public static void GUI(this SolidPrimitiveMsg message)
{
switch (message.type)
{
case SolidPrimitiveMsg.BOX:
GUILayout.Label($"SolidPrimitive BOX\n[X:{message.dimensions[SolidPrimitiveMsg.BOX_X]}, Y:{message.dimensions[SolidPrimitiveMsg.BOX_Y]}, Z:{message.dimensions[SolidPrimitiveMsg.BOX_Z]}]");
break;
case SolidPrimitiveMsg.SPHERE:
GUILayout.Label($"SolidPrimitive SPHERE\nRadius: {message.dimensions[SolidPrimitiveMsg.SPHERE_RADIUS]}");
break;
case SolidPrimitiveMsg.CYLINDER:
GUILayout.Label($"SolidPrimitive CYLINDER\nHeight: {message.dimensions[SolidPrimitiveMsg.CYLINDER_HEIGHT]}\nRadius: {message.dimensions[SolidPrimitiveMsg.CYLINDER_RADIUS]}");
break;
case SolidPrimitiveMsg.CONE:
GUILayout.Label($"SolidPrimitive CONE\nHeight: {message.dimensions[SolidPrimitiveMsg.CONE_HEIGHT]}\nRadius: {message.dimensions[SolidPrimitiveMsg.CONE_RADIUS]}");
break;
default:
GUILayout.Label($"INVALID shape {message.type}!?");
break;
}
}
public CollisionPrimitiveMsg(string name, string setup, SolidPrimitiveMsg bbox, PoseStampedMsg pose)
{
_name = name;
_setup = setup;
_bbox = bbox;
_pose = pose;
}
public CollisionPrimitiveMsg(JSONNode msg)
{
_name = msg["name"];
_setup = msg["setup"];
_bbox = new SolidPrimitiveMsg(msg["bbox"]);
_pose = new PoseStampedMsg(msg["pose"]);
}
public ObjectTypeMsg(string name, SolidPrimitiveMsg bbox, bool container)
{
_name = name;
_bbox = bbox;
_container = container;
}
public ObjectTypeMsg(JSONNode msg)
{
_name = msg["name"];
_bbox = new SolidPrimitiveMsg(msg["bbox"]);
_container = bool.Parse(msg["container"]);
}
