public override void OnInspectorGUI()
{
GUILayout.Space(10);
geometryType = (GeometryTypes)EditorGUILayout.EnumPopup("Type of visual", geometryType);
EditorGUILayout.BeginHorizontal();
if (GUILayout.Button("Add visual"))
{
UrdfVisualExtensions.Create(urdfVisuals.transform, geometryType);
}
EditorGUILayout.EndHorizontal();
}
public static void Create(Transform parent, List <Link.Visual> visuals = null)
{
GameObject visualsObject = new GameObject("Visuals");
visualsObject.transform.SetParentAndAlign(parent);
UrdfVisuals urdfVisuals = visualsObject.AddComponent <UrdfVisuals>();
visualsObject.hideFlags = HideFlags.NotEditable;
urdfVisuals.hideFlags = HideFlags.None;
if (visuals != null)
{
foreach (Link.Visual visual in visuals)
{
UrdfVisualExtensions.Create(urdfVisuals.transform, visual);
}
}
}
public static void Synchronize(Transform parent, List <Link.Visual> visuals = null)
{
if (parent.FindChildOrCreateWithComponent <UrdfVisuals>("Visuals", out GameObject visualsObject, out UrdfVisuals urdfVisuals))
{
visualsObject.hideFlags = HideFlags.NotEditable;
urdfVisuals.hideFlags = HideFlags.None;
}
//Create all visuals that are in the list but do not yet exist
if (visuals != null)
{
foreach (Link.Visual visual in visuals)
{
UrdfVisualExtensions.Create(urdfVisuals.transform, visual);
}
}
//Destroy existing visuals that are not in the list
var vis = visualsObject.GetComponentsInSelf <UrdfVisual>();
vis.RemoveAll(x => visuals.Any(y => y.name == x.name));
Utils.DestroyAll(vis);
}
