public static GameObject CreateCollider(this Link.Geometry.Mesh mesh, GameObject parent)
{
GameObject gameObject = new GameObject(mesh.filename + "(MeshCollider)");
Transform reference = AssetDatabase.LoadAssetAtPath <Transform>(UrdfAssetDatabase.GetAssetPathFromPackagePath(mesh.filename));
gameObject.transform.position = reference.position;
gameObject.transform.rotation = reference.rotation;
gameObject.transform.localScale = reference.localScale;
MeshCollider meshCollider = gameObject.AddComponent <MeshCollider>();
meshCollider.sharedMesh = AssetDatabase.LoadAssetAtPath <Mesh>(UrdfAssetDatabase.GetAssetPathFromPackagePath(mesh.filename));
//meshCollider.convex = true;
gameObject.transform.SetParentAndAlign(parent.transform);
mesh.setScale(gameObject);
return(gameObject);
}
public static GameObject CreateVisual(this Link.Geometry.Mesh mesh, GameObject parent)
{
GameObject gameObject = Object.Instantiate(AssetDatabase.LoadAssetAtPath <GameObject>(UrdfAssetDatabase.GetAssetPathFromPackagePath(mesh.filename)));
gameObject.transform.SetParentAndAlign(parent.transform);
mesh.setScale(gameObject);
return(gameObject);
}
