public Link.Collision ExportCollisionData()
{
CheckForUrdfCompatibility();
Link.Geometry geometry = UrdfGeometry.ExportGeometryData(geometryType, transform, true);
string collisionName = gameObject.name == "unnamed" ? null : gameObject.name;
return(new Link.Collision(geometry, collisionName, UrdfOrigin.ExportOriginData(transform)));
}
public Link.Visual ExportVisualData()
{
CheckForUrdfCompatibility();
Link.Geometry geometry = UrdfGeometry.ExportGeometryData(geometryType, transform);
Link.Visual.Material material = null;
if (!(geometry.mesh != null && geometry.mesh.filename.ToLower().EndsWith(".dae"))) //Collada files contain their own materials
{
material = UrdfMaterial.ExportMaterialData(gameObject.GetComponentInChildren <MeshRenderer>().sharedMaterial);
}
string visualName = gameObject.name == "unnamed" ? null : gameObject.name;
return(new Link.Visual(geometry, visualName, UrdfOrigin.ExportOriginData(transform), material));
}