/// <summary>
/// <para>CreateCollisionGeometry</para>
/// Similar to CreateVisualGeometry, except it uses a links
/// collision information to generate a Godot Shape.
/// </summary>
/// <param name="collisions">List of Collision information.</param>
/// <returns></returns>
public MeshInstance CreateCollisionGeometry(List <Link.Collision> collisions)
{
if (collisions.Count < 1)
{
return(null);
}
Link.Collision workingCol = collisions[0];
MeshInstance mshInt = new MeshInstance();
if (workingCol.geometry.box != null)
{
mshInt.Mesh = CreateBox(workingCol.geometry.box);
return(mshInt);
}
if (workingCol.geometry.cylinder != null)
{
mshInt.Mesh = CreateCylinder(workingCol.geometry.cylinder);
return(mshInt);
}
if (workingCol.geometry.sphere != null)
{
mshInt.Mesh = CreateSphere(workingCol.geometry.sphere);
return(mshInt);
}
if (workingCol.geometry.mesh != null)
{
MeshInstance val = CreateMesh(workingCol.geometry.mesh);
return(val);
}
return(null);
}
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.Collision collision)
{
if (String.IsNullOrEmpty(collision.name))
{
collision.name = collision.GenerateNonReferenceID();
}
if (parent.FindChildOrCreateWithComponent(collision.name, out GameObject collisionObject, out UrdfCollision urdfCollision))
{
urdfCollision.geometryType = UrdfGeometry.GetGeometryType(collision.geometry);
UrdfGeometryCollision.Create(collisionObject.transform, urdfCollision.geometryType, collision.geometry);
UrdfOrigin.ImportOriginData(collisionObject.transform, collision.origin);
}
}
/// <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);
}
