public static void Create(Transform parent, UrdfGeometry.GeometryTypes type, Transform visualToCopy = null)
{
GameObject collisionObject = new GameObject("unnamed");
collisionObject.transform.SetParentAndAlign(parent);
UrdfCollision urdfCollision = collisionObject.AddComponent <UrdfCollision>();
urdfCollision.geometryType = type;
if (visualToCopy != null)
{
if (urdfCollision.geometryType == UrdfGeometry.GeometryTypes.Mesh)
{
UrdfGeometryCollision.CreateMatchingMeshCollision(collisionObject.transform, visualToCopy);
}
else
{
UrdfGeometryCollision.Create(collisionObject.transform, type);
}
//copy transform values from corresponding UrdfVisual
collisionObject.transform.position = visualToCopy.position;
collisionObject.transform.localScale = visualToCopy.localScale;
collisionObject.transform.rotation = visualToCopy.rotation;
}
else
{
UrdfGeometryCollision.Create(collisionObject.transform, type);
}
EditorGUIUtility.PingObject(collisionObject);
}
public static void Create(Transform parent, Link.Collision collision)
{
GameObject collisionObject = new GameObject("unnamed");
collisionObject.transform.SetParentAndAlign(parent);
UrdfCollision urdfCollision = collisionObject.AddComponent <UrdfCollision>();
urdfCollision.geometryType = UrdfGeometry.GetGeometryType(collision.geometry);
UrdfGeometryCollision.Create(collisionObject.transform, urdfCollision.geometryType, collision.geometry);
UrdfOrigin.ImportOriginData(collisionObject.transform, collision.origin);
}
public static void Create(Transform parent, List <Link.Collision> collisions = null)
{
GameObject collisionsObject = new GameObject("Collisions");
collisionsObject.transform.SetParentAndAlign(parent);
UrdfCollisions urdfCollisions = collisionsObject.AddComponent <UrdfCollisions>();
collisionsObject.hideFlags = HideFlags.NotEditable;
urdfCollisions.hideFlags = HideFlags.None;
if (collisions != null)
{
foreach (Link.Collision collision in collisions)
{
UrdfCollision.Create(urdfCollisions.transform, collision);
}
}
}
public void AddCorrespondingCollision()
{
UrdfCollisions collisions = GetComponentInParent <UrdfLink>().GetComponentInChildren <UrdfCollisions>();
UrdfCollision.Create(collisions.transform, geometryType, transform);
}
