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);
}
static Material defaultMaterial = null; // used RuntimeURDF
private static void CreateDefaultMaterial()
{
Material material = defaultMaterial;
#if UNITY_EDITOR
if (!RuntimeUrdf.IsRuntimeMode())
{
material = RuntimeUrdf.AssetDatabase_LoadAssetAtPath <Material>(UrdfAssetPathHandler.GetMaterialAssetPath(DefaultMaterialName));
}
#endif
if (material != null)
{
return;
}
material = MaterialExtensions.CreateBasicMaterial();
MaterialExtensions.SetMaterialColor(material, new Color(0.33f, 0.33f, 0.33f, 0.0f));
// just keep it in memory while the app is running.
defaultMaterial = material;
#if UNITY_EDITOR
if (!RuntimeUrdf.IsRuntimeMode())
{
// create the material to be reused
RuntimeUrdf.AssetDatabase_CreateAsset(material, UrdfAssetPathHandler.GetMaterialAssetPath(DefaultMaterialName));
}
#endif
}
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);
}
}
}
