// TODO
/// <summary>
/// <para>CreateVisualGeometry</para>
/// Parses a ROS link and creates a MeshInstance for the visual
/// geometry specified in that link.
/// </summary>
/// <param name="visuals">List of visuals stored in the Urdf link.</param>
/// <returns>
/// <para>
/// A mesh containing the accurate visual geometry of the link if no error.
/// <para>
/// <para>
/// Null if there was an error.
/// </para></returns>
public Godot.Mesh CreateVisualGeometry(List <Link.Visual> visuals)
{
// The union of the geometries defined in the list define
// the end visual of the link, but for now we will just use
// the first one
if (visuals.Count < 1)
{
return(null);
}
Link.Visual workingVis = visuals[0];
// Create the material if it exists
SpatialMaterial linkMat = CreateMaterial(workingVis.material);
// Create the meshs
if (workingVis.geometry.box != null)
{
return(CreateBox(workingVis.geometry.box, linkMat));
}
if (workingVis.geometry.cylinder != null)
{
return(CreateCylinder(workingVis.geometry.cylinder, linkMat));
}
if (workingVis.geometry.sphere != null)
{
return(CreateSphere(workingVis.geometry.sphere, linkMat));
}
if (workingVis.geometry.mesh != null)
{
return(CreateMesh(workingVis.geometry.mesh).Mesh);
}
return(null);
}
public void _Reads_Visual_Origins()
{
robot.ConstructFromString(urdfString);
Link sensorLink = robot.links.Find(link => link.name == "sensor_link");
Link.Visual visual = sensorLink.visuals[0];
Origin origin = visual.origin;
Assert.That(origin.Xyz, Is.EqualTo(new[] { 0.1d, 0.2d, 0.3d }));
Assert.That(origin.Rpy, Is.EqualTo(new[] { 0.4d, 0.5d, 0.6d }));
}
public static void Create(Transform parent, Link.Visual visual)
{
GameObject visualObject = new GameObject(visual.name ?? "unnamed");
visualObject.transform.SetParentAndAlign(parent);
UrdfVisual urdfVisual = visualObject.AddComponent <UrdfVisual>();
urdfVisual.GeometryType = UrdfGeometry.GetGeometryType(visual.geometry);
UrdfGeometryVisual.Create(visualObject.transform, urdfVisual.GeometryType, visual.geometry);
UrdfMaterial.SetUrdfMaterial(visualObject, visual.material);
UrdfOrigin.ImportOriginData(visualObject.transform, visual.origin);
}
/// <summary>
/// Compares visual information of two links
/// </summary>
/// <param name="source">First link's visual information to be compared</param>
/// <param name="exported">Second link's visual information to be compared</param>
/// <param name="indent">Indent level in the log file</param>
/// <returns></returns>
private bool CompareVisual(Link.Visual source, Link.Visual exported, int indent)
{
bool visualNameEqual = (source.name == exported.name);
linkLog.AppendLine(String.Format("{0}Visual Component Name : {1,6}", Indent(indent + 1), visualNameEqual));
if (!visualNameEqual)
{
return(false);
}
if (!CompareOrigin(source.origin, exported.origin, indent))
{
return(false);
}
linkLog.AppendLine(String.Format("{0}Geometry Checks", Indent(indent)));
if (!CompareGeometry(source.geometry, exported.geometry, indent + 1))
{
return(false);
}
linkLog.AppendLine(String.Format("{0}Material Checks", Indent(indent)));
if (source.material == null && exported.material == null)
{
linkLog.AppendLine(String.Format("{0}Material Nullity Check: {1,6}", Indent(indent), "True"));
return(true);
}
else if (source.material != null && exported.material != null)
{
linkLog.AppendLine(String.Format("{0}Material Nullity Check: {1,6}", Indent(indent), "True"));
if (!CompareMaterial(source.material, exported.material, indent + 1))
{
return(false);
}
}
else if ((source.material == null && exported.material.name == "Default-Material") || (exported.material == null && source.material?.name == "Default-Material"))
{
linkLog.AppendLine(String.Format("{0}Material Nullity Check: {1,6}", Indent(indent), "True"));
return(true);
}
else
{
linkLog.AppendLine(String.Format("{0}Material Nullity Check: {1,6}", Indent(indent), "False"));
return(false);
}
return(true);
}
public static void Create(Transform parent, Link.Visual visual)
{
if (String.IsNullOrEmpty(visual.name))
{
visual.name = visual.GenerateNonReferenceID();
}
if (parent.FindChildOrCreateWithComponent <UrdfVisual>(visual.name, out GameObject visualObject, out UrdfVisual urdfVisual))
{
//only create these visuals if the gameobject had to be created itself
urdfVisual.GeometryType = UrdfGeometry.GetGeometryType(visual.geometry);
UrdfGeometryVisual.Create(visualObject.transform, urdfVisual.GeometryType, visual.geometry);
}
//update these values every time
UrdfMaterial.SetUrdfMaterial(visualObject, visual.material);
UrdfOrigin.ImportOriginData(visualObject.transform, visual.origin);
}
