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)
{
UrdfCollision.Create(urdfCollisions.transform, collision);
}
}
}
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);
}
public void AddCorrespondingCollision()
{
UrdfCollisions collisions = GetComponentInParent <UrdfLink>().GetComponentInChildren <UrdfCollisions>();
UrdfCollision.Create(collisions.transform, geometryType, transform);
}