public static Link.Collision ExportCollisionData(this UrdfCollision urdfCollision)
{
UrdfGeometry.CheckForUrdfCompatibility(urdfCollision.transform, urdfCollision.geometryType);
Link.Geometry geometry = UrdfGeometry.ExportGeometryData(urdfCollision.geometryType, urdfCollision.transform, true);
string collisionName = urdfCollision.name == "unnamed" ? null : urdfCollision.name;
return(new Link.Collision(geometry, collisionName, UrdfOrigin.ExportOriginData(urdfCollision.transform)));
}
public static UrdfCollision 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);
return(urdfCollision);
}
public static void Create(Transform parent, Link.Visual visual)
{
GameObject visualObject = new GameObject(visual.name ?? "unnamed");
visualObject.transform.SetParentAndAlign(parent);
UrdfVisual urdfVisual = visualObject.AddComponent <UrdfVisual>();
urdfVisual.geometryType = UrdfGeometry.GetGeometryType(visual.geometry);
UrdfGeometryVisual.Create(visualObject.transform, urdfVisual.geometryType, visual.geometry);
UrdfMaterial.SetUrdfMaterial(visualObject, visual.material);
UrdfOrigin.ImportOriginData(visualObject.transform, visual.origin);
}
public static Link.Visual ExportVisualData(this UrdfVisual urdfVisual)
{
UrdfGeometry.CheckForUrdfCompatibility(urdfVisual.transform, urdfVisual.geometryType);
Link.Geometry geometry = UrdfGeometry.ExportGeometryData(urdfVisual.geometryType, urdfVisual.transform);
Link.Visual.Material material = null;
if ((geometry.mesh != null))
{
material = UrdfMaterial.ExportMaterialData(urdfVisual.GetComponentInChildren <MeshRenderer>().sharedMaterial);
}
string visualName = urdfVisual.name == "unnamed" ? null : urdfVisual.name;
return(new Link.Visual(geometry, visualName, UrdfOrigin.ExportOriginData(urdfVisual.transform), material));
}
