public static void CorrectAxis(GameObject robot, ImportSettings.axisType axis = ImportSettings.axisType.yAxis) { UrdfVisual[] visualMeshList = robot.GetComponentsInChildren <UrdfVisual>(); UrdfCollision[] collisionMeshList = robot.GetComponentsInChildren <UrdfCollision>(); UrdfRobot robotScript = robot.GetComponent <UrdfRobot>(); robotScript.choosenAxis = axis; Quaternion correctZtoY = Quaternion.Euler(-90, 0, 90); Quaternion correction = Quaternion.identity; if (axis == ImportSettings.axisType.zAxis) { correction = correctZtoY; } foreach (UrdfVisual visual in visualMeshList) { visual.transform.localRotation = correction; } foreach (UrdfCollision collision in collisionMeshList) { collision.transform.localRotation = correction; } }
public void SetOrientation() { currentOrientation = choosenAxis; }
public void SetAxis(ImportSettings.axisType setAxis) { this.choosenAxis = setAxis; }