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 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 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);
}