public static void Create(Transform parent, GeometryTypes type, Transform visualToCopy = null)
{
GameObject collisionObject = new GameObject("unnamed");
collisionObject.transform.SetParentAndAlign(parent);
UrdfCollision urdfCollision = collisionObject.AddComponent <UrdfCollision>();
urdfCollision.geometryType = type;
if (visualToCopy != null)
{
if (urdfCollision.geometryType == GeometryTypes.Mesh)
{
UrdfGeometryCollision.CreateMatchingMeshCollision(collisionObject.transform, visualToCopy);
}
else
{
UrdfGeometryCollision.Create(collisionObject.transform, type);
}
//copy transform values from corresponding UrdfVisual
collisionObject.transform.position = visualToCopy.position;
collisionObject.transform.localScale = visualToCopy.localScale;
collisionObject.transform.rotation = visualToCopy.rotation;
}
else
{
UrdfGeometryCollision.Create(collisionObject.transform, type);
}
UnityEditor.EditorGUIUtility.PingObject(collisionObject);
}
public static void Create(Transform parent, Link.Collision collision)
{
GameObject collisionObject = new GameObject("unnamed");
collisionObject.transform.SetParentAndAlign(parent);
UrdfCollision urdfCollision = collisionObject.AddComponent <UrdfCollision>();
urdfCollision.geometryType = UrdfGeometry.GetGeometryType(collision.geometry);
UrdfGeometryCollision.Create(collisionObject.transform, urdfCollision.geometryType, collision.geometry);
UrdfOrigin.ImportOriginData(collisionObject.transform, collision.origin);
}
public static void Create(Transform parent, Link.Collision collision)
{
if (String.IsNullOrEmpty(collision.name))
{
collision.name = collision.GenerateNonReferenceID();
}
if (parent.FindChildOrCreateWithComponent(collision.name, out GameObject collisionObject, out UrdfCollision urdfCollision))
{
urdfCollision.geometryType = UrdfGeometry.GetGeometryType(collision.geometry);
UrdfGeometryCollision.Create(collisionObject.transform, urdfCollision.geometryType, collision.geometry);
UrdfOrigin.ImportOriginData(collisionObject.transform, collision.origin);
}
}