public override void OnInspectorGUI()
{
RigidbodyUrdfDataManager rigidbodyUrdfDataManager = (RigidbodyUrdfDataManager)target;
bool newValue = EditorGUILayout.Toggle("Use URDF Data", rigidbodyUrdfDataManager.UseUrdfData);
EditorGUILayout.Vector3Field("URDF Center of Mass", rigidbodyUrdfDataManager.CenterOfMass);
EditorGUILayout.Vector3Field("URDF Inertia Tensor", rigidbodyUrdfDataManager.InertiaTensor);
EditorGUILayout.Vector3Field("URDF Inertia Tensor Rotation", rigidbodyUrdfDataManager.InertiaTensorRotation.eulerAngles);
if (newValue != rigidbodyUrdfDataManager.UseUrdfData)
{
rigidbodyUrdfDataManager.UseUrdfData = newValue;
rigidbodyUrdfDataManager.UpdateRigidBodyData();
}
}
public static Rigidbody Create(this Link.Inertial inertial, GameObject gameObject)
{
Rigidbody rigidbody = gameObject.AddComponent <Rigidbody>();
rigidbody.mass = (float)inertial.mass;
if (inertial.origin != null)
{
rigidbody.centerOfMass = inertial.origin.GetPosition();
}
inertial.inertia.SetInertia(rigidbody);
RigidbodyUrdfDataManager rigidbodyUrdfDataManager
= gameObject.AddComponent <RigidbodyUrdfDataManager>();
rigidbodyUrdfDataManager.GetValuesFromUrdf(
rigidbody.centerOfMass,
rigidbody.inertiaTensor,
rigidbody.inertiaTensorRotation);
rigidbodyUrdfDataManager.UseUrdfData = true;
return(rigidbody);
}
