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 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); }
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)); }