public Link.Collision ExportCollisionData() { CheckForUrdfCompatibility(); Link.Geometry geometry = UrdfGeometry.ExportGeometryData(geometryType, transform, true); string collisionName = gameObject.name == "unnamed" ? null : gameObject.name; return(new Link.Collision(geometry, collisionName, UrdfOrigin.ExportOriginData(transform))); }
public Link.Visual ExportVisualData() { CheckForUrdfCompatibility(); Link.Geometry geometry = UrdfGeometry.ExportGeometryData(geometryType, 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(gameObject.GetComponentInChildren <MeshRenderer>().sharedMaterial); } string visualName = gameObject.name == "unnamed" ? null : gameObject.name; return(new Link.Visual(geometry, visualName, UrdfOrigin.ExportOriginData(transform), material)); }