private void ImportLinkData(Link link, Joint joint)
{
if (link.inertial == null && joint == null)
{
isBaseLink = true;
}
gameObject.name = link.name;
if (joint?.origin != null)
{
UrdfOrigin.ImportOriginData(transform, joint.origin);
}
if (link.inertial != null)
{
UrdfInertial.Create(gameObject, link.inertial);
if (joint != null)
{
UrdfJoint.Create(gameObject, UrdfJoint.GetJointType(joint.type), joint);
}
}
else if (joint != null)
{
Debug.LogWarning("No Joint Component will be created in GameObject \"" + gameObject.name + "\" as it has no Rigidbody Component.\n"
+ "Please define an Inertial for Link \"" + link.name + "\" in the URDF file to create a Rigidbody Component.\n", gameObject);
}
foreach (Joint childJoint in link.joints)
{
Link child = childJoint.ChildLink;
UrdfLink.Create(transform, child, childJoint);
}
}
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);
}