public static Link.Visual.Material ExportMaterialData(Material material)
{
if (material == null)
{
return(null);
}
if (!Materials.ContainsKey(material.name))
{
if (material.mainTexture != null)
{
Link.Visual.Material.Texture texture = ExportTextureData(material.mainTexture);
Materials[material.name] = new Link.Visual.Material(material.name, null, texture);
}
else if (!material.color.Equals(Color.clear))
{
Link.Visual.Material.Color color = new Link.Visual.Material.Color(ExportRgbaData(material));
Materials[material.name] = new Link.Visual.Material(material.name, color);
}
else
{
return(null);
}
}
return(new Link.Visual.Material(material.name));
}
private static Color CreateColor(Link.Visual.Material.Color urdfColor)
{
return(new Color(
(float)urdfColor.rgba[0],
(float)urdfColor.rgba[1],
(float)urdfColor.rgba[2],
(float)urdfColor.rgba[3]));
}