public static Link.Visual ExportVisualData(this UrdfVisual urdfVisual)
{
UrdfGeometry.CheckForUrdfCompatibility(urdfVisual.transform, urdfVisual.geometryType);
Link.Geometry geometry = UrdfGeometry.ExportGeometryData(urdfVisual.geometryType, urdfVisual.transform);
Link.Visual.Material material = null;
if ((geometry.mesh != null))
{
material = UrdfMaterial.ExportMaterialData(urdfVisual.GetComponentInChildren <MeshRenderer>().sharedMaterial);
}
string visualName = urdfVisual.name == "unnamed" ? null : urdfVisual.name;
return(new Link.Visual(geometry, visualName, UrdfOrigin.ExportOriginData(urdfVisual.transform), material));
}
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));
}
