private static UrdfJoint AddCorrectJointType(GameObject linkObject, JointTypes jointType)
{
UrdfJoint urdfJoint = null;
switch (jointType)
{
case JointTypes.Fixed:
urdfJoint = UrdfJointFixed.Create(linkObject);
break;
case JointTypes.Continuous:
urdfJoint = UrdfJointContinuous.Create(linkObject);
break;
case JointTypes.Revolute:
urdfJoint = UrdfJointRevolute.Create(linkObject);
break;
case JointTypes.Floating:
urdfJoint = UrdfJointFloating.Create(linkObject);
break;
case JointTypes.Prismatic:
urdfJoint = UrdfJointPrismatic.Create(linkObject);
break;
case JointTypes.Planar:
urdfJoint = UrdfJointPlanar.Create(linkObject);
break;
}
UnityEngine.Joint unityJoint = linkObject.GetComponent<UnityEngine.Joint>();
unityJoint.connectedBody = linkObject.transform.parent.gameObject.GetComponent<Rigidbody>();
unityJoint.autoConfigureConnectedAnchor = true;
return urdfJoint;
}
