public static Joint ExportDefaultJoint(Transform transform)
{
return(new Joint(
transform.parent.name + "_" + transform.name + "_joint",
JointTypes.Fixed.ToString().ToLower(),
transform.parent.name,
transform.name,
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));
}
public Joint ExportJointData()
{
UnityJoint = GetComponent<UnityEngine.Joint>();
CheckForUrdfCompatibility();
//Data common to all joints
Joint joint = new Joint(
JointName,
JointType.ToString().ToLower(),
gameObject.transform.parent.name,
gameObject.name,
UrdfOrigin.ExportOriginData(transform));
joint.limit = ExportLimitData();
return ExportSpecificJointData(joint);
}
public Joint ExportJointData()
{
#if UNITY_2020_1_OR_NEWER
unityJoint = GetComponent <UnityEngine.ArticulationBody>();
#else
unityJoint = GetComponent <UnityEngine.Joint>();
#endif
CheckForUrdfCompatibility();
//Data common to all joints
Joint joint = new Joint(
jointName,
JointType.ToString().ToLower(),
gameObject.transform.parent.name,
gameObject.name,
UrdfOrigin.ExportOriginData(transform));
joint.limit = ExportLimitData();
return(ExportSpecificJointData(joint));
}
