private static GameObject CreateMeshVisual(Link.Geometry.Mesh mesh)
{
#if UNITY_EDITOR
if (!RuntimeUrdf.IsRuntimeMode())
{
GameObject meshObject = LocateAssetHandler.FindUrdfAsset <GameObject>(mesh.filename);
return(meshObject == null ? null : (GameObject)RuntimeUrdf.PrefabUtility_InstantiatePrefab(meshObject));
}
#endif
return(CreateMeshVisualRuntime(mesh));
}
private static GameObject CreateMeshCollider(Link.Geometry.Mesh mesh)
{
if (!RuntimeUrdf.IsRuntimeMode())
{
GameObject prefabObject = LocateAssetHandler.FindUrdfAsset <GameObject>(mesh.filename);
if (prefabObject == null)
{
Debug.LogError("Unable to create mesh collider for the mesh: " + mesh.filename);
return(null);
}
GameObject meshObject = (GameObject)RuntimeUrdf.PrefabUtility_InstantiatePrefab(prefabObject);
ConvertMeshToColliders(meshObject, location: mesh.filename);
return(meshObject);
}
return(CreateMeshColliderRuntime(mesh));
}
private static Texture LoadTexture(string filename)
{
return(filename == "" ? null : LocateAssetHandler.FindUrdfAsset <Texture>(filename));
}