPositionFromUrdf(inertial.origin);
}
urdfInertial.ImportInertiaData(inertial.inertia);
urdfInertial.UseUrdfData = true;
}
urdfInertial.DisplayInertiaGizmo = false;
//Save original rigidbody data from URDF
urdfInertial.CenterOfMass = _rigidbody.centerOfMass;
urdfInertial.InertiaTensor = _rigidbody.inertiaTensor;
urdfInertial.InertiaTensorRotation = _rigidbody.inertiaTensorRotation;
}