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);
}
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, Link.Visual visual)
{
if (String.IsNullOrEmpty(visual.name))
{
visual.name = visual.GenerateNonReferenceID();
}
if (parent.FindChildOrCreateWithComponent <UrdfVisual>(visual.name, out GameObject visualObject, out UrdfVisual urdfVisual))
{
//only create these visuals if the gameobject had to be created itself
urdfVisual.GeometryType = UrdfGeometry.GetGeometryType(visual.geometry);
UrdfGeometryVisual.Create(visualObject.transform, urdfVisual.GeometryType, visual.geometry);
}
//update these values every time
UrdfMaterial.SetUrdfMaterial(visualObject, visual.material);
UrdfOrigin.ImportOriginData(visualObject.transform, visual.origin);
}