public static GameObject CreateCollider(this Link.Geometry.Mesh mesh, GameObject parent)
{
GameObject prefabObject = LocateAssetHandler.FindUrdfAsset <GameObject>(mesh.filename);
if (prefabObject == null)
{
return(null);
}
GameObject meshObject = Object.Instantiate(prefabObject);
MeshFilter[] meshFilters = meshObject.GetComponentsInChildren <MeshFilter>();
foreach (MeshFilter meshFilter in meshFilters)
{
GameObject child = meshFilter.gameObject;
MeshCollider meshCollider = child.AddComponent <MeshCollider>();
meshCollider.sharedMesh = meshFilter.sharedMesh;
Object.DestroyImmediate(child.GetComponent <MeshRenderer>());
Object.DestroyImmediate(meshFilter);
}
mesh.setScale(meshObject);
meshObject.transform.SetParentAndAlign(parent.transform);
return(meshObject);
}
public static GameObject CreateVisual(this Link.Geometry.Mesh mesh, GameObject parent)
{
GameObject gameObject = Object.Instantiate(AssetDatabase.LoadAssetAtPath <GameObject>(UrdfAssetDatabase.GetAssetPathFromPackagePath(mesh.filename)));
mesh.setScale(gameObject);
gameObject.transform.SetParentAndAlign(parent.transform);
return(gameObject);
}
private static void setScale(this Link.Geometry.Mesh mesh, GameObject gameObject)
{
if (mesh.scale != null)
{
Vector3 scale = new Vector3((float)mesh.scale[0], (float)mesh.scale[1], (float)mesh.scale[2]);
gameObject.transform.localScale = Vector3.Scale(gameObject.transform.localScale, scale);
}
}
public static GameObject CreateVisual(this Link.Geometry.Mesh mesh, GameObject parent)
{
GameObject meshObject = LocateAssetHandler.FindUrdfAsset <GameObject>(mesh.filename);
if (meshObject != null)
{
GameObject gameObject = Object.Instantiate(meshObject);
mesh.setScale(gameObject);
gameObject.transform.SetParentAndAlign(parent.transform);
return(gameObject);
}
return(null);
}
public static GameObject CreateCollider(this Link.Geometry.Mesh mesh, GameObject parent)
{
GameObject gameObject = Object.Instantiate(AssetDatabase.LoadAssetAtPath <GameObject>(UrdfAssetDatabase.GetAssetPathFromPackagePath(mesh.filename)));
MeshFilter[] meshFilters = gameObject.GetComponentsInChildren <MeshFilter>();
foreach (MeshFilter meshFilter in meshFilters)
{
GameObject child = meshFilter.gameObject;
MeshCollider meshCollider = child.AddComponent <MeshCollider>();
meshCollider.sharedMesh = meshFilter.sharedMesh;
Object.DestroyImmediate(child.GetComponent <MeshRenderer>());
Object.DestroyImmediate(meshFilter);
}
mesh.setScale(gameObject);
gameObject.transform.SetParentAndAlign(parent.transform);
return(gameObject);
}
public static GameObject CreateCollider(this Link.Geometry.Mesh mesh, GameObject parent)
{
GameObject gameObject = new GameObject(mesh.filename + "(MeshCollider)");
GameObject reference = AssetDatabase.LoadAssetAtPath <GameObject>(UrdfAssetDatabase.GetAssetPathFromPackagePath(mesh.filename));
gameObject.transform.position = reference.transform.position;
gameObject.transform.rotation = reference.transform.rotation;
gameObject.transform.localScale = reference.transform.localScale;
MeshFilter[] meshFilters = reference.GetComponentsInChildren <MeshFilter>();
foreach (MeshFilter meshFilter in meshFilters)
{
MeshCollider meshCollider = gameObject.AddComponent <MeshCollider>();
meshCollider.sharedMesh = meshFilter.sharedMesh;
}
gameObject.transform.SetParentAndAlign(parent.transform);
mesh.setScale(gameObject);
return(gameObject);
}
