C# (CSharp) Unity.Robotics.UrdfImporter UrdfMaterial.InitializeRobotMaterials示例

示例#1

文件： UrdfRobotExtensions.cs 项目： ut-ims-robotics/unity_ros_navigation_demo

        // 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);
        }