[Unity plugin] Update to URP for materials

unity/Editor/Components/MjMouseSpring.cs

@@ -26,15 +26,15 @@ namespace Mujoco {
   public class MjMouseSpring : Editor {
     private bool _lastShiftKeyState = false;
 
+    private int _controlID = -1;
     private Plane _mouseDragPlane;
     private Vector3 _mouseDragCurrentPoint = Vector3.negativeInfinity;
 
     private Color _translucentRed = new Color(1, 0, 0, 0.1f);
 
     public void OnDisable() {
       // If we're still the hot control at this stage, we need to release.
-      int uniqueID = GUIUtility.GetControlID(FocusType.Passive);
-      if (GUIUtility.hotControl == uniqueID) {
+      if (GUIUtility.hotControl == _controlID) {
         GUIUtility.hotControl = 0;
       }
     }
@@ -86,6 +86,7 @@ public unsafe void OnSceneGUI() {
 
       // Cache the hot control to determine whether we're currently capturing mouse input.
       int uniqueID = GUIUtility.GetControlID(FocusType.Passive);
+      _controlID = uniqueID;
 
       // Mouse spring is active if the control key is held down and the user is dragging the
       // left mouse button, or if we're already in the process of capturing mouse input.

unity/Editor/Importer/MjImporterWithAssets.cs

@@ -153,7 +153,7 @@ private void ParseMesh(XmlElement parentNode) {
     var assetReferenceName = MjEngineTool.Sanitize(unsanitizedAssetReferenceName);
     var sourceFilePath = Path.Combine(_sourceMeshesDir, fileName);
 
-    if (Path.GetExtension(sourceFilePath) != ".obj" && Path.GetExtension(sourceFilePath) != ".stl") {
+    if (Path.GetExtension(sourceFilePath).ToLower() != ".obj" && Path.GetExtension(sourceFilePath).ToLower() != ".stl") {
       throw new NotImplementedException("Type of mesh file not yet supported. " +
                                         "Please convert to binary STL or OBJ. " +
                                         $"Attempted to load: {sourceFilePath}");
@@ -194,11 +194,11 @@ private void ParseMesh(XmlElement parentNode) {
   private void CopyMeshAndRescale(
       string sourceFilePath, string targetFilePath, Vector3 scale) {
     var originalMeshBytes = File.ReadAllBytes(sourceFilePath);
-    if (Path.GetExtension(sourceFilePath) == ".stl") {
+    if (Path.GetExtension(sourceFilePath).ToLower() == ".stl") {
       var mesh = StlMeshParser.ParseBinary(originalMeshBytes, scale);
       var rescaledMeshBytes = StlMeshParser.SerializeBinary(mesh);
       File.WriteAllBytes(targetFilePath, rescaledMeshBytes);
-    } else if (Path.GetExtension(sourceFilePath) == ".obj") {
+    } else if (Path.GetExtension(sourceFilePath).ToLower() == ".obj") {
       ObjMeshImportUtility.CopyAndScaleOBJFile(sourceFilePath, targetFilePath, scale);
     } else {
       throw new NotImplementedException($"Extension {Path.GetExtension(sourceFilePath)} " +
@@ -227,7 +227,7 @@ private void ParseMaterial(XmlElement parentNode) {
         AssetDatabase.GUIDToAssetPath(
           AssetDatabase.FindAssets(_semiTransparentMaterialName)[0])) as Material);
     } else {
-      material = new Material(Shader.Find("Standard"));
+      material = new Material(MjcfImporter.GetLitShader());
     }
     material.SetColor("_Color", albedo);
     material.SetFloat("_Metallic", reflectance);
@@ -284,7 +284,7 @@ private void ResolveOrCreateMaterial(MeshRenderer renderer, XmlElement parentNod
               AssetDatabase.GUIDToAssetPath(
                 AssetDatabase.FindAssets(_semiTransparentMaterialName)[0])) as Material);
         } else {
-          material = new Material(Shader.Find("Standard"));
+          material = new Material(MjcfImporter.GetLitShader());
         }
         material.color = new Color(rgba[0], rgba[1], rgba[2], rgba[3]);
         // We use the geom's name, guaranteed to be unique, as the asset name.

