private static void ImportLinkData(this UrdfLink urdfLink, Link link, Joint joint)
{
if (link.inertial == null && joint == null)
{
urdfLink.IsBaseLink = true;
}
urdfLink.gameObject.name = link.name;
if (joint?.origin != null)
{
UrdfOrigin.ImportOriginData(urdfLink.transform, joint.origin);
}
if (link.inertial != null)
{
UrdfInertial.Create(urdfLink.gameObject, link.inertial);
if (joint != null)
{
UrdfJoint.Create(urdfLink.gameObject, UrdfJoint.GetJointType(joint.type), joint);
}
}
else if (joint != null)
{
UrdfJoint.Create(urdfLink.gameObject, UrdfJoint.GetJointType(joint.type), joint);
}
}
public static void Create(GameObject linkObject, Link.Inertial inertial = null)
{
UrdfInertial urdfInertial = linkObject.AddComponent <UrdfInertial>();
#if UNITY_2020_1_OR_NEWER
ArticulationBody robotLink = urdfInertial.GetComponent <ArticulationBody>();
#else
Rigidbody robotLink = urdfInertial.GetComponent <Rigidbody>();
#endif
if (inertial != null)
{
robotLink.mass = ((float)inertial.mass > 0)?((float)inertial.mass):minMass;
if (inertial.origin != null)
{
robotLink.centerOfMass = UrdfOrigin.GetPositionFromUrdf(inertial.origin);
}
else
{
robotLink.centerOfMass = Vector3.zero;
}
urdfInertial.ImportInertiaData(inertial);
urdfInertial.useUrdfData = true;
}
urdfInertial.displayInertiaGizmo = false;
}
public static Link ExportLinkData(this UrdfLink urdfLink)
{
if (urdfLink.transform.localScale != Vector3.one)
{
Debug.LogWarning("Only visuals should be scaled. Scale on link \"" + urdfLink.gameObject.name + "\" cannot be saved to the URDF file.", urdfLink.gameObject);
}
UrdfInertial urdfInertial = urdfLink.gameObject.GetComponent <UrdfInertial>();
Link link = new Link(urdfLink.gameObject.name)
{
visuals = urdfLink.GetComponentInChildren <UrdfVisuals>().ExportVisualsData(),
collisions = urdfLink.GetComponentInChildren <UrdfCollisions>().ExportCollisionsData(),
inertial = urdfInertial == null ? null : urdfInertial.ExportInertialData()
};
return(link);
}
public static GameObject Create(Transform parent, Link link = null, Joint joint = null)
{
GameObject linkObject = new GameObject("link");
linkObject.transform.SetParentAndAlign(parent);
UrdfLink urdfLink = linkObject.AddComponent <UrdfLink>();
UrdfVisualsExtensions.Create(linkObject.transform, link?.visuals);
UrdfCollisionsExtensions.Create(linkObject.transform, link?.collisions);
if (link != null)
{
urdfLink.ImportLinkData(link, joint);
}
else
{
UrdfInertial.Create(linkObject);
#if UNITY_EDITOR
UnityEditor.EditorGUIUtility.PingObject(linkObject);
#endif
}
return(linkObject);
}