/// <summary>
/// Render the emulated environment in the specified manner.
/// </summary>
/// <param name="renderTarget">Render target to render into.</param>
/// <param name="dataTypeToRender">Type of data to render (e.g. color camera, depth data).</param>
/// <param name="renderCameraPosition">Position (relative to emulated environment)
/// for the simulation camera to render from.</param>
/// <param name="renderCameraRotation">Rotation (relative to emulated environment)
/// for the simulation camera to render at.</param>
public static void RenderEmulatedEnvironment(RenderTexture renderTarget, EmulatedDataType dataTypeToRender,
Vector3 renderCameraPosition, Quaternion renderCameraRotation)
{
Material renderMaterial = null;
switch (dataTypeToRender)
{
case EmulatedDataType.DEPTH:
renderMaterial = m_emulatedDepthMaterial;
break;
case EmulatedDataType.COLOR_CAMERA:
renderMaterial = m_emulatedColorCameraMaterial;
break;
}
if (renderMaterial == null)
{
return;
}
// Set up camera
m_emulationCamera.transform.position = renderCameraPosition;
m_emulationCamera.transform.rotation = renderCameraRotation;
// Stash current render state
Camera previousCamera = Camera.current;
RenderTexture previousRenderTexture = RenderTexture.active;
// Set up new render state
Camera.SetupCurrent(m_emulationCamera);
Graphics.SetRenderTarget(renderTarget);
GL.Clear(true, true, Color.black);
// Render
if (m_renderObject != null)
{
for (int i = 0; i < renderMaterial.passCount; i++)
{
if (renderMaterial.SetPass(i))
{
Graphics.DrawMeshNow(m_renderObject, Matrix4x4.identity);
}
}
}
// Restore previous render state
Camera.SetupCurrent(previousCamera);
RenderTexture.active = previousRenderTexture;
}
/// <summary>
/// Render the emulated environment in the specified manner.
/// </summary>
/// <param name="renderTarget">Render target to render into.</param>
/// <param name="dataTypeToRender">Type of data to render (e.g. color camera, depth data).</param>
/// <param name="renderCameraPosition">Position (relative to emulated environment)
/// for the simulation camera to render from.</param>
/// <param name="renderCameraRotation">Rotation (relative to emulated environment)
/// for the simulation camera to render at.</param>
public static void RenderEmulatedEnvironment(RenderTexture renderTarget, EmulatedDataType dataTypeToRender,
Vector3 renderCameraPosition, Quaternion renderCameraRotation)
{
Material renderMaterial = null;
switch (dataTypeToRender)
{
case EmulatedDataType.DEPTH:
renderMaterial = m_emulatedDepthMaterial;
break;
case EmulatedDataType.COLOR_CAMERA:
renderMaterial = m_emulatedColorCameraMaterial;
break;
}
if (renderMaterial == null)
{
return;
}
// Set up camera
m_emulationCamera.transform.position = renderCameraPosition;
m_emulationCamera.transform.rotation = renderCameraRotation;
// Stash current render state
Camera previousCamera = Camera.current;
RenderTexture previousRenderTexture = RenderTexture.active;
// Set up new render state
Camera.SetupCurrent(m_emulationCamera);
Graphics.SetRenderTarget(renderTarget);
GL.Clear(true, true, Color.black);
// Render
if(m_renderObject != null)
{
for (int i = 0; i < renderMaterial.passCount; i++)
{
if (renderMaterial.SetPass(i))
{
Graphics.DrawMeshNow(m_renderObject, Matrix4x4.identity);
}
}
}
// Restore previous render state
Camera.SetupCurrent(previousCamera);
RenderTexture.active = previousRenderTexture;
}