private void ImportLinkData(Link link, Joint joint)
{
if (link.inertial == null && joint == null)
{
isBaseLink = true;
}
gameObject.name = link.name;
if (joint?.origin != null)
{
UrdfOrigin.ImportOriginData(transform, joint.origin);
}
if (link.inertial != null)
{
UrdfInertial.Create(gameObject, link.inertial);
if (joint != null)
{
UrdfJoint.Create(gameObject, UrdfJoint.GetJointType(joint.type), joint);
}
}
else if (joint != null)
{
Debug.LogWarning("No Joint Component will be created in GameObject \"" + gameObject.name + "\" as it has no Rigidbody Component.\n"
+ "Please define an Inertial for Link \"" + link.name + "\" in the URDF file to create a Rigidbody Component.\n", gameObject);
}
foreach (Joint childJoint in link.joints)
{
Link child = childJoint.ChildLink;
UrdfLink.Create(transform, child, childJoint);
}
}
public static void Create()
{
GameObject robotGameObject = new GameObject("Robot");
robotGameObject.AddComponent <UrdfRobot>();
UrdfPlugins.Create(robotGameObject.transform);
UrdfLink urdfLink = UrdfLink.Create(robotGameObject.transform);
urdfLink.name = "base_link";
urdfLink.isBaseLink = true;
}
public static UrdfLink Create(Transform parent, Link link = null, Joint joint = null)
{
GameObject linkObject = new GameObject("link");
linkObject.transform.SetParentAndAlign(parent);
UrdfLink urdfLink = linkObject.AddComponent <UrdfLink>();
UrdfVisuals.Create(linkObject.transform, link?.visuals);
UrdfCollisions.Create(linkObject.transform, link?.collisions);
if (link != null)
{
urdfLink.ImportLinkData(link, joint);
}
else
{
UrdfInertial.Create(linkObject);
EditorGUIUtility.PingObject(linkObject);
}
return(urdfLink);
}
public static void Create(string filename)
{
Robot robot = new Robot(filename);
if (!UrdfAssetPathHandler.IsValidAssetPath(robot.filename))
{
Debug.LogError("URDF file and ressources must be placed in Assets Folder:\n" + Application.dataPath);
return;
}
GameObject robotGameObject = new GameObject(robot.name);
robotGameObject.AddComponent <UrdfRobot>();
UrdfAssetPathHandler.SetPackageRoot(Path.GetDirectoryName(robot.filename));
UrdfMaterial.InitializeRobotMaterials(robot);
UrdfPlugins.Create(robotGameObject.transform, robot.plugins);
UrdfLink.Create(robotGameObject.transform, robot.root);
GameObjectUtility.SetParentAndAlign(robotGameObject, Selection.activeObject as GameObject);
Undo.RegisterCreatedObjectUndo(robotGameObject, "Create " + robotGameObject.name);
Selection.activeObject = robotGameObject;
}
