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Adding support to change the default material in MuJoCo according to … #1345

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Adding support to change the default material in MuJoCo according to … #1345

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17 changes: 16 additions & 1 deletion unity/Runtime/Importer/MjcfImporter.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
using System.Linq;
using System.Xml;
using UnityEngine;
using UnityEngine.Rendering;

namespace Mujoco {
// API for importing Mujoco XML files into Unity scenes.
Expand All @@ -28,7 +29,21 @@ public class MjcfImporter {
public static Material DefaultMujocoMaterial {
get {
if (_DefaultMujocoMaterial == null) {
_DefaultMujocoMaterial = new Material(Shader.Find("Standard"));
if (GraphicsSettings.renderPipelineAsset != null)
{
if (GraphicsSettings.renderPipelineAsset.GetType().ToString().Contains("HighDefinition"))
{
_DefaultMujocoMaterial = new Material(Shader.Find("HDRP/Lit"));
}
else if (GraphicsSettings.renderPipelineAsset.GetType().ToString().Contains("Universal"))
{
_DefaultMujocoMaterial = new Material(Shader.Find("Universal Render Pipeline/Lit"));
}
}
else
{
_DefaultMujocoMaterial = new Material(Shader.Find("Standard"));
}
}

return _DefaultMujocoMaterial;
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