unity/Runtime/Importer/MjcfImporter.cs

@@ -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.
@@ -28,7 +29,7 @@ public class MjcfImporter {
   public static Material DefaultMujocoMaterial {
     get {
       if (_DefaultMujocoMaterial == null) {
-        _DefaultMujocoMaterial = new Material(Shader.Find("Standard"));
+        _DefaultMujocoMaterial = new Material(GetLitShader());
       }
 
       return _DefaultMujocoMaterial;
@@ -446,5 +447,24 @@ private GameObject CreateGameObjectWithCamera(
     camera.nearClipPlane = 0.01f;  // MuJoCo default, TODO(etom): get from visual/map/znear
     return gameObject;
   }
+
+  public static Shader GetLitShader() {
+    // Built-in pipeline is deprecated, we'll default to URP
+    string shaderName = "Universal Render Pipeline/Lit";
+
+    if (GraphicsSettings.currentRenderPipeline != null) {
+      string pipelineType = GraphicsSettings.currentRenderPipeline.GetType().ToString();
+
+      if (pipelineType.Contains("Universal")) {
+        shaderName =
+            "Universal Render Pipeline/Lit";
+      } else if (pipelineType.Contains("HighDefinition")) {
+        shaderName = "HDRP/Lit";
+      }
+    }
+    Shader shader = Shader.Find(shaderName);
+    return shader;
+  }
 }
+
 }

unity/Runtime/Resources/mujoco_semitransparent_template.mat

@@ -2,23 +2,38 @@
 %TAG !u! tag:unity3d.com,2011:
 --- !u!21 &2100000
 Material:
-  serializedVersion: 6
+  serializedVersion: 8
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_Name: mujoco_semitransparent_template
-  m_Shader: {fileID: 46, guid: 0000000000000000f000000000000000, type: 0}
-  m_ShaderKeywords: 
+  m_Shader: {fileID: 4800000, guid: 933532a4fcc9baf4fa0491de14d08ed7, type: 3}
+  m_Parent: {fileID: 0}
+  m_ModifiedSerializedProperties: 0
+  m_ValidKeywords:
+  - _ALPHAPREMULTIPLY_ON
+  - _SPECULAR_SETUP
+  - _SURFACE_TYPE_TRANSPARENT
+  m_InvalidKeywords: []
   m_LightmapFlags: 4
   m_EnableInstancingVariants: 0
   m_DoubleSidedGI: 0
-  m_CustomRenderQueue: -1
-  stringTagMap: {}
-  disabledShaderPasses: []
+  m_CustomRenderQueue: 3000
+  stringTagMap:
+    RenderType: Transparent
+  disabledShaderPasses:
+  - MOTIONVECTORS
+  - DepthOnly
+  - SHADOWCASTER
+  m_LockedProperties:
   m_SavedProperties:
     serializedVersion: 3
     m_TexEnvs:
+    - _BaseMap:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
     - _BumpMap:
         m_Texture: {fileID: 0}
         m_Scale: {x: 1, y: 1}
@@ -55,23 +70,77 @@ Material:
         m_Texture: {fileID: 0}
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
+    - _SpecGlossMap:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    - unity_Lightmaps:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    - unity_LightmapsInd:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    - unity_ShadowMasks:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    m_Ints: []
     m_Floats:
+    - _AddPrecomputedVelocity: 0
+    - _AlphaClip: 0
+    - _AlphaToMask: 0
+    - _Blend: 0
+    - _BlendModePreserveSpecular: 1
+    - _BlendOp: 0
     - _BumpScale: 1
+    - _ClearCoatMask: 0
+    - _ClearCoatSmoothness: 0
+    - _Cull: 2
     - _Cutoff: 0.5
+    - _DetailAlbedoMapScale: 1
     - _DetailNormalMapScale: 1
-    - _DstBlend: 0
+    - _DstBlend: 10
+    - _DstBlendAlpha: 10
+    - _EnvironmentReflections: 1
     - _GlossMapScale: 1
     - _Glossiness: 0.5
     - _GlossyReflections: 1
     - _Metallic: 0
     - _Mode: 0
     - _OcclusionStrength: 1
     - _Parallax: 0.02
+    - _QueueOffset: 0
+    - _ReceiveShadows: 1
+    - _SampleGI: 0
+    - _Smoothness: 0.5
     - _SmoothnessTextureChannel: 0
     - _SpecularHighlights: 1
     - _SrcBlend: 1
+    - _SrcBlendAlpha: 1
+    - _Surface: 1
     - _UVSec: 0
-    - _ZWrite: 1
+    - _WorkflowMode: 0
+    - _XRMotionVectorsPass: 1
+    - _ZWrite: 0
     m_Colors:
+    - _BaseColor: {r: 1, g: 1, b: 1, a: 1}
     - _Color: {r: 1, g: 1, b: 1, a: 1}
     - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
+    - _SpecColor: {r: 0.2, g: 0.2, b: 0.2, a: 1}
+  m_BuildTextureStacks: []
+  m_AllowLocking: 1
+--- !u!114 &3406183217315982671
+MonoBehaviour:
+  m_ObjectHideFlags: 11
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 0}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: d0353a89b1f911e48b9e16bdc9f2e058, type: 3}
+  m_Name:
+  m_EditorClassIdentifier: Unity.RenderPipelines.Universal.Editor::UnityEditor.Rendering.Universal.AssetVersion
+  version: 10