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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/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);
}
}
}