public void Synchronize(Robot robot, GameObject rootObject, string assetRoot)
{
GameObject robotGameObject = rootObject;
robotGameObject.AddComponentIfNotExists <UrdfRobot>();
UrdfAssetPathHandler.SetPackageRoot(assetRoot);
UrdfMaterial.InitializeRobotMaterials(robot);
UrdfPlugins.Synchronize(robotGameObject.transform, robot.plugins);
UrdfLinkExtensions.Synchronize(robotGameObject.transform, robot.root);
}
/// <summary>
/// Synchronizes the <paramref name="rootObject"/> with the <paramref name="robot"/>
/// </summary>
/// <param name="robot"></param>
/// <param name="rootObject"></param>
public void Synchronize(Robot robot, GameObject rootObject)
{
LocateAssetHandler.SetRobotName(robot.name);
GameObject robotGameObject = rootObject;
robotGameObject.AddComponentIfNotExists <UrdfRobot>();
UrdfPlugins.Synchronize(robotGameObject.transform, robot.plugins);
UrdfLinkExtensions.Synchronize(robotGameObject.transform, robot.root);
//These tags are needed for the Camera/Sensors to interact with the gameobject
foreach (var child in rootObject.GetComponentsInChildren <Transform>())
{
child.gameObject.tag = "Robot";
}
}
public override void OnInspectorGUI()
{
urdfLink = (UrdfLink)target;
GUILayout.Space(5);
urdfLink.IsBaseLink = EditorGUILayout.Toggle("Is Base Link", urdfLink.IsBaseLink);
GUILayout.Space(5);
EditorGUILayout.BeginVertical("HelpBox");
jointType = (UrdfJoint.JointTypes)EditorGUILayout.EnumPopup(
"Child Joint Type", jointType);
if (GUILayout.Button("Add child link (with joint)"))
{
UrdfLink childLink = UrdfLinkExtensions.Create(urdfLink.transform).GetComponent <UrdfLink>();
UrdfJoint.Create(childLink.gameObject, jointType);
}
EditorGUILayout.EndVertical();
}
