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Refactor: separate buffer indexing and swizzling.

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This also fixes a sensor data reading bug: previously, _sensorIndex was multiplied by 3 by MjEngineTool.

PiperOrigin-RevId: 451699887
Change-Id: I864bcbf8159857764854b25311a26ec5672125d9
This commit is contained in:
Tom Erez
2022-05-29 00:23:57 -07:00
committed by Copybara-Service
parent 5cc73c30bf
commit 02f300c762
16 changed files with 213 additions and 86 deletions
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unity/Runtime/Components/Bodies/MjBody.cs
+4 -2
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@@ -35,8 +35,10 @@ namespace Mujoco {
}
public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
transform.position = MjEngineTool.UnityVector3(data->xpos, MujocoId);
transform.rotation = MjEngineTool.UnityQuaternion(data->xquat, MujocoId);
transform.position = MjEngineTool.UnityVector3(
MjEngineTool.MjVector3AtEntry(data->xpos, MujocoId));
transform.rotation = MjEngineTool.UnityQuaternion(
MjEngineTool.MjQuaternionAtEntry(data->xquat, MujocoId));
}
}
}
unity/Runtime/Components/Bodies/MjMocapBody.cs
+4 -2
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@@ -35,8 +35,10 @@ namespace Mujoco {
}
public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
MjEngineTool.SetMjVector3(data->mocap_pos, transform.position, MujocoId);
MjEngineTool.SetMjQuaternion(data->mocap_quat, transform.rotation, MujocoId);
MjEngineTool.SetMjVector3(
MjEngineTool.MjVector3AtEntry(data->mocap_pos, MujocoId), transform.position);
MjEngineTool.SetMjQuaternion(
MjEngineTool.MjQuaternionAtEntry(data->mocap_quat, MujocoId), transform.rotation);
}
}
}
unity/Runtime/Components/Sensors/MjBodyQuaternionSensor.cs
+1 -1
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@@ -46,7 +46,7 @@ public class MjBodyQuaternionSensor : MjBaseSensor {
}
public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
SensorReading = MjEngineTool.UnityQuaternion(data->sensordata, _sensorAddress);
SensorReading = MjEngineTool.UnityQuaternion(data->sensordata + _sensorAddress);
}
}
}
unity/Runtime/Components/Sensors/MjBodyVectorSensor.cs
+1 -1
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@@ -71,7 +71,7 @@ public class MjBodyVectorSensor : MjBaseSensor {
}
public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
SensorReading = MjEngineTool.UnityVector3(data->sensordata, _sensorAddress);
SensorReading = MjEngineTool.UnityVector3(data->sensordata + _sensorAddress);
}
}
}
unity/Runtime/Components/Sensors/MjGeomQuaternionSensor.cs
+1 -1
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@@ -41,7 +41,7 @@ public class MjGeomQuaternionSensor : MjBaseSensor {
}
public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
SensorReading = MjEngineTool.UnityQuaternion(data->sensordata, _sensorAddress);
SensorReading = MjEngineTool.UnityQuaternion(data->sensordata + _sensorAddress);
}
}
}
unity/Runtime/Components/Sensors/MjGeomVectorSensor.cs
+1 -1
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@@ -57,7 +57,7 @@ public class MjGeomVectorSensor : MjBaseSensor {
}
public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
SensorReading = MjEngineTool.UnityVector3(data->sensordata, _sensorAddress);
SensorReading = MjEngineTool.UnityVector3(data->sensordata + _sensorAddress);
}
}
}
unity/Runtime/Components/Sensors/MjSiteQuaternionSensor.cs
+1 -1
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@@ -43,7 +43,7 @@ public class MjSiteQuaternionSensor : MjBaseSensor {
}
public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
SensorReading = MjEngineTool.UnityQuaternion(data->sensordata, _sensorAddress);
SensorReading = MjEngineTool.UnityQuaternion(data->sensordata + _sensorAddress);
}
}
}
