public static GameObject CreateCollider(this Link.Geometry.Mesh mesh, GameObject parent)
{
GameObject prefabObject = LocateAssetHandler.FindUrdfAsset <GameObject>(mesh.filename);
if (prefabObject == null)
{
return(null);
}
GameObject meshObject = Object.Instantiate(prefabObject);
MeshFilter[] meshFilters = meshObject.GetComponentsInChildren <MeshFilter>();
foreach (MeshFilter meshFilter in meshFilters)
{
GameObject child = meshFilter.gameObject;
MeshCollider meshCollider = child.AddComponent <MeshCollider>();
meshCollider.sharedMesh = meshFilter.sharedMesh;
Object.DestroyImmediate(child.GetComponent <MeshRenderer>());
Object.DestroyImmediate(meshFilter);
}
mesh.setScale(meshObject);
meshObject.transform.SetParentAndAlign(parent.transform);
return(meshObject);
}
private static Texture LoadTexture(string filename)
{
string path = Path.Combine(assetPath, filename).Replace(Path.AltDirectorySeparatorChar, Path.DirectorySeparatorChar);
if (path == null)
{
return(null);
}
return(LocateAssetHandler.FindUrdfAsset <Texture>(path));
}
public static GameObject CreateVisual(this Link.Geometry.Mesh mesh, GameObject parent)
{
GameObject meshObject = LocateAssetHandler.FindUrdfAsset <GameObject>(mesh.filename);
if (meshObject != null)
{
GameObject gameObject = Object.Instantiate(meshObject);
mesh.setScale(gameObject);
gameObject.transform.SetParentAndAlign(parent.transform);
return(gameObject);
}
return(null);
}
private static Texture LoadTexture(string filename)
{
return(filename == "" ? null : LocateAssetHandler.FindUrdfAsset <Texture>(filename));
}