create a default ZeroSim robot

Author: micahpearlman

Editor/CustomEditors/ZODocumentRootEditor.cs

@@ -53,8 +53,7 @@ public override void OnInspectorGUI() {
 
 
             }
-
-
         }
+
     }
 }

Editor/ZOZeroSimMenu.cs

@@ -0,0 +1,42 @@
+using UnityEngine;
+using UnityEditor;
+using ZO.Document;
+
+namespace ZO.Editor {
+    public static class ZOZeroSimMenu {
+        [MenuItem("GameObject/ZeroSim/New Robot", false, 0)]
+        static void CreateZeroSimRobot(MenuCommand menuCommand) {
+            GameObject documentRoot = new GameObject("MyRobot");
+            ZOSimDocumentRoot docRoot = documentRoot.AddComponent<ZOSimDocumentRoot>();
+
+            GameObject baseOccurrence = new GameObject("base");
+            baseOccurrence.transform.SetParent(documentRoot.transform);
+            ZOSimOccurrence occurrence = baseOccurrence.AddComponent<ZOSimOccurrence>();
+            occurrence.DocumentRoot = docRoot; 
+            
+
+            GameObject visuals = new GameObject("visuals");
+            visuals.transform.SetParent(occurrence.transform);
+
+            GameObject collisions = new GameObject("collisions");
+            collisions.transform.SetParent(occurrence.transform);
+
+            // create default cube visual
+            GameObject cubeVisual = GameObject.CreatePrimitive(PrimitiveType.Cube);
+            cubeVisual.name = "MyExampleVisualCube";
+            cubeVisual.transform.SetParent(visuals.transform);
+            BoxCollider boxCollider = cubeVisual.GetComponent<BoxCollider>();
+            GameObject.DestroyImmediate(boxCollider);
+
+            // create default collision cube
+            GameObject cubeCollision = new GameObject("MyExampleCollisionCube");
+            cubeCollision.AddComponent<BoxCollider>();
+            cubeCollision.transform.SetParent(collisions.transform);
+            
+            
+
+            Undo.RegisterCreatedObjectUndo(documentRoot, "Create ZeroSim Robot " + documentRoot.name);
+            Selection.activeGameObject = documentRoot;
+        }
+    }
+}

Editor/ZOZeroSimMenu.cs.meta

@@ -1194,15 +1194,15 @@ public static void BuildURDF(XElement robot, ZOSimOccurrence simOccurrence, Matr
             // build links
             HashSet<ZOSimOccurrence> links = new HashSet<ZOSimOccurrence>();
             foreach(URDFJoint joint in joints) {
-                if (links.Contains<ZOSimOccurrence>(joint.Parent) == false) {
+                if (links.Contains<ZOSimOccurrence>(joint.Parent) == false) { // build parent link if not exist
                     Vector3 offset = -1.0f * joint.ConnectedAnchor;
                     if (joints[0] == joint) {  // if base joint do not apply any offset to parent link
                         offset = Vector3.zero;
                     }
                     joint.Parent.BuildURDFLink(robot, offset);
                     links.Add(joint.Parent);
                 }
-                if (links.Contains<ZOSimOccurrence>(joint.Child) == false) {
+                if (links.Contains<ZOSimOccurrence>(joint.Child) == false) { // build child link if not exist
                     Vector3 offset = -1.0f * joint.ConnectedAnchor;
                     joint.Child.BuildURDFLink(robot, offset);
                     links.Add(joint.Child);