public static void CorrectAxis(GameObject robot, ImportSettings.axisType axis = ImportSettings.axisType.yAxis)
{
UrdfVisual[] visualMeshList = robot.GetComponentsInChildren <UrdfVisual>();
UrdfCollision[] collisionMeshList = robot.GetComponentsInChildren <UrdfCollision>();
UrdfRobot robotScript = robot.GetComponent <UrdfRobot>();
robotScript.choosenAxis = axis;
Quaternion correctZtoY = Quaternion.Euler(-90, 0, 90);
Quaternion correction = Quaternion.identity;
if (axis == ImportSettings.axisType.zAxis)
{
correction = correctZtoY;
}
foreach (UrdfVisual visual in visualMeshList)
{
visual.transform.localRotation = correction;
}
foreach (UrdfCollision collision in collisionMeshList)
{
collision.transform.localRotation = correction;
}
}
public void SetOrientation()
{
currentOrientation = choosenAxis;
}
public void SetAxis(ImportSettings.axisType setAxis)
{
this.choosenAxis = setAxis;
}
