private CompoundShape LoadCompoundCollisionShape(UrdfCollision[] collisions, string baseDirectory, float mass, Matrix parentTransform)
{
var compoundShape = new CompoundShape(true, collisions.Length);
foreach (UrdfCollision collision in collisions)
{
Matrix origin = ParsePose(collision.Origin);
Matrix childTransform = origin * parentTransform;
CollisionShape shape = CreateShapeFromGeometry(collision.Geometry, mass, baseDirectory);
compoundShape.AddChildShapeRef(ref childTransform, shape);
}
return(compoundShape);
}