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Showing content from https://docs.unity3d.com/Manual/urp/customize/inject-render-pass-via-script.html below:

Manual: Inject a render pass via scripting in URP

Scriptable Renderer Feature API reference for URP

Restrict a render pass to a scene area in URP

To inject a custom render pass into the rendering loop in the Universal Rendering Pipeline (URP), subscribe to one of the events in the RenderPipelineManager API and use the EnqueuePass API.

For example, you can render extra cameras to render texturesA special type of Texture that is created and updated at runtime. To use them, first create a new Render Texture and designate one of your Cameras to render into it. Then you can use the Render Texture in a Material just like a regular Texture. More info
See in Glossary, and use those textures for effects like planar reflections or surveillance cameraA component which creates an image of a particular viewpoint in your scene. The output is either drawn to the screen or captured as a texture. More info
See in Glossary views.

Note: RenderPipelineManager events trigger only if a camera is active.

Follow these steps:

1. Attach a new MonoBehaviour script to a GameObjectThe fundamental object in Unity scenes, which can represent characters, props, scenery, cameras, waypoints, and more. A GameObject’s functionality is defined by the Components attached to it. More info
   See in Glossary, then create an instance of a custom render pass. For example:

   public class InjectPass : MonoBehaviour
   {
       // Declare a custom render pass
       private ExampleRenderPass exampleRenderPass;
   
       private void OnEnable()
       {
           // Create the custom render pass
           exampleRenderPass = new ExampleRenderPass(settings);
       }
   }
   

   For more information about writing a render pass, refer to Write a render pass using the render graph system.

2. Subscribe a method to one of the events in the RenderPipelineManager API. For example:

       private void OnEnable()
       {
           ...
           // Call the InjectRenderPass method when the beginCameraRendering event is raised.
           RenderPipelineManager.beginCameraRendering += InjectRenderPass;            
       }
   

3. In the subscribed method, use the EnqueuePass API method to inject a custom render pass into the URP rendering loop.

   public class InjectPass : MonoBehaviour
   {
       ...
   
       // Add the method that Unity calls after the beginCameraRendering event is raised.
       // The method must accept the ScriptableRenderContext and Camera parameters the event delegate defines.
       private void InjectRenderPass(ScriptableRenderContext context, Camera cam)
       {
           ...
           // Use the EnqueuePass API to inject the custom render pass.
           cam.GetUniversalAdditionalCameraData().scriptableRenderer.EnqueuePass(exampleRenderPass);
       }
   }
   

4. Unsubscribe from the event in the OnDisable method. For example:

   public class InjectPass : MonoBehaviour
   {
       ...
   
       private void OnDisable()
       {
           RenderPipelineManager.beginCameraRendering -= InjectRenderPass;
       }
   }
   

• Write a render pass using the render graph system
• Custom render pass workflow

Scriptable Renderer Feature API reference for URP

Restrict a render pass to a scene area in URP

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