public static void Create(Transform parent, Link link = null, Joint joint = null)
{
GameObject linkObject = new GameObject("link");
linkObject.transform.SetParentAndAlign(parent);
UrdfVisualsExtensions.Create(linkObject.transform, link?.visuals);
UrdfCollisionsExtensions.Create(linkObject.transform, link?.collisions);
if (link != null)
{
linkObject.ImportSimulationLinkData(link, joint);
}
else
{
}
}
public static UrdfLink Synchronize(Transform parent, Link link = null, Joint joint = null)
{
parent.FindChildOrCreateWithComponent <UrdfLink>(link != null ? link.name : Utils.GenerateNonReferenceID(link), out GameObject linkObject, out UrdfLink urdfLink);
UrdfVisualsExtensions.Synchronize(linkObject.transform, link?.visuals);
UrdfCollisionsExtensions.Synchronize(linkObject.transform, link?.collisions);
if (link != null)
{
urdfLink.ImportLinkData(link, joint);
}
else
{
UrdfInertial.Synchronize(linkObject);
}
if (link != null)
{
foreach (var attachedComponent in link.attachableComponents)
{
if (AttachedDataSynchronizer.Instance.ShouldCreateComponent(attachedComponent))
{
AttachedDataSynchronizer.Instance.HandleAttachedComponent(linkObject, attachedComponent, link);
}
}
}
//Remove Attached Values that are too much
var attachedValueChildren = linkObject.GetComponentsInDirectChildrenFromGameobject <AttachedValue>();
attachedValueChildren.RemoveAll(x => link.attachableComponents.Any(y => y.component.name == x.name));
foreach (var attachedComponent in attachedValueChildren)
{
AttachedDataSynchronizer.Instance.RemoveAttachedComponent(attachedComponent.AttachedComponent);
}
Utils.DestroyAll(attachedValueChildren.Select(x => x.gameObject));
return(urdfLink);
}
public static UrdfLink Create(Transform parent, Link link = null, Joint joint = null)
{
GameObject linkObject = new GameObject("link");
linkObject.transform.SetParentAndAlign(parent);
UrdfLink urdfLink = linkObject.AddComponent <UrdfLink>();
UrdfVisualsExtensions.Create(linkObject.transform, link?.visuals);
UrdfCollisionsExtensions.Create(linkObject.transform, link?.collisions);
if (link != null)
{
urdfLink.ImportLinkData(link, joint);
}
else
{
UrdfInertial.Create(linkObject);
UnityEditor.EditorGUIUtility.PingObject(linkObject);
}
return(urdfLink);
}
