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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/Tools/MjEngineTool.cs
+35 -41
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@@ -29,7 +29,6 @@ public static class MjEngineTool {
private const int _elementsPerTransform = 7;
private static double[] _mjQuat = new double[4];
private static double[] _mjMat = new double[9];
private const int _MjSuccess = 1;
public static string Sanitize(string name) {
return name.Replace('/', '_');
@@ -71,25 +70,30 @@ public static class MjEngineTool {
}
// Stores a unity vector in a Mujoco target buffer.
// The vector coordinates will be stored at the 'entryIndex * 3' of the 'mjTarget' array.
public static unsafe void SetMjVector3(double* mjTarget, Vector3 unityVec, int entryIndex) {
var startOffset = entryIndex * _elementsPerPosition;
public static unsafe void SetMjVector3(double* mjTarget, Vector3 unityVec) {
var mjVec = MjVector3(unityVec);
mjTarget[startOffset] = mjVec[0];
mjTarget[startOffset + 1] = mjVec[1];
mjTarget[startOffset + 2] = mjVec[2];
mjTarget[0] = mjVec[0];
mjTarget[1] = mjVec[1];
mjTarget[2] = mjVec[2];
}
// Stores a unity quaternion in a Mujoco target buffer.
// The vector coordinates will be stored at the 'entryIndex * 4' of the 'mjTarget' array.
public static unsafe void SetMjQuaternion(
double* mjTarget, Quaternion unityQuat, int entryIndex) {
var startOffset = entryIndex * _elementsPerRotation;
public static unsafe void SetMjQuaternion(double* mjTarget, Quaternion unityQuat) {
var mjQuat = MjQuaternion(unityQuat);
mjTarget[startOffset] = mjQuat.w;
mjTarget[startOffset + 1] = mjQuat.x;
mjTarget[startOffset + 2] = mjQuat.y;
mjTarget[startOffset + 3] = mjQuat.z;
mjTarget[0] = mjQuat.w;
mjTarget[1] = mjQuat.x;
mjTarget[2] = mjQuat.y;
mjTarget[3] = mjQuat.z;
}
// Returns a pointer to an entry in the MuJoCo field that's 3*offsetEntry down the buffer.
public static unsafe double* MjVector3AtEntry(double* mjTarget, int offsetEntry) {
return mjTarget + offsetEntry * _elementsPerPosition;
}
// Returns a pointer to an entry in the MuJoCo field that's 4*offsetEntry down the buffer.
public static unsafe double* MjQuaternionAtEntry(double* mjTarget, int offsetEntry) {
return mjTarget + offsetEntry * _elementsPerRotation;
}
// Returns a pointer to an entry in the MuJoCo field that's 7*offsetEntry down the buffer.
@@ -97,6 +101,11 @@ public static class MjEngineTool {
return mjTarget + offsetEntry * _elementsPerTransform;
}
// Returns a pointer to an entry in the MuJoCo field that's 9*offsetEntry down the buffer.
public static unsafe double* MjMatrixAtEntry(double* mjTarget, int offsetEntry) {
return mjTarget + offsetEntry * _mjMat.Length;
}
// Stores a unity transform (position+rotation) in a Mujoco target buffer.
public static unsafe void SetMjTransform(
double* mjTarget, Vector3 unityVec, Quaternion unityQuat) {
@@ -117,10 +126,8 @@ public static class MjEngineTool {
}
// Converts a Mujoco vector to a Unity vector.
public static unsafe Vector3 UnityVector3(double* coords, int entryIndex) {
var startOffset = entryIndex * _elementsPerPosition;
return new Vector3(
(float)coords[startOffset], (float)coords[startOffset + 2], (float)coords[startOffset + 1]);
public static unsafe Vector3 UnityVector3(double* mjVector) {
return new Vector3((float)mjVector[0], (float)mjVector[2], (float)mjVector[1]);
}
// Converts a Mujoco vector to a Unity vector.
@@ -142,21 +149,9 @@ public static class MjEngineTool {
}
// Converts a Mujoco quaternion to a Unity quaternion.
// The quaternions is read starting at 'entryIndex * 4' of the 'coords' array.
public static Quaternion UnityQuaternion(double[] coords, int entryIndex) {
var startOffset = entryIndex * _elementsPerRotation;
public static unsafe Quaternion UnityQuaternion(double* mjQuat) {
return new Quaternion(
x:(float)coords[startOffset + 1], y:(float)coords[startOffset + 3],
z:(float)coords[startOffset + 2], w:(float)-coords[startOffset]);
}
// Converts a Mujoco quaternion to a Unity quaternion.
// The quaternion is read starting at 'entryIndex * 4' of the 'coords' array.
public static unsafe Quaternion UnityQuaternion(double* coords, int entryIndex) {
var startOffset = entryIndex * _elementsPerRotation;
return new Quaternion(
x:(float)coords[startOffset + 1], y:(float)coords[startOffset + 3],
z:(float)coords[startOffset + 2], w:(float)-coords[startOffset]);
x:(float)mjQuat[1], y:(float)mjQuat[3], z:(float)mjQuat[2], w:(float)-mjQuat[0]);
}
// Converts a Mujoco quaternion to a Unity quaternion.
@@ -166,17 +161,16 @@ public static class MjEngineTool {
}
// Converts a Mujoco matrix to a Unity quaternion.
// The matrix coordinates are at the 'entryIndex * 9' of the 'coords' array.
public static unsafe Quaternion UnityQuaternionFromMatrix(double* coords, int entryIndex) {
var startOffset = entryIndex * _mjMat.Length;
// The matrix coordinates are at the 'entryIndex * 9' of the 'mjMat' array.
public static unsafe Quaternion UnityQuaternionFromMatrix(double* mjMat) {
for (var j = 0; j < _mjMat.Length; ++j) {
_mjMat[j] = coords[startOffset + j];
_mjMat[j] = mjMat[j];
}
fixed (double* a = _mjQuat)
fixed (double* b = _mjMat) {
MujocoLib.mju_mat2Quat(a, b);
fixed (double* q_out = _mjQuat)
fixed (double* m_in = _mjMat) {
MujocoLib.mju_mat2Quat(q_out, m_in);
return UnityQuaternion(q_out);
}
return UnityQuaternion(_mjQuat, 0);
}
// Converts a Unity extents Vector3 to a Mujoco extents vector.