/// <summary>
/// Sets visual of a given link when loaded.
/// </summary>
/// <param name="linkName"></param>
/// <param name="urdfVisual"></param>
public void SetLinkVisualLoaded(string linkName, UrdfVisual urdfVisual)
{
Links.TryGetValue(linkName, out RobotLink link);
link?.SetVisualLoaded(urdfVisual);
float scale = 1f;
// get scale of urdfVisual and each of its child
foreach (Transform child in urdfVisual.GetComponentsInChildren <Transform>())
{
scale *= child.localScale.x;
}
link?.SetLinkScale(scale);
if (urdfVisual.UrdfMaterial)
{
SetLinkMaterial(urdfVisual.gameObject, urdfVisual.UrdfMaterial);
}
IsRobotLoaded();
// if robot is loaded, show its visuals, otherwise hide them
//link?.SetActiveVisuals(RobotLoaded);
}
public static void Create(Transform parent, GeometryTypes type)
{
GameObject visualObject = new GameObject("unnamed");
visualObject.transform.SetParentAndAlign(parent);
UrdfVisual urdfVisual = visualObject.AddComponent <UrdfVisual>();
urdfVisual.GeometryType = type;
UrdfGeometryVisual.Create(visualObject.transform, type);
}
/// <summary>
/// Sets that visual of a given link is loaded (ColladaImporter imported mesh).
/// </summary>
/// <param name="linkName"></param>
/// <param name="urdfVisual"></param>
public void SetLinkVisualLoaded(string linkName, UrdfVisual urdfVisual)
{
Links.TryGetValue(linkName, out RobotLink link);
link?.SetVisualLoaded(urdfVisual);
IsRobotLoaded();
// if robot is loaded, show its visuals, otherwise hide them
link?.SetActiveVisuals(robotLoaded);
}
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);
}
public override void OnInspectorGUI()
{
urdfVisuals = (UrdfVisuals)target;
GUILayout.Space(10);
geometryType = (UrdfGeometry.GeometryTypes)EditorGUILayout.EnumPopup("Type of visual", geometryType);
EditorGUILayout.BeginHorizontal();
if (GUILayout.Button("Add visual"))
{
UrdfVisual.Create(urdfVisuals.transform, geometryType);
}
EditorGUILayout.EndHorizontal();
}
public static Link.Visual ExportVisualData(this UrdfVisual urdfVisual)
{
UrdfGeometry.CheckForUrdfCompatibility(urdfVisual.transform, urdfVisual.geometryType);
Link.Geometry geometry = UrdfGeometry.ExportGeometryData(urdfVisual.geometryType, urdfVisual.transform);
Link.Visual.Material material = null;
if ((geometry.mesh != null))
{
material = UrdfMaterial.ExportMaterialData(urdfVisual.GetComponentInChildren <MeshRenderer>().sharedMaterial);
}
string visualName = urdfVisual.name == "unnamed" ? null : urdfVisual.name;
return(new Link.Visual(geometry, visualName, UrdfOrigin.ExportOriginData(urdfVisual.transform), material));
}
public static Link.Visual ExportVisualData(this UrdfVisual urdfVisual)
{
UrdfGeometry.CheckForUrdfCompatibility(urdfVisual.transform, urdfVisual.GeometryType);
Link.Geometry geometry = UrdfGeometry.ExportGeometryData(urdfVisual.GeometryType, urdfVisual.transform);
Link.Visual.Material material = null;
if (!(geometry.mesh != null && geometry.mesh.filename.ToLower().EndsWith(".dae"))) //Collada files contain their own materials
{
material = UrdfMaterial.ExportMaterialData(urdfVisual.GetComponentInChildren <MeshRenderer>().sharedMaterial);
}
string visualName = urdfVisual.name == "unnamed" ? null : urdfVisual.name;
return(new Link.Visual(geometry, visualName, UrdfOrigin.ExportOriginData(urdfVisual.transform), material));
}
public override void OnInspectorGUI()
{
urdfVisual = (UrdfVisual)target;
GUILayout.Space(5);
EditorGUILayout.BeginHorizontal();
EditorGUILayout.PrefixLabel("Geometry Type");
EditorGUILayout.LabelField(urdfVisual.GeometryType.ToString());
EditorGUILayout.EndHorizontal();
if (GUILayout.Button("Add collision to match visual"))
{
urdfVisual.AddCorrespondingCollision();
}
DisplayWarnings();
}
protected virtual void OnEnable()
{
urdfVisual = (UrdfVisual)serializedObject.targetObject;
}
public static void AddCorrespondingCollision(this UrdfVisual urdfVisual)
{
UrdfCollisions collisions = urdfVisual.GetComponentInParent <UrdfLink>().GetComponentInChildren <UrdfCollisions>();
UrdfCollisionExtensions.Create(collisions.transform, urdfVisual.GeometryType, urdfVisual.transform);
}
public void SetVisualLoaded(UrdfVisual urdfVisual)
{
Visuals[urdfVisual] = true;
}
