// import textures
private unsafe void ImportTextures(int ntexture)
{
// allocate array, find existing
textures = new Texture2D[ntexture];
Object[] alltextures = Resources.FindObjectsOfTypeAll(typeof(Texture2D));
// process textures
for (int i = 0; i < ntexture; i++)
{
// get texture name
StringBuilder name = new StringBuilder(100);
MJP.GetElementName(MJP.TElement.TEXTURE, i, name, 100);
string texname = fileName + "_" + name.ToString();
// get texture descriptor and save
MJP.TTexture tex;
MJP.GetTexture(i, &tex);
// MuJoCo cube texture: use only top piece
if (tex.cube > 0)
{
tex.height = tex.width;
}
// find existing texture
foreach (Object texx in alltextures)
{
if (texx.name == texname)
{
textures[i] = (Texture2D)texx;
// resize if different
if (textures[i].width != tex.width || textures[i].height != tex.height)
{
textures[i].Resize(tex.width, tex.height);
}
break;
}
}
// not found: create new texture
if (textures[i] == null)
{
textures[i] = new Texture2D(tex.width, tex.height);
}
// copy array
Color32[] color = new Color32[tex.width * tex.height];
for (int k = 0; k < tex.width * tex.height; k++)
{
color[k].r = tex.rgb[3 * k];
color[k].g = tex.rgb[3 * k + 1];
color[k].b = tex.rgb[3 * k + 2];
color[k].a = 255;
}
// load data and apply
textures[i].SetPixels32(color);
textures[i].Apply();
// create asset in database if not aleady there
if (!AssetDatabase.Contains(textures[i]))
{
AssetDatabase.CreateAsset(textures[i], "Assets/Textures/" + texname + ".asset");
}
}
AssetDatabase.Refresh();
}
