public static void CreateMatchingMeshCollision(Transform parent, Transform visualToCopy)
{
if (visualToCopy.childCount == 0)
{
return;
}
GameObject objectToCopy = visualToCopy.GetChild(0).gameObject;
GameObject prefabObject = (GameObject)RuntimeUrdf.PrefabUtility_GetCorrespondingObjectFromSource(objectToCopy);
GameObject collisionObject;
if (prefabObject != null)
{
collisionObject = (GameObject)RuntimeUrdf.PrefabUtility_InstantiatePrefab(prefabObject);
}
else
{
collisionObject = Object.Instantiate(objectToCopy);
}
collisionObject.name = objectToCopy.name;
ConvertMeshToColliders(collisionObject);
collisionObject.transform.SetParentAndAlign(parent);
}
private static GameObject CreateMeshVisual(Link.Geometry.Mesh mesh)
{
#if UNITY_EDITOR
if (!RuntimeUrdf.IsRuntimeMode())
{
GameObject meshObject = LocateAssetHandler.FindUrdfAsset <GameObject>(mesh.filename);
return(meshObject == null ? null : (GameObject)RuntimeUrdf.PrefabUtility_InstantiatePrefab(meshObject));
}
#endif
return(CreateMeshVisualRuntime(mesh));
}
private static GameObject CreateMeshCollider(Link.Geometry.Mesh mesh)
{
if (!RuntimeUrdf.IsRuntimeMode())
{
GameObject prefabObject = LocateAssetHandler.FindUrdfAsset <GameObject>(mesh.filename);
if (prefabObject == null)
{
Debug.LogError("Unable to create mesh collider for the mesh: " + mesh.filename);
return(null);
}
GameObject meshObject = (GameObject)RuntimeUrdf.PrefabUtility_InstantiatePrefab(prefabObject);
ConvertMeshToColliders(meshObject, location: mesh.filename);
return(meshObject);
}
return(CreateMeshColliderRuntime(mesh));
}
public void PrefabUtility_InstantiatePrefab_GameObject()
{
RuntimeUrdf.runtimeModeEnabled = false;
Assert.IsNotNull(RuntimeUrdf.PrefabUtility_InstantiatePrefab(testObject));
}