private static GameObject CreateMeshCollider(Link.Geometry.Mesh mesh)
{
GameObject prefabObject = LocateAssetHandler.FindUrdfAsset <GameObject>(mesh.filename);
if (prefabObject == null)
{
return(null);
}
GameObject meshObject = (GameObject)PrefabUtility.InstantiatePrefab(prefabObject);
ConvertMeshToColliders(meshObject);
return(meshObject);
}
/// <summary>
/// <para>CreateMesh</para>
/// Creates a Godot mesh instance using a Urdf
/// defined Mesh geometry object.
/// </summary>
/// <param name="mesh">Urdf mesh object generated from a link.</param>
/// <param name="mat">Optional material to apply to the mesh.</param>
/// <returns>A Godot.Mesh representing the Urdf mesh data.</returns>
private MeshInstance CreateMesh(
Link.Geometry.Mesh mesh,
SpatialMaterial mat = null)
{
string fileName = mesh.filename;
fileName = GetFullPath(fileName);
GD.Print(fileName);
MeshMaker mmaker = new MeshMaker();
var meshMat = (MeshInstance)mmaker.CreateMesh(fileName);
return(meshMat);
}
public void _Reads_Link_Visual_Geometry()
{
robot.ConstructFromString(urdfString);
Link sensorLink = robot.links.Find(link => link.name == "sensor_link");
Link.Geometry geometry = sensorLink.visuals[0].geometry;
Link.Geometry.Sphere sphere = geometry.sphere;
Assert.That(sphere.radius, Is.EqualTo(0.1d));
Link baseLink = robot.links.Find(link => link.name == "base_link");
Link.Geometry.Mesh mesh = baseLink.visuals[0].geometry.mesh;
Assert.That(mesh.filename, Is.EqualTo("filename.stl"));
Assert.That(mesh.scale, Is.EqualTo(new[] { 0.001d, 0.001d, 0.001d }));
}
private static GameObject CreateMeshVisual(Link.Geometry.Mesh mesh)
{
GameObject meshObject = LocateAssetHandler.FindUrdfAsset <GameObject>(mesh.filename);
return(meshObject == null ? null : (GameObject)UnityEditor.PrefabUtility.InstantiatePrefab(meshObject));
}
private static GameObject CreateMeshVisual(Link.Geometry.Mesh mesh)
{
GameObject meshObject = LocateAssetHandler.FindUrdfAsset <GameObject>(mesh.filename);
return(meshObject == null ? null : GameObject.Instantiate(meshObject));
}
