private static GameObject CreateMeshColliderRuntime(Link.Geometry.Mesh mesh)
{
string meshFilePath = UrdfAssetPathHandler.GetRelativeAssetPathFromUrdfPath(mesh.filename, false);
GameObject meshObject = null;
if (meshFilePath.ToLower().EndsWith(".stl"))
{
meshObject = StlAssetPostProcessor.CreateStlGameObjectRuntime(meshFilePath);
}
else
{
Debug.LogError("Unable to create mesh collider for the mesh: " + mesh.filename);
}
if (meshObject != null)
{
ConvertMeshToColliders(meshObject);
}
return(meshObject);
}
private static GameObject CreateMeshVisualRuntime(Link.Geometry.Mesh mesh)
{
GameObject meshObject = null;
if (!string.IsNullOrEmpty(mesh.filename))
{
try
{
string meshFilePath = UrdfAssetPathHandler.GetRelativeAssetPathFromUrdfPath(mesh.filename, false);
if (meshFilePath.ToLower().EndsWith(".stl"))
{
meshObject = StlAssetPostProcessor.CreateStlGameObjectRuntime(meshFilePath);
}
else if (meshFilePath.ToLower().EndsWith(".dae"))
{
float globalScale = ColladaAssetPostProcessor.ReadGlobalScale(meshFilePath);
meshObject = MeshImporter.Load(meshFilePath, globalScale, globalScale, globalScale);
if (meshObject != null)
{
ColladaAssetPostProcessor.ApplyColladaOrientation(meshObject, meshFilePath);
}
}
else if (meshFilePath.ToLower().EndsWith(".obj"))
{
meshObject = MeshImporter.Load(meshFilePath);
}
}
catch (Exception ex)
{
Debug.LogAssertion(ex);
}
if (meshObject == null)
{
Debug.LogError("Unable to load visual mesh: " + mesh.filename);
}
}
return(meshObject);
}
