public static void Create(GameObject linkObject, JointTypes jointType, Joint joint = null)
{
Rigidbody parentRigidbody = linkObject.transform.parent.gameObject.GetComponent<Rigidbody>();
if (parentRigidbody == null) return;
UrdfJoint urdfJoint = AddCorrectJointType(linkObject, jointType);
if (joint != null)
{
urdfJoint.JointName = joint.name;
urdfJoint.ImportJointData(joint);
}
}
public static void Create(GameObject linkObject, JointTypes jointType, Joint joint = null)
{
#if UNITY_2020_1_OR_NEWER
//ArticulationBody parentRigidbody = linkObject.transform.parent.gameObject.GetComponent<ArticulationBody>();
#else
Rigidbody parentRigidbody = linkObject.transform.parent.gameObject.GetComponent <Rigidbody>();
if (parentRigidbody == null)
{
return;
}
#endif
UrdfJoint urdfJoint = AddCorrectJointType(linkObject, jointType);
if (joint != null)
{
urdfJoint.jointName = joint.name;
urdfJoint.ImportJointData(joint);
}
}