unity stand alone build support + unity editor mesh duplicate

unity/Editor/Components/AbsoluteValuePropertyEditor.cs

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-
+#if UNITY_EDITOR
 using UnityEditor;
 using UnityEngine;
 
@@ -24,3 +24,4 @@ public override void OnGUI(Rect position, SerializedProperty property, GUIConten
     }
   }
 }
+#endif

unity/Editor/Components/MjActuatorEditor.cs

@@ -11,6 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
+#if UNITY_EDITOR
 
 using UnityEditor;
 using UnityEngine;
@@ -197,3 +198,4 @@ private void EditMuscleParams(MjActuator.CustomParameters parameters) {
     }
   }
 }
+#endif

unity/Editor/Components/MjGeomEditor.cs

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-
+#if UNITY_EDITOR
 using UnityEditor;
 using UnityEngine;
 
@@ -78,3 +78,4 @@ private static void AddMatchingGeom(MenuCommand menuCommand) {
   }
 }
 }
+#endif

unity/Editor/Components/MjHandles.cs

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-
+#if UNITY_EDITOR
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -56,3 +56,4 @@ public static void LinearLimits(Vector3 origin, float lower, float upper, Vector
     }
   }
 }
+#endif

unity/Editor/Components/MjHingeJointEditor.cs

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-
+#if UNITY_EDITOR
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -39,3 +39,4 @@ public static void DrawHandles(MjHingeJoint joint) {
     }
   }
 }
+#endif

unity/Editor/Components/MjShapeComponentEditor.cs

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-
+#if UNITY_EDITOR
 using System;
 using System.Collections;
 using System.Collections.Generic;
@@ -36,3 +36,4 @@ public override void OnInspectorGUI() {
   }
 }
 }
+#endif

unity/Editor/Components/MjSlideJointEditor.cs

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-
+#if UNITY_EDITOR
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -46,3 +46,4 @@ public static void DrawHandles(MjSlideJoint joint) {
     }
   }
 }
+#endif

unity/Editor/Importer/MjImporterEditorWindow.cs

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-
+#if UNITY_EDITOR
 using System.IO;
 using UnityEditor;
 using UnityEngine;
@@ -30,3 +30,4 @@ public static void Apply() {
   }
 }
 }
+#endif

unity/Editor/Importer/MjImporterWithAssets.cs

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-
+#if UNITY_EDITOR
 using System;
 using System.Collections;
 using System.Collections.Generic;
@@ -285,3 +285,4 @@ private void ResolveOrCreateMaterial(MeshRenderer renderer, XmlElement parentNod
   }
 }
 }
+#endif

unity/Editor/Importer/StlMeshImporter.cs

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-
+#if UNITY_EDITOR
 using System;
 using System.IO;
 using System.Linq;
@@ -34,3 +34,4 @@ public override void OnImportAsset(AssetImportContext ctx) {
   }
 }
 }
+#endif

unity/Editor/Importer/StlMeshParser.cs

@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-
+#if UNITY_EDITOR
 using System;
 using System.Collections.Generic;
 using System.IO;
@@ -125,3 +125,4 @@ public static byte[] SerializeBinary(Mesh mesh) {
   }
 }
 }
+#endif

unity/Runtime/Bindings/MujocoBinaryRetriever.cs

@@ -12,12 +12,20 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#if UNITY_EDITOR
+
+
 using System;
 using System.IO;
 using System.Runtime.InteropServices;
+////using UnityEditor.PackageManager;
+using UnityEngine;
+
+
 using UnityEditor;
 using UnityEditor.PackageManager;
-using UnityEngine;
+
+
 
 namespace Mujoco {
 public class MujocoBinaryRetriever {
@@ -59,3 +67,4 @@ static void RegisteredPackagesEventHandler(
   }
 }
 }
+#endif

unity/Runtime/Components/Shapes/MjMeshFilter.cs

@@ -18,61 +18,75 @@
 using System.Linq;
 using UnityEngine;
 
