public GameObject Create(Model model, GameObject parent)
{
GameObject gameObject = new GameObject((Name == null) ? "unnamed" : Name);
gameObject.transform.ResetToParent(parent.transform);
if (Origin != null)
{
Origin.SetOrigin(gameObject);
}
Geometry.CreateVisual(model, gameObject);
if (Material != null)
{
Material.SetMaterial(model, gameObject);
}
if (gameObject.GetComponentInChildren <Renderer>().sharedMaterial == null)
{
UrdfMaterial.SetDefaultMaterial(model, gameObject);
}
return(gameObject);
}
public GameObject Create()
{
if (!AssetDatabase.IsValidFolder(Path.Combine(assetPath, "Materials")))
{
AssetDatabase.CreateFolder(assetPath, "Materials");
}
UrdfMaterial.CreateDefaultMaterialAsset(assetPath);
foreach (UrdfMaterial material in MaterialList)
{
material.CreateMaterialAsset(assetPath);
}
GameObject gameObject = new GameObject(Name);
Root.Create(this, gameObject);
GameObjectUtility.SetParentAndAlign(gameObject, Selection.activeObject as GameObject);
Undo.RegisterCreatedObjectUndo(gameObject, "Create " + gameObject.name);
Selection.activeObject = gameObject;
Rigidbody[] rb = UnityEngine.Object.FindObjectsOfType(typeof(Rigidbody)) as Rigidbody[];
foreach (Rigidbody body in rb)
{
body.isKinematic = true;
}
return(gameObject);
}
public Visual(XElement node)
{
Name = (string)node.Attribute("name"); // optional
Origin = (node.Element("origin") != null) ? new Origin(node.Element("origin")) : null; // optional
Geometry = new Geometry(node.Element("geometry")); // required
Material = (node.Element("material") != null) ? new UrdfMaterial(node.Element("material")) : null; // optional
}
