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);
}
public static void Create(Transform parent, GeometryTypes type)
{
GameObject visualObject = new GameObject("unnamed");
visualObject.transform.SetParentAndAlign(parent);
UrdfVisual urdfVisual = visualObject.AddComponent <UrdfVisual>();
urdfVisual.geometryType = type;
UrdfGeometryVisual.Create(visualObject.transform, type);
#if UNITY_EDITOR
UnityEditor.EditorGUIUtility.PingObject(visualObject);
#endif
}
public static Link.Visual ExportVisualData(this UrdfVisual urdfVisual)
{
UrdfGeometry.CheckForUrdfCompatibility(urdfVisual.transform, urdfVisual.geometryType);
Link.Geometry geometry = UrdfGeometry.ExportGeometryData(urdfVisual.geometryType, urdfVisual.transform);
Link.Visual.Material material = null;
if ((geometry.mesh != null))
{
material = UrdfMaterial.ExportMaterialData(urdfVisual.GetComponentInChildren <MeshRenderer>().sharedMaterial);
}
string visualName = urdfVisual.name == "unnamed" ? null : urdfVisual.name;
return(new Link.Visual(geometry, visualName, UrdfOrigin.ExportOriginData(urdfVisual.transform), material));
}
public static void AddCorrespondingCollision(this UrdfVisual urdfVisual)
{
UrdfCollisions collisions = urdfVisual.GetComponentInParent <UrdfLink>().GetComponentInChildren <UrdfCollisions>();
UrdfCollisionExtensions.Create(collisions.transform, urdfVisual.geometryType, urdfVisual.transform);
}