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);
}
