public static void Create(Transform parent, List <Link.Visual> visuals = null)
{
GameObject visualsObject = new GameObject("Visuals");
visualsObject.transform.SetParentAndAlign(parent);
UrdfVisuals urdfVisuals = visualsObject.AddComponent <UrdfVisuals>();
visualsObject.hideFlags = HideFlags.NotEditable;
urdfVisuals.hideFlags = HideFlags.None;
if (visuals != null)
{
foreach (Link.Visual visual in visuals)
{
UrdfVisual.Create(urdfVisuals.transform, visual);
}
}
}
public static UrdfLink Create(Transform parent, Link link = null, Joint joint = null)
{
GameObject linkObject = new GameObject("link");
linkObject.transform.SetParentAndAlign(parent);
UrdfLink urdfLink = linkObject.AddComponent <UrdfLink>();
UrdfVisuals.Create(linkObject.transform, link?.visuals);
UrdfCollisions.Create(linkObject.transform, link?.collisions);
if (link != null)
{
urdfLink.ImportLinkData(link, joint);
}
else
{
UrdfInertial.Create(linkObject);
EditorGUIUtility.PingObject(linkObject);
}
return(urdfLink);
}