private unsafe void ImportLights(int nlight)
{
// allocate array
objects = new GameObject[nlight];
// process objects
for (int i = 0; i < nlight; i++)
{
// get object name
StringBuilder name = new StringBuilder(100);
MJP.GetElementName(MJP.TElement.LIGHT, i, name, 100);
if (name.Length == 0)
{
name.Append("Light "); name.Append(i);
}
// create new GameObject, place under root
objects[i] = new GameObject(name.ToString());
Light lightComp = objects[i].AddComponent <Light>();
objects[i].transform.parent = root.transform;
// get MuJoCo object descriptor
MJP.TLight obj;
MJP.GetLight(i, &obj);
//GetLightState
// set mesh
lightComp.type = obj.directional != 0 ? LightType.Directional : LightType.Point;
lightComp.shadows = obj.castshadow == 0 ? LightShadows.None : LightShadows.Soft;
lightComp.color = new Color(obj.diffuse[0], obj.diffuse[1], obj.diffuse[2]);
lightComp.range = (float)Math.Sqrt(255 / obj.attenuation[2]);
float[] pos = { 0, 0, 0 };
float[] dir = { 0, 0, 0 };
fixed(float *ppos = pos)
fixed(float *pdir = dir)
MJP.GetLightState(i, 0, ppos, pdir);
objects[i].transform.localPosition = new Vector3(-pos[0], pos[2], -pos[1]);
objects[i].transform.rotation = Quaternion.LookRotation(new Vector3(-dir[0], dir[2], -dir[1]), Vector3.up);
}
}