public static Link.Collision ExportCollisionData(this UrdfCollision urdfCollision)
{
UrdfGeometry.CheckForUrdfCompatibility(urdfCollision.transform, urdfCollision.geometryType);
Link.Geometry geometry = UrdfGeometry.ExportGeometryData(urdfCollision.geometryType, urdfCollision.transform, true);
string collisionName = urdfCollision.name == "unnamed" ? null : urdfCollision.name;
return(new Link.Collision(geometry, collisionName, UrdfOrigin.ExportOriginData(urdfCollision.transform)));
}
public static void Create(Transform parent, Link.Collision collision)
{
GameObject collisionObject = new GameObject("unnamed");
collisionObject.transform.SetParentAndAlign(parent);
UrdfCollision urdfCollision = collisionObject.AddComponent <UrdfCollision>();
urdfCollision.geometryType = UrdfGeometry.GetGeometryType(collision.geometry);
UrdfGeometryCollision.Create(collisionObject.transform, urdfCollision.geometryType, collision.geometry);
UrdfOrigin.ImportOriginData(collisionObject.transform, collision.origin);
}
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 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 void Create(Transform parent, Link.Collision collision)
{
if (String.IsNullOrEmpty(collision.name))
{
collision.name = collision.GenerateNonReferenceID();
}
if (parent.FindChildOrCreateWithComponent(collision.name, out GameObject collisionObject, out UrdfCollision urdfCollision))
{
urdfCollision.geometryType = UrdfGeometry.GetGeometryType(collision.geometry);
UrdfGeometryCollision.Create(collisionObject.transform, urdfCollision.geometryType, collision.geometry);
UrdfOrigin.ImportOriginData(collisionObject.transform, collision.origin);
}
}
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 static void Create(Transform parent, Link.Visual visual)
{
if (String.IsNullOrEmpty(visual.name))
{
visual.name = visual.GenerateNonReferenceID();
}
if (parent.FindChildOrCreateWithComponent <UrdfVisual>(visual.name, out GameObject visualObject, out UrdfVisual urdfVisual))
{
//only create these visuals if the gameobject had to be created itself
urdfVisual.GeometryType = UrdfGeometry.GetGeometryType(visual.geometry);
UrdfGeometryVisual.Create(visualObject.transform, urdfVisual.GeometryType, visual.geometry);
}
//update these values every time
UrdfMaterial.SetUrdfMaterial(visualObject, visual.material);
UrdfOrigin.ImportOriginData(visualObject.transform, visual.origin);
}
private void DisplayWarnings()
{
if (!urdfVisual.transform.HasExactlyOneChild())
{
GUILayout.Space(5);
EditorGUILayout.HelpBox("Visual element must have one and only one child Geometry element.", MessageType.Error);
}
else if (UrdfGeometry.IsTransformed(urdfVisual.transform.GetChild(0), urdfVisual.GeometryType))
{
GUILayout.Space(5);
EditorGUILayout.HelpBox("Changes to the transform of the child Geometry element cannot be exported to URDF. " +
"Make any translation, rotation, or scale changes to this Visual object instead.", MessageType.Error);
if (GUILayout.Button("Fix transformations"))
{
bool transferRotation = urdfVisual.GeometryType != GeometryTypes.Mesh;
urdfVisual.transform.MoveChildTransformToParent(transferRotation);
}
}
}
