private static UrdfJoint AddCorrectJointType(GameObject linkObject, JointTypes jointType)
{
UrdfJoint urdfJoint = null;
switch (jointType)
{
case JointTypes.Fixed:
urdfJoint = UrdfJointFixed.Create(linkObject);
break;
case JointTypes.Continuous:
urdfJoint = UrdfJointContinuous.Create(linkObject);
break;
case JointTypes.Revolute:
urdfJoint = UrdfJointRevolute.Create(linkObject);
break;
case JointTypes.Floating:
urdfJoint = UrdfJointFloating.Create(linkObject);
break;
case JointTypes.Prismatic:
urdfJoint = UrdfJointPrismatic.Create(linkObject);
break;
case JointTypes.Planar:
urdfJoint = UrdfJointPlanar.Create(linkObject);
break;
}
UnityEngine.Joint unityJoint = linkObject.GetComponent<UnityEngine.Joint>();
unityJoint.connectedBody = linkObject.transform.parent.gameObject.GetComponent<Rigidbody>();
unityJoint.autoConfigureConnectedAnchor = true;
return urdfJoint;
}
public static UrdfJoint Create(GameObject linkObject)
{
UrdfJointPlanar urdfJoint = linkObject.AddComponent <UrdfJointPlanar>();
#if UNITY_2020_1_OR_NEWER
urdfJoint.unityJoint = linkObject.AddComponent <ArticulationBody>();
urdfJoint.unityJoint.jointType = ArticulationJointType.PrismaticJoint;
#else
urdfJoint.unityJoint = linkObject.AddComponent <ConfigurableJoint>();
urdfJoint.unityJoint.autoConfigureConnectedAnchor = true;
#endif
#if UNITY_2020_1_OR_NEWER
#else
ConfigurableJoint configurableJoint = (ConfigurableJoint)urdfJoint.unityJoint;
// degrees of freedom:
configurableJoint.xMotion = ConfigurableJointMotion.Free;
configurableJoint.yMotion = ConfigurableJointMotion.Free;
configurableJoint.zMotion = ConfigurableJointMotion.Locked;
configurableJoint.angularXMotion = ConfigurableJointMotion.Locked;
configurableJoint.angularYMotion = ConfigurableJointMotion.Locked;
configurableJoint.angularZMotion = ConfigurableJointMotion.Locked;
#endif
return(urdfJoint);
}
public static UrdfJoint Create(GameObject linkObject)
{
UrdfJointPlanar urdfJoint = linkObject.AddComponent <UrdfJointPlanar>();
urdfJoint.UnityJoint = linkObject.AddComponent <ConfigurableJoint>();
urdfJoint.UnityJoint.autoConfigureConnectedAnchor = true;
ConfigurableJoint configurableJoint = (ConfigurableJoint)urdfJoint.UnityJoint;
// degrees of freedom:
configurableJoint.xMotion = ConfigurableJointMotion.Free;
configurableJoint.yMotion = ConfigurableJointMotion.Free;
configurableJoint.zMotion = ConfigurableJointMotion.Locked;
configurableJoint.angularXMotion = ConfigurableJointMotion.Locked;
configurableJoint.angularYMotion = ConfigurableJointMotion.Locked;
configurableJoint.angularZMotion = ConfigurableJointMotion.Locked;
return(urdfJoint);
}
private static UrdfJoint AddCorrectJointType(GameObject linkObject, JointTypes jointType)
{
UrdfJoint urdfJoint = null;
switch (jointType)
{
case JointTypes.Fixed:
urdfJoint = UrdfJointFixed.Synchronize(linkObject);
break;
case JointTypes.Continuous:
urdfJoint = UrdfJointContinuous.Synchronize(linkObject);
break;
case JointTypes.Revolute:
urdfJoint = UrdfJointRevolute.Synchronize(linkObject);
break;
case JointTypes.Floating:
urdfJoint = UrdfJointFloating.Synchronize(linkObject);
break;
case JointTypes.Prismatic:
urdfJoint = UrdfJointPrismatic.Synchronize(linkObject);
break;
case JointTypes.Planar:
urdfJoint = UrdfJointPlanar.Synchronize(linkObject);
break;
}
//SynchTodo: This assignment probably does not break stuff, but is not necessary.
UnityEngine.Joint unityJoint = linkObject.GetComponent <UnityEngine.Joint>();
unityJoint.connectedBody = linkObject.transform.parent.gameObject.GetComponent <Rigidbody>();
unityJoint.autoConfigureConnectedAnchor = true;
return(urdfJoint);
}
