public static void Create(Transform parent, Link.Visual visual)
{
GameObject visualObject = new GameObject(visual.name ?? "unnamed");
visualObject.transform.SetParentAndAlign(parent);
UrdfVisual urdfVisual = visualObject.AddComponent <UrdfVisual>();
urdfVisual.geometryType = UrdfGeometry.GetGeometryType(visual.geometry);
UrdfGeometryVisual.Create(visualObject.transform, urdfVisual.geometryType, visual.geometry);
UrdfMaterial.SetUrdfMaterial(visualObject, visual.material);
UrdfOrigin.ImportOriginData(visualObject.transform, visual.origin);
}
/// <summary>
/// Compares visual information of two links
/// </summary>
/// <param name="source">First link's visual information to be compared</param>
/// <param name="exported">Second link's visual information to be compared</param>
/// <param name="indent">Indent level in the log file</param>
/// <returns></returns>
private bool CompareVisual(Link.Visual source, Link.Visual exported, int indent)
{
bool visualNameEqual = (source.name == exported.name);
linkLog.AppendLine(String.Format("{0}Visual Component Name : {1,6}", Indent(indent + 1), visualNameEqual));
if (!visualNameEqual)
{
return(false);
}
if (!CompareOrigin(source.origin, exported.origin, indent))
{
return(false);
}
linkLog.AppendLine(String.Format("{0}Geometry Checks", Indent(indent)));
if (!CompareGeometry(source.geometry, exported.geometry, indent + 1))
{
return(false);
}
linkLog.AppendLine(String.Format("{0}Material Checks", Indent(indent)));
if (source.material == null && exported.material == null)
{
linkLog.AppendLine(String.Format("{0}Material Nullity Check: {1,6}", Indent(indent), "True"));
return(true);
}
else if (source.material != null && exported.material != null)
{
linkLog.AppendLine(String.Format("{0}Material Nullity Check: {1,6}", Indent(indent), "True"));
if (!CompareMaterial(source.material, exported.material, indent + 1))
{
return(false);
}
}
else if ((source.material == null && exported.material.name == "Default-Material") || (exported.material == null && source.material?.name == "Default-Material"))
{
linkLog.AppendLine(String.Format("{0}Material Nullity Check: {1,6}", Indent(indent), "True"));
return(true);
}
else
{
linkLog.AppendLine(String.Format("{0}Material Nullity Check: {1,6}", Indent(indent), "False"));
return(false);
}
return(true);
}