-namespace Mujoco {
+namespace Mujoco
+{
 
-[RequireComponent(typeof(MjShapeComponent))]
-[RequireComponent(typeof(MeshFilter))]
-[ExecuteInEditMode]
-public class MjMeshFilter : MonoBehaviour {
-  private MjShapeComponent _geom;
-  private Vector4 _shapeChangeStamp;
-  private MeshFilter _meshFilter;
+    [RequireComponent(typeof(MjShapeComponent))]
+    [RequireComponent(typeof(MeshFilter))]
+    [ExecuteInEditMode]
+    public class MjMeshFilter : MonoBehaviour
+    {
+        private MjShapeComponent _geom;
+        private Vector4 _shapeChangeStamp;
+        private MeshFilter _meshFilter;
 
-  protected void Awake() {
-    _geom = GetComponent<MjShapeComponent>();
-    _shapeChangeStamp = new Vector4(0, 0, 0, -1);
-    _meshFilter = GetComponent<MeshFilter>();
-  }
+        protected void Awake()
+        {
+            _geom = GetComponent<MjShapeComponent>();
+            _shapeChangeStamp = new Vector4(0, 0, 0, -1);
+            _meshFilter = GetComponent<MeshFilter>();
+        }
 
-  protected void Update() {
-    var currentChangeStamp = _geom.GetChangeStamp();
-    if ((_shapeChangeStamp - currentChangeStamp).magnitude <= 1e-3f) {
-      return;
-    }
+        protected void Update()
+        {
+            var currentChangeStamp = _geom.GetChangeStamp();
+            if ((_shapeChangeStamp - currentChangeStamp).magnitude <= 1e-3f)
+            {
+                return;
+            }
 
-    _shapeChangeStamp = currentChangeStamp;
-    Tuple<Vector3[], int[]> meshData = _geom.BuildMesh();
+            _shapeChangeStamp = currentChangeStamp;
+            Tuple<Vector3[], int[]> meshData = _geom.BuildMesh();
 
-    if (meshData == null) {
-      throw new ArgumentException("Unsupported geom shape detected");
-    }
+            if (meshData == null)
+            {
+                throw new ArgumentException("Unsupported geom shape detected");
+            }
 
-    DisposeCurrentMesh();
+            if (Application.isPlaying)
+            {
+                DisposeCurrentMesh();
 
-    var mesh = new Mesh();
-    // Name this mesh to easily track resources in Unity analysis tools.
-    mesh.name = $"Mujoco mesh for {gameObject.name}, id:{mesh.GetInstanceID()}";
-    _meshFilter.sharedMesh = mesh;
-    mesh.vertices = meshData.Item1;
-    mesh.triangles = meshData.Item2;
-    mesh.RecalculateNormals();
-    mesh.RecalculateTangents();
-  }
+            }
+            //DisposeCurrentMesh();
 
-  protected void OnDestroy() {
-    DisposeCurrentMesh();
-  }
+            var mesh = new Mesh();
+            // Name this mesh to easily track resources in Unity analysis tools.
+            mesh.name = $"Mujoco mesh for {gameObject.name}, id:{mesh.GetInstanceID()}";
+            _meshFilter.sharedMesh = mesh;
+            mesh.vertices = meshData.Item1;
+            mesh.triangles = meshData.Item2;
+            mesh.RecalculateNormals();
+            mesh.RecalculateTangents();
+        }
 
-  // Dynamically created meshes with no references are only disposed automatically on scene changes.
-  // This prevents resource leaks in case the host environment doesn't reload scenes.
-  private void DisposeCurrentMesh() {
-    if (_meshFilter.sharedMesh != null) {
+        protected void OnDestroy()
+        {
+            DisposeCurrentMesh();
+        }
+
+        // Dynamically created meshes with no references are only disposed automatically on scene changes.
+        // This prevents resource leaks in case the host environment doesn't reload scenes.
+        private void DisposeCurrentMesh()
+        {
+            if (_meshFilter.sharedMesh != null)
+            {
 #if UNITY_EDITOR
-      DestroyImmediate(_meshFilter.sharedMesh);
+                DestroyImmediate(_meshFilter.sharedMesh);
 #else
       Destroy(_meshFilter.sharedMesh);
 #endif
+            }
+        }
     }
-  }
-}
 }