public RobotLink(string link_name, UrdfJoint urdf_joint, JointStateWriter joint_writer, JointStateReader joint_reader, Dictionary <UrdfVisual, bool> visuals_gameObject = null, Dictionary <UrdfCollision, bool> collisions_gameObject = null, bool is_base_link = false, float scale = 1f)
{
LinkName = link_name;
UrdfJoint = urdf_joint;
jointWriter = joint_writer;
jointReader = joint_reader;
Visuals = visuals_gameObject ?? new Dictionary <UrdfVisual, bool>();
Collisions = collisions_gameObject ?? new Dictionary <UrdfCollision, bool>();
IsBaseLink = is_base_link;
LinkScale = scale;
}
/// <summary>
/// Initializes RobotLinks and sets a boolean to its Visuals dictionary,
/// telling whether the model of individual visual was already imported (is type of box, cylinder, capsule)
/// or not yet (is mesh - is going to be continually imported from UrdfAssetImporterRuntime).
/// </summary>
/// <param name="copyOfRobotModel">If set to true, robotModel is being copied from another robotModel, it assumed, that Visuals of every Link are already imported.</param>
public void LoadLinks(bool copyOfRobotModel = false)
{
// Get all UrdfLink components in builded Robot
foreach (UrdfLink link in RobotModelGameObject.GetComponentsInChildren <UrdfLink>())
{
// Get all UrdfVisuals of each UrdfLink
GameObject visualsGameObject = link.gameObject.GetComponentInChildren <UrdfVisuals>().gameObject;
Dictionary <UrdfVisual, bool> visuals = new Dictionary <UrdfVisual, bool>();
float scale = 1f;
// Traverse each UrdfVisual and set a boolean indicating whether its visual is already loaded (is of some basic type - box, cylinder, capsule)
// or is going to be loaded by ColladaImporter (in case its type of mesh)
foreach (UrdfVisual visual in visualsGameObject.GetComponentsInChildren <UrdfVisual>())
{
visuals.Add(visual, copyOfRobotModel ? true : (visual.GeometryType == GeometryTypes.Mesh ? false : true));
// hide visual if it is mesh.. mesh will be displayed when fully loaded
visual.gameObject.SetActive(copyOfRobotModel ? true : (visual.GeometryType == GeometryTypes.Mesh ? false : true));
// get scale of urdfVisual and each of its child
foreach (Transform child in visual.GetComponentsInChildren <Transform>())
{
scale *= child.localScale.x;
}
}
UrdfJoint urdfJoint = link.GetComponent <UrdfJoint>();
JointStateWriter jointWriter = null;
JointStateReader jointReader = null;
if (urdfJoint != null)
{
if (urdfJoint.JointType != UrdfJoint.JointTypes.Fixed)
{
jointWriter = urdfJoint.transform.AddComponentIfNotExists <JointStateWriter>();
Joints.Add(urdfJoint.JointName, link.gameObject.name);
}
jointReader = urdfJoint.transform.AddComponentIfNotExists <JointStateReader>();
}
Links.Add(link.gameObject.name, new RobotLink(link.gameObject.name, urdfJoint, jointWriter, jointReader, visuals_gameObject: visuals, is_base_link: link.IsBaseLink, scale: scale));
}
}
