public static GameObject Create(this Link.Visual visual, GameObject parent)
{
GameObject gameObject = new GameObject((visual.name == null) ? "unnamed" : visual.name);
gameObject.transform.SetParentAndAlign(parent.transform);
if (visual.origin != null)
{
visual.origin.SetTransform(gameObject);
}
visual.geometry.CreateVisual(gameObject);
if (visual.material != null)
{
UrdfAssetDatabase.SetMaterial(gameObject, visual.material.name);
}
if (gameObject.GetComponentInChildren <Renderer>().sharedMaterial == null)
{
UrdfAssetDatabase.SetDefaultMaterial(gameObject);
}
return(gameObject);
}
public static GameObject CreateCollider(this Link.Geometry.Mesh mesh, GameObject parent)
{
GameObject gameObject = new GameObject(mesh.filename + "(MeshCollider)");
Transform reference = AssetDatabase.LoadAssetAtPath <Transform>(UrdfAssetDatabase.GetAssetPathFromPackagePath(mesh.filename));
gameObject.transform.position = reference.position;
gameObject.transform.rotation = reference.rotation;
gameObject.transform.localScale = reference.localScale;
MeshCollider meshCollider = gameObject.AddComponent <MeshCollider>();
meshCollider.sharedMesh = AssetDatabase.LoadAssetAtPath <Mesh>(UrdfAssetDatabase.GetAssetPathFromPackagePath(mesh.filename));
//meshCollider.convex = true;
gameObject.transform.SetParentAndAlign(parent.transform);
mesh.setScale(gameObject);
return(gameObject);
}
public static GameObject Create(this Robot robot)
{
if (UrdfAssetDatabase.GetAssetPath(robot.filename) == null)
{
Debug.LogError("URDF file and ressources must be placed in Assets Folder:\n" + Application.dataPath);
return(null);
}
UrdfAssetDatabase.Initialize(robot);
GameObject gameObject = new GameObject(robot.name);
robot.root.Create(gameObject);
GameObjectUtility.SetParentAndAlign(gameObject, Selection.activeObject as GameObject);
Undo.RegisterCreatedObjectUndo(gameObject, "Create " + gameObject.name);
Selection.activeObject = gameObject;
setKinematic(gameObject, true);
return(gameObject);
}
public static GameObject CreateVisual(this Link.Geometry.Mesh mesh, GameObject parent)
{
GameObject gameObject = Object.Instantiate(AssetDatabase.LoadAssetAtPath <GameObject>(UrdfAssetDatabase.GetAssetPathFromPackagePath(mesh.filename)));
gameObject.transform.SetParentAndAlign(parent.transform);
mesh.setScale(gameObject);
return(gameObject);
}
