public static UrdfCollisions Create(Transform parent, List <Link.Collision> collisions = null)
{
GameObject collisionsObject = new GameObject("Collisions");
collisionsObject.transform.SetParentAndAlign(parent);
UrdfCollisions urdfCollisions = collisionsObject.AddComponent <UrdfCollisions>();
collisionsObject.hideFlags = HideFlags.NotEditable;
urdfCollisions.hideFlags = HideFlags.None;
if (collisions != null)
{
foreach (Link.Collision collision in collisions)
{
UrdfCollisionExtensions.Create(urdfCollisions.transform, collision);
}
}
return(urdfCollisions);
}
public static void AddCorrespondingCollision(this UrdfVisual urdfVisual)
{
UrdfCollisions collisions = urdfVisual.GetComponentInParent <UrdfLink>().GetComponentInChildren <UrdfCollisions>();
UrdfCollisionExtensions.Create(collisions.transform, urdfVisual.geometryType, urdfVisual.transform);
}