public static Link.Collision ExportCollisionData(this UrdfCollision urdfCollision)
{
UrdfGeometry.CheckForUrdfCompatibility(urdfCollision.transform, urdfCollision.geometryType);
Link.Geometry geometry = UrdfGeometry.ExportGeometryData(urdfCollision.geometryType, urdfCollision.transform, true);
string collisionName = urdfCollision.name == "unnamed" ? null : urdfCollision.name;
return(new Link.Collision(geometry, collisionName, UrdfOrigin.ExportOriginData(urdfCollision.transform)));
}
public static UrdfCollision 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);
return(urdfCollision);
}
public static UrdfCollision 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);
}
#if UNITY_EDITOR
UnityEditor.EditorGUIUtility.PingObject(collisionObject);
#endif
return(urdfCollision);
}
