public static Joint ExportDefaultJoint(Transform transform) { return(new Joint( transform.parent.name + "_" + transform.name + "_joint", JointTypes.Fixed.ToString().ToLower(), transform.parent.name, transform.name, UrdfOrigin.ExportOriginData(transform))); }
public Link.Visual ExportVisualData() { CheckForUrdfCompatibility(); Link.Geometry geometry = UrdfGeometry.ExportGeometryData(geometryType, transform); Link.Visual.Material material = null; if (!(geometry.mesh != null && geometry.mesh.filename.ToLower().EndsWith(".dae"))) //Collada files contain their own materials { material = UrdfMaterial.ExportMaterialData(gameObject.GetComponentInChildren <MeshRenderer>().sharedMaterial); } string visualName = gameObject.name == "unnamed" ? null : gameObject.name; return(new Link.Visual(geometry, visualName, UrdfOrigin.ExportOriginData(transform), material)); }
public Joint ExportJointData() { UnityJoint = GetComponent<UnityEngine.Joint>(); CheckForUrdfCompatibility(); //Data common to all joints Joint joint = new Joint( JointName, JointType.ToString().ToLower(), gameObject.transform.parent.name, gameObject.name, UrdfOrigin.ExportOriginData(transform)); joint.limit = ExportLimitData(); return ExportSpecificJointData(joint); }
public Joint ExportJointData() { #if UNITY_2020_1_OR_NEWER unityJoint = GetComponent <UnityEngine.ArticulationBody>(); #else unityJoint = GetComponent <UnityEngine.Joint>(); #endif CheckForUrdfCompatibility(); //Data common to all joints Joint joint = new Joint( jointName, JointType.ToString().ToLower(), gameObject.transform.parent.name, gameObject.name, UrdfOrigin.ExportOriginData(transform)); joint.limit = ExportLimitData(); return(ExportSpecificJointData(joint)); }