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Fix rendering of tendons

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This commit is contained in:
Balint-H
2024-03-04 13:41:50 +00:00
parent edc4db6898
commit 1baa478b64
1 changed files with 32 additions and 20 deletions
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unity/Runtime/Components/Tendons/MjSpatialTendon.cs
+32 -20
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@@ -15,7 +15,9 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices.ComTypes;
using System.Xml;
using UnityEditor;
using UnityEngine;
namespace Mujoco {
@@ -38,6 +40,9 @@ public class MjSpatialTendon : MjBaseTendon {
[Tooltip("In meters.")]
public float RangeUpper;
[Tooltip("Scales with UI points. 0.003 is mapped to 1 UI point.")]
public float Width = 0.003f;
public List<SpatialTendonEntry> ViapointsList = new List<SpatialTendonEntry>() {};
protected override void FromMjcf(XmlElement mjcf) {
@@ -50,6 +55,7 @@ public class MjSpatialTendon : MjBaseTendon {
ViapointsList.Add(viapoint);
}
var rangeValues = mjcf.GetFloatArrayAttribute("range", defaultValue: new float[] { 0, 0 });
Width = mjcf.GetFloatAttribute("width", defaultValue: 0.003f);
RangeLower = rangeValues[0];
RangeUpper = rangeValues[1];
}
@@ -100,31 +106,37 @@ public class MjSpatialTendon : MjBaseTendon {
throw new ArgumentException("Lower range value can't be bigger than Higher");
}
mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"{RangeLower} {RangeUpper}"));
mjcf.SetAttribute("width", MjEngineTool.MakeLocaleInvariant($"{Width}"));
return mjcf;
}
public unsafe void OnDrawGizmos() {
if (Application.isPlaying) {
var scene = MjScene.Instance;
var segmentCount = scene.Model->nwrap - 1;
var data = scene.Data;
int readHead = 0;
for (int i = 0; i < segmentCount; ++i) {
// Skip drawing of pulley:
if (data->wrap_obj[readHead] == -2 || data->wrap_obj[readHead + 1] == -2) {
readHead += 1;
} else {
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;
} else { // site or pulley
readHead += 1;
public unsafe void OnDrawGizmosSelected() {
if (Application.isPlaying && MjScene.InstanceExists) {
// Lifted from src/engine/engine_vis_visualize.c
var d = MjScene.Instance.Data;
var m = MjScene.Instance.Model;
int i = MujocoId;
double sz;
for (int j = d->ten_wrapadr[i]; j < d->ten_wrapadr[i] + d->ten_wrapnum[i] - 1; j++) {
if (d->wrap_obj[j] != -2 && d->wrap_obj[j + 1] != -2) {
// determine width: smaller for segments inside wrapping objects
if (d->wrap_obj[j] >= 0 && d->wrap_obj[j + 1] >= 0) {
sz = 0.5 * m->tendon_width[i];
} else {
sz = m->tendon_width[i];
}
var startPos = MjEngineTool.UnityVector3(d->wrap_xpos + 3 * j);
var endPos = MjEngineTool.UnityVector3(d->wrap_xpos + 3 * j + 3);
// Construct line
// At the moment we use handles instead of Gizmos (to be able to set width).
// This means rendering won't be performed outside editor; We could implement a "TendonRenderer" component
// (added using a context tool) that uses a LineRenderer. Then we could have nice features such as updating
// tendon colors or width based on length or tension. That would also allow in-build rendering.
Handles.color = Color.magenta; // Currently we ignore tendon material.
Handles.DrawLine(startPos, endPos, (float)sz/0.003f); // Handle width in UI points. We map the default width to 1 pixel.
}
}
}