unity/Runtime/Components/Sensors/MjSiteVectorSensor.cs
+1 -2
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@@ -69,8 +69,7 @@ public class MjSiteVectorSensor : MjBaseSensor {
}
public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
Vector3 mjReading = new Vector3((float)data->sensordata[_sensorAddress], (float)data->sensordata[_sensorAddress + 1], (float)data->sensordata[_sensorAddress + 2]);
SensorReading = MjEngineTool.UnityVector3(mjReading);
SensorReading = MjEngineTool.UnityVector3(data->sensordata + _sensorAddress);
}
}
}
unity/Runtime/Components/Shapes/MjGeom.cs
+12 -6
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@@ -48,8 +48,10 @@ public class MjGeom : MjShapeComponent {
var MjParent = MjHierarchyTool.FindParentComponent<MjBaseBody>(this);
if (MjParent != null) {
var comInParentFrame = new MjTransformation(
translation: MjEngineTool.UnityVector3(model->geom_pos, MujocoId),
rotation: MjEngineTool.UnityQuaternion(model->geom_quat, MujocoId));
translation: MjEngineTool.UnityVector3(
MjEngineTool.MjVector3AtEntry(model->geom_pos, MujocoId)),
rotation: MjEngineTool.UnityQuaternion(
MjEngineTool.MjQuaternionAtEntry(model->geom_quat, MujocoId)));
// We don't want to bother calculating global transform in mujoco from mjModel,
// so we'll assume it's the same as the Unity transfor (it's the beginning of simulation after
@@ -78,13 +80,17 @@ public class MjGeom : MjShapeComponent {
public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
if (ShapeType == ShapeTypes.Mesh) {
_geomInGlobalFrame.Set(
translation: MjEngineTool.UnityVector3(data->geom_xpos, MujocoId),
rotation: MjEngineTool.UnityQuaternionFromMatrix(data->geom_xmat, MujocoId));
translation: MjEngineTool.UnityVector3(
MjEngineTool.MjVector3AtEntry(data->geom_xpos, MujocoId)),
rotation: MjEngineTool.UnityQuaternionFromMatrix(
MjEngineTool.MjMatrixAtEntry(data->geom_xmat, MujocoId)));
var comInGlobalFrame = _geomInGlobalFrame * _comTransform;
comInGlobalFrame.StoreGlobal(transform);
} else {
transform.position = MjEngineTool.UnityVector3(data->geom_xpos, MujocoId);
transform.rotation = MjEngineTool.UnityQuaternionFromMatrix(data->geom_xmat, MujocoId);
transform.position = MjEngineTool.UnityVector3(
MjEngineTool.MjVector3AtEntry(data->geom_xpos, MujocoId));
transform.rotation = MjEngineTool.UnityQuaternionFromMatrix(
MjEngineTool.MjMatrixAtEntry(data->geom_xmat, MujocoId));
}
}
unity/Runtime/Components/Shapes/MjSite.cs
+4 -2
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@@ -40,8 +40,10 @@ public class MjSite : MjShapeComponent {
// Synchronize the state of the component.
public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
transform.position = MjEngineTool.UnityVector3(data->site_xpos, MujocoId);
transform.rotation = MjEngineTool.UnityQuaternionFromMatrix(data->site_xmat, MujocoId);
transform.position = MjEngineTool.UnityVector3(
MjEngineTool.MjVector3AtEntry(data->site_xpos, MujocoId));
transform.rotation = MjEngineTool.UnityQuaternionFromMatrix(
MjEngineTool.MjMatrixAtEntry(data->site_xmat, MujocoId));
}
public void OnDrawGizmosSelected() {
unity/Runtime/Components/Tendons/MjSpatialTendon.cs
+4 -2
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@@ -115,8 +115,10 @@ public class MjSpatialTendon : MjBaseTendon {
if (data->wrap_obj[readHead] == -2 || data->wrap_obj[readHead + 1] == -2) {
readHead += 1;
} else {
Vector3 start = MjEngineTool.UnityVector3(data->wrap_xpos, readHead);
Vector3 end = MjEngineTool.UnityVector3(data->wrap_xpos, readHead + 1);
Vector3 start = MjEngineTool.UnityVector3(
MjEngineTool.MjVector3AtEntry(data->wrap_xpos, readHead));
Vector3 end = MjEngineTool.UnityVector3(
MjEngineTool.MjVector3AtEntry(data->wrap_xpos, readHead + 1));
Gizmos.DrawLine(start, end);
if (data->wrap_obj[readHead + 1] >= 0) { // a wrap geom
readHead += 2;