private static UrdfJoint AddCorrectJointType(GameObject linkObject, JointTypes jointType)
{
UrdfJoint urdfJoint = null;
switch (jointType)
{
case JointTypes.Fixed:
urdfJoint = UrdfJointFixed.Create(linkObject);
break;
case JointTypes.Continuous:
urdfJoint = UrdfJointContinuous.Create(linkObject);
break;
case JointTypes.Revolute:
urdfJoint = UrdfJointRevolute.Create(linkObject);
break;
case JointTypes.Floating:
urdfJoint = UrdfJointFloating.Create(linkObject);
break;
case JointTypes.Prismatic:
urdfJoint = UrdfJointPrismatic.Create(linkObject);
break;
case JointTypes.Planar:
urdfJoint = UrdfJointPlanar.Create(linkObject);
break;
}
UnityEngine.Joint unityJoint = linkObject.GetComponent<UnityEngine.Joint>();
unityJoint.connectedBody = linkObject.transform.parent.gameObject.GetComponent<Rigidbody>();
unityJoint.autoConfigureConnectedAnchor = true;
return urdfJoint;
}
public static void ChangeJointType(GameObject linkObject, JointTypes newJointType)
{
linkObject.transform.DestroyImmediateIfExists<UrdfJoint>();
linkObject.transform.DestroyImmediateIfExists<HingeJointLimitsManager>();
linkObject.transform.DestroyImmediateIfExists<PrismaticJointLimitsManager>();
linkObject.transform.DestroyImmediateIfExists<UnityEngine.Joint>();
AddCorrectJointType(linkObject, newJointType);
}
/// <summary>
/// Changes the type of the joint
/// </summary>
/// <param name="linkObject">Joint whose type is to be changed</param>
/// <param name="newJointType">Type of the new joint</param>
public static void ChangeJointType(GameObject linkObject, JointTypes newJointType)
{
linkObject.transform.DestroyImmediateIfExists <UrdfJoint>();
linkObject.transform.DestroyImmediateIfExists <HingeJointLimitsManager>();
linkObject.transform.DestroyImmediateIfExists <PrismaticJointLimitsManager>();
#if UNITY_2020_1_OR_NEWER
linkObject.transform.DestroyImmediateIfExists <UnityEngine.ArticulationBody>();
#else
linkObject.transform.DestroyImmediateIfExists <UnityEngine.Joint>();
#endif
AddCorrectJointType(linkObject, newJointType);
}
public static void Create(GameObject linkObject, JointTypes jointType, Joint joint = null)
{
Rigidbody parentRigidbody = linkObject.transform.parent.gameObject.GetComponent<Rigidbody>();
if (parentRigidbody == null) return;
UrdfJoint urdfJoint = AddCorrectJointType(linkObject, jointType);
if (joint != null)
{
urdfJoint.JointName = joint.name;
urdfJoint.ImportJointData(joint);
}
}
public static UrdfJoint Create(GameObject linkObject, JointTypes jointType, Joint joint = null)
{
#if UNITY_2020_1_OR_NEWER
#else
Rigidbody parentRigidbody = linkObject.transform.parent.gameObject.GetComponent <Rigidbody>();
if (parentRigidbody == null)
{
return;
}
#endif
UrdfJoint urdfJoint = AddCorrectJointType(linkObject, jointType);
if (joint != null)
{
urdfJoint.jointName = joint.name;
urdfJoint.ImportJointData(joint);
}
return(urdfJoint);
}
private static UrdfJoint AddCorrectJointType(GameObject linkObject, JointTypes jointType)
{
UrdfJoint urdfJoint = null;
switch (jointType)
{
case JointTypes.Fixed:
urdfJoint = UrdfJointFixed.Synchronize(linkObject);
break;
case JointTypes.Continuous:
urdfJoint = UrdfJointContinuous.Synchronize(linkObject);
break;
case JointTypes.Revolute:
urdfJoint = UrdfJointRevolute.Synchronize(linkObject);
break;
case JointTypes.Floating:
urdfJoint = UrdfJointFloating.Synchronize(linkObject);
break;
case JointTypes.Prismatic:
urdfJoint = UrdfJointPrismatic.Synchronize(linkObject);
break;
case JointTypes.Planar:
urdfJoint = UrdfJointPlanar.Synchronize(linkObject);
break;
}
//SynchTodo: This assignment probably does not break stuff, but is not necessary.
UnityEngine.Joint unityJoint = linkObject.GetComponent <UnityEngine.Joint>();
unityJoint.connectedBody = linkObject.transform.parent.gameObject.GetComponent <Rigidbody>();
unityJoint.autoConfigureConnectedAnchor = true;
return(urdfJoint);
}
/// <summary>
/// Ei käytössä Physics2d moottorissa.
/// </summary>
/// <param name="obj1"></param>
/// <param name="obj2"></param>
/// <param name="type"></param>
/// <returns></returns>
public IAxleJoint CreateJoint(IPhysicsObject obj1, IPhysicsObject obj2, JointTypes type)
{
throw new NotImplementedException();
}
