private static Material CreateMaterial(this Link.Visual.Material urdfMaterial)
{
if (urdfMaterial.name == "")
{
urdfMaterial.name = GenerateMaterialName(urdfMaterial);
}
var material = AssetDatabase.LoadAssetAtPath <Material>(UrdfAssetPathHandler.GetMaterialAssetPath(urdfMaterial.name));
if (material != null) //material already exists
{
return(material);
}
material = InitializeMaterial();
if (urdfMaterial.color != null)
{
material.color = CreateColor(urdfMaterial.color);
}
else if (urdfMaterial.texture != null)
{
material.mainTexture = LoadTexture(urdfMaterial.texture.filename);
}
AssetDatabase.CreateAsset(material, UrdfAssetPathHandler.GetMaterialAssetPath(urdfMaterial.name));
return(material);
}
public Link.Visual ExportVisualData()
{
CheckForUrdfCompatibility();
Link.Geometry geometry = UrdfGeometry.ExportGeometryData(geometryType, transform);
Link.Visual.Material material = null;
if (!(geometry.mesh != null && geometry.mesh.filename.ToLower().EndsWith(".dae"))) //Collada files contain their own materials
{
material = UrdfMaterial.ExportMaterialData(gameObject.GetComponentInChildren <MeshRenderer>().sharedMaterial);
}
string visualName = gameObject.name == "unnamed" ? null : gameObject.name;
return(new Link.Visual(geometry, visualName, UrdfOrigin.ExportOriginData(transform), material));
}
public static void SetUrdfMaterial(GameObject gameObject, Link.Visual.Material urdfMaterial)
{
if (urdfMaterial != null)
{
var material = CreateMaterial(urdfMaterial);
SetMaterial(gameObject, material);
}
else
{
//If the URDF material is not defined, and the renderer is missing
//a material, assign the default material.
Renderer renderer = gameObject.GetComponentInChildren <Renderer>();
if (renderer != null && renderer.sharedMaterial == null)
{
var defaultMaterial = AssetDatabase.LoadAssetAtPath <Material>(UrdfAssetPathHandler.GetMaterialAssetPath(DefaultMaterialName));
SetMaterial(gameObject, defaultMaterial);
}
}
}
private static string GenerateMaterialName(Link.Visual.Material urdfMaterial)
{
var materialName = "";
if (urdfMaterial.color != null)
{
materialName = "rgba-";
for (var i = 0; i < urdfMaterial.color.rgba.Length; i++)
{
materialName += urdfMaterial.color.rgba[i];
if (i != urdfMaterial.color.rgba.Length - 1)
{
materialName += "-";
}
}
}
else if (urdfMaterial.texture != null)
{
materialName = "texture-" + Path.GetFileName(urdfMaterial.texture.filename);
}
return(materialName);
}