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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
View File
@@ -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
View File
@@ -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);
}
}
}