public static void Create(Transform parent, Link.Visual visual)
{
GameObject visualObject = new GameObject(visual.name ?? "unnamed");
visualObject.transform.SetParentAndAlign(parent);
UrdfVisual urdfVisual = visualObject.AddComponent <UrdfVisual>();
urdfVisual.geometryType = UrdfGeometry.GetGeometryType(visual.geometry);
UrdfGeometryVisual.Create(visualObject.transform, urdfVisual.geometryType, visual.geometry);
UrdfMaterial.SetUrdfMaterial(visualObject, visual.material);
UrdfOrigin.ImportOriginData(visualObject.transform, visual.origin);
}
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));
}
// Creates the robot game object.
private static void ImportPipelineCreateObject(ImportPipelineData im)
{
im.robotGameObject = new GameObject(im.robot.name);
importsettings = im.settings;
im.settings.totalLinks = im.robot.links.Count;
CreateTag();
SetTag(im.robotGameObject);
im.robotGameObject.AddComponent <UrdfRobot>();
im.robotGameObject.AddComponent <Unity.Robotics.UrdfImporter.Control.Controller>();
if (RuntimeUrdf.IsRuntimeMode())
{// In runtime mode, we have to disable controller while robot is being constructed.
im.robotGameObject.GetComponent <Unity.Robotics.UrdfImporter.Control.Controller>().enabled = false;
}
im.robotGameObject.GetComponent <UrdfRobot>().SetAxis(im.settings.choosenAxis);
UrdfAssetPathHandler.SetPackageRoot(Path.GetDirectoryName(im.robot.filename));
UrdfMaterial.InitializeRobotMaterials(im.robot);
UrdfPlugins.Create(im.robotGameObject.transform, im.robot.plugins);
}
