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)); }
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 && geometry.mesh.filename.ToLower().EndsWith(".dae"))) //Collada files contain their own materials { 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)); }