public override void OnInspectorGUI()
{
urdfCollisions = (UrdfCollisions)target;
GUILayout.Space(10);
geometryType = (GeometryTypes)EditorGUILayout.EnumPopup("Type of collision", geometryType);
if (GUILayout.Button("Add collision"))
{
UrdfCollisionExtensions.Create(urdfCollisions.transform, geometryType);
}
}
public static void Create(Transform parent, List <Link.Collision> collisions = null)
{
GameObject collisionsObject = new GameObject("Collisions");
collisionsObject.transform.SetParentAndAlign(parent);
UrdfCollisions urdfCollisions = collisionsObject.AddComponent <UrdfCollisions>();
collisionsObject.hideFlags = HideFlags.NotEditable;
urdfCollisions.hideFlags = HideFlags.None;
if (collisions != null)
{
foreach (Link.Collision collision in collisions)
{
UrdfCollisionExtensions.Create(urdfCollisions.transform, collision);
}
}
}
public static void AddCorrespondingCollision(this UrdfVisual urdfVisual)
{
UrdfCollisions collisions = urdfVisual.GetComponentInParent <UrdfLink>().GetComponentInChildren <UrdfCollisions>();
UrdfCollisionExtensions.Create(collisions.transform, urdfVisual.GeometryType, urdfVisual.transform);
}