working hinge joint import

Author: micahpearlman

Runtime/Scripts/Physics/ZOHingeJoint.cs

@@ -79,6 +79,7 @@ public Vector3 Axis {
                 return UnityHingeJoint.axis;
             }
             set {
+                _axis = value;
                 UnityHingeJoint.axis = value;
             }
         }
@@ -92,6 +93,7 @@ public Vector3 Anchor {
                 return UnityHingeJoint.anchor;
             }
             set {
+                _anchor = value;
                 UnityHingeJoint.anchor = value;
             }
         }
@@ -112,6 +114,7 @@ public Rigidbody ConnectedBody {
             }
             set {
                 if (UnityHingeJoint.connectedBody != value) {
+                    _connectedBody = value;
                     UnityHingeJoint.connectedBody = value;
                 }
 

Runtime/Scripts/Util/ImportExport/ZOImportURDF.cs

@@ -150,11 +150,28 @@ public static ZOSimDocumentRoot Import(XmlDocument xmlDocument) {
 
                 // set transform
                 if (workingJoint != null) {
+                    // set the transform
                     XmlNode xmlOrigin = workingJoint.GetChildByName("origin");
                     Tuple<Vector3, Quaternion> transform = OriginXMLToUnity(xmlOrigin);
                     linkChild.transform.localPosition = transform.Item1;
                     linkChild.transform.localRotation = transform.Item2;
 
+                    // add rigidbody components
+                    Rigidbody childRigidBody = linkChild.AddComponent<Rigidbody>();
+                    Rigidbody parentRigidBody = linkParent.AddComponent<Rigidbody>();
+
+                    // add joints
+                    string jointType = workingJoint.Attributes["type"].Value;
+                    if (jointType == "revolute") {
+
+                        ZOHingeJoint hingeJoint = linkParent.AddComponent<ZOHingeJoint>();
+                        hingeJoint.ConnectedBody = childRigidBody;
+                        hingeJoint.Anchor = transform.Item1;
+
+                        XmlNode xmlAxis = workingJoint.GetChildByName("axis");
+                        hingeJoint.Axis = xmlAxis.Attributes["xyz"].Value.FromURDFStringToVector3().Ros2Unity();
+                    }
+
                 }