Merge branch 'feature/unity-hmap-dyn' of https://github.com/Balint-H/mujoco into feature/unity-hmap-dyn

Merge in format from GitHub

unity/Runtime/Components/Shapes/MjHeightFieldShape.cs.meta

@@ -6,6 +6,6 @@ MonoImporter:
   defaultReferences: []
   executionOrder: 0
   icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
+  userData:
+  assetBundleName:
+  assetBundleVariant:

unity/Runtime/Tools/MjcfGenerationContext.cs

@@ -51,7 +51,7 @@ public class MjcfGenerationContext {
     }
     return _meshAssets[mesh];
   }
-  
+
   // Adds a mesh to the list of assets that will be added to the generated MJCF.
   // Returns the unique name that identifies this new asset.
   public string AddHeightFieldAsset(MjHeightFieldShape hField) {
@@ -115,15 +115,20 @@ public class MjcfGenerationContext {
     mjcf.SetAttribute("vertex", vertexPositionsStr.ToString());
   }
   
-   private static void GenerateHeightFieldMjcf(MjHeightFieldShape hFieldComponent, XmlElement mjcf) {
+  private static void GenerateHeightFieldMjcf(MjHeightFieldShape hFieldComponent, XmlElement mjcf) {
     mjcf.SetAttribute("nrow", "0");
     mjcf.SetAttribute("ncol", "0");
     mjcf.SetAttribute("content_type", "image/png");
     mjcf.SetAttribute("file", hFieldComponent.FullHeightMapPath);
     var baseHeight = hFieldComponent.terrain.transform.localPosition.y + hFieldComponent.MinimumHeight;
     var heightRange = Mathf.Clamp(hFieldComponent.MaximumHeight - hFieldComponent.MinimumHeight, 0.00001f, Mathf.Infinity);
-    mjcf.SetAttribute