public static UrdfCollision 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);
return(urdfCollision);
}
/// <summary>
/// Compares colliison information of two links
/// </summary>
/// <param name="source">First links's collision information to be compared</param>
/// <param name="exported">Second link's collision information to be compared</param>
/// <param name="indent">Indent level in the log file</param>
/// <returns></returns>
private bool CompareCollisions(Link.Collision source, Link.Collision exported, int indent)
{
bool colliisonNameEqual = (source.name == exported.name);
linkLog.AppendLine(String.Format("{0}Collision Name", Indent(indent)));
linkLog.AppendLine(String.Format("{0}Equal: {1,6}", Indent(indent), colliisonNameEqual));
linkLog.AppendLine(String.Format("{0}Name: Source: {1,12}", Indent(indent), source.name));
linkLog.AppendLine(String.Format("{0}Exported: {1,12}", Indent(indent), exported.name));
if (!colliisonNameEqual)
{
return(false);
}
if (!CompareOrigin(source.origin, exported.origin, indent))
{
return(false);
}
if (!CompareGeometry(source.geometry, exported.geometry, indent))
{
return(false);
}
return(true);
}
