public void IsTransformed_Default_False(Geometry geometry, Vector3 scale, GeometryTypes type)
{
var parent = new GameObject("Parent").transform;
Assert.IsFalse(UrdfGeometry.IsTransformed(parent, UrdfGeometry.GetGeometryType(geometry)));
Object.DestroyImmediate(parent.gameObject);
}
public void IsTransformed_Rotation_True(Geometry geometry, Vector3 scale, GeometryTypes type)
{
var parent = new GameObject("Parent").transform;
parent.localRotation = Quaternion.Euler(0, 30, 0);
Assert.IsTrue(UrdfGeometry.IsTransformed(parent, UrdfGeometry.GetGeometryType(geometry)));
Object.DestroyImmediate(parent.gameObject);
}
public void IsTransformed_Scale_True(Geometry geometry, Vector3 scale, GeometryTypes type)
{
var parent = new GameObject("Parent").transform;
parent.localScale = Vector3.one * 2f;
Assert.IsTrue(UrdfGeometry.IsTransformed(parent, UrdfGeometry.GetGeometryType(geometry)));
Object.DestroyImmediate(parent.gameObject);
}
private void DisplayWarnings()
{
if (!urdfVisual.transform.HasExactlyOneChild())
{
GUILayout.Space(5);
EditorGUILayout.HelpBox("Visual element must have one and only one child Geometry element.", MessageType.Error);
}
else if (UrdfGeometry.IsTransformed(urdfVisual.transform.GetChild(0), urdfVisual.geometryType))
{
GUILayout.Space(5);
EditorGUILayout.HelpBox("Changes to the transform of the child Geometry element cannot be exported to URDF. " +
"Make any translation, rotation, or scale changes to this Visual object instead.", MessageType.Error);
if (GUILayout.Button("Fix transformations"))
{
bool transferRotation = urdfVisual.geometryType != GeometryTypes.Mesh;
urdfVisual.transform.MoveChildTransformToParent(transferRotation);
}
}
}
