/// <summary>
/// Called upon event ColladaImporter.Instance.OnModelImported, when DAE file is imported.
/// </summary>
/// <param name="sender"></param>
/// <param name="args">Contains imported GameObject.</param>
private void OnColladaModelImported(object sender, ImportedColladaEventArgs args)
{
Debug.Log("URDF: Collada model imported");
Transform importedModel = args.Data.transform;
UrdfRobot[] urdfRobots = importedModel.GetComponentsInParent <UrdfRobot>(true);
if (urdfRobots != null)
{
UrdfRobot urdfRobot = urdfRobots[0];
// TODO: make sure that this robotModel check really works
// check if imported model corresponds to this robot
RobotModel robotModel = GetRobotModel(urdfRobot.gameObject);
if (robotModel != null)
{
// get rid of the placeholder object (New Game Object)
Transform placeholderGameObject = importedModel.parent;
importedModel.SetParent(placeholderGameObject.parent, worldPositionStays: false);
//TODO: Temporarily, colliders are added directly to Visuals
AddColliders(importedModel.gameObject, setConvex: true);
Destroy(placeholderGameObject.gameObject);
robotModel.SetLinkVisualLoaded(importedModel.parent.parent.parent.name, importedModel.parent.gameObject.GetComponent <UrdfVisual>());
Debug.Log("URDF: dae model of the link: " + importedModel.parent.parent.parent.name + " imported");
}
}
}
private void OnColladaModelImported(object sender, ImportedColladaEventArgs args)
{
Transform importedModel = args.Data.transform;
Base.RobotActionObject robot = importedModel.GetComponentInParent <Base.RobotActionObject>();
if (robot != null)
{
// check if imported model corresponds to this robot
if (ReferenceEquals(robot, this))
{
// get rid of the placeholder object (New Game Object)
Transform placeholderGameObject = importedModel.parent;
importedModel.SetParent(placeholderGameObject.parent, worldPositionStays: false);
//TODO: Temporarily, colliders are added directly to Visuals
AddColliders(importedModel.gameObject, setConvex: true);
Destroy(placeholderGameObject.gameObject);
SetLinkVisualLoaded(importedModel.parent.parent.parent.name, importedModel.parent.gameObject.GetComponent <UrdfVisual>());
Debug.Log("URDF: dae model of the link: " + importedModel.parent.parent.parent.name + " imported");
}
}
}
