private static Material CreateMaterial(this Link.Visual.Material urdfMaterial) { if (urdfMaterial.name == "") { urdfMaterial.name = GenerateMaterialName(urdfMaterial); } var material = RuntimeUrdf.AssetDatabase_LoadAssetAtPath <Material>(UrdfAssetPathHandler.GetMaterialAssetPath(urdfMaterial.name)); if (material != null) { //material already exists return(material); } material = MaterialExtensions.CreateBasicMaterial(); if (urdfMaterial.color != null) { MaterialExtensions.SetMaterialColor(material, CreateColor(urdfMaterial.color)); } else if (urdfMaterial.texture != null) { material.mainTexture = LoadTexture(urdfMaterial.texture.filename); } RuntimeUrdf.AssetDatabase_CreateAsset(material, UrdfAssetPathHandler.GetMaterialAssetPath(urdfMaterial.name)); return(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) { Material material = defaultMaterial; #if UNITY_EDITOR if (!RuntimeUrdf.IsRuntimeMode()) { material = RuntimeUrdf.AssetDatabase_LoadAssetAtPath <Material>(UrdfAssetPathHandler.GetMaterialAssetPath(DefaultMaterialName)); } #endif SetMaterial(gameObject, material); } } }
public static Link.Visual ExportVisualData(this UrdfVisual urdfVisual) { UrdfGeometry.CheckForUrdfCompatibility(urdfVisual.transform, urdfVisual.geometryType); Link.Geometry geometry = UrdfGeometry.ExportGeometryData(urdfVisual.geometryType, urdfVisual.transform); Link.Visual.Material material = null; if ((geometry.mesh != null)) { material = UrdfMaterial.ExportMaterialData(urdfVisual.GetComponentInChildren <MeshRenderer>().sharedMaterial); } string visualName = urdfVisual.name == "unnamed" ? null : urdfVisual.name; return(new Link.Visual(geometry, visualName, UrdfOrigin.ExportOriginData(urdfVisual.transform), material)); }
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); }
/// <summary> /// Compares material information of two visuals /// </summary> /// <param name="source">First visual's material information to be compared</param> /// <param name="exported">Second visuals's material information to be compared</param> /// <param name="indent">Indent level in the log file</param> /// <returns></returns> private bool CompareMaterial(Link.Visual.Material source, Link.Visual.Material exported, int indent) { bool materialNameEqual = source.name == exported.name; linkLog.AppendLine(String.Format("{0}Name Equal:{1,6}", Indent(indent), materialNameEqual)); linkLog.AppendLine(String.Format("{0}Name: Source: {1,12} ", Indent(indent), source.name)); linkLog.AppendLine(String.Format("{0}Exported: {1,12}", Indent(indent), exported.name)); if (!materialNameEqual) { return(false); } if (source.color != null && exported.color != null) { for (int i = 0; i < 3; i++) { if (source.color.rgba[i] != exported.color.rgba[i]) { linkLog.AppendLine(String.Format("{0}Colors Equal: {1,6}", Indent(indent), "False")); linkLog.AppendLine(String.Format("{0}RGB Source: {1,5:F3} {2,5:F3} {3,5:F3} ", Indent(indent), source.color.rgba[0], source.color.rgba[1], source.color.rgba[2])); linkLog.AppendLine(String.Format("{0}RGB Exported: {1,5:F3} {2,5:F3} {3,5:F3}", Indent(indent), exported.color.rgba[0], exported.color.rgba[1], exported.color.rgba[2])); return(false); } } linkLog.AppendLine(String.Format("{0}Colors Equal: {1,6}", Indent(indent), "True")); linkLog.AppendLine(String.Format("{0}RGB :{1,5:F3} {2,5:F3} {3,5:F3} ", Indent(indent), source.color.rgba[0], source.color.rgba[1], source.color.rgba[2])); } else if (source.color == null && exported.color == null) { linkLog.AppendLine(String.Format("{0} Color nullity equality:{1,6}", Indent(indent), "True")); } else { linkLog.AppendLine(String.Format("{0} Color nullity equality:{1,6}", Indent(indent), "False")); return(false); } if (source.texture != null && exported.texture != null) { bool textureNameEqual = (source.texture.filename != exported.texture.filename); linkLog.AppendLine(String.Format("{0}Name Equal: {1,6}", Indent(indent), textureNameEqual)); linkLog.AppendLine(String.Format("{0}Name: Source:{1,12}", Indent(indent), source.texture.filename)); linkLog.AppendLine(String.Format("{0}Exported:{1,12}", Indent(indent), exported.texture.filename)); if (!textureNameEqual) { return(false); } } else if (source.texture == null && source.texture == null) { linkLog.AppendLine(String.Format("{0}Texture nullity equality:{1,6}", Indent(indent), "True")); } else { linkLog.AppendLine(String.Format("{0}Texture nullity equality:{1,6}", Indent(indent), "False")); return(false); } return(true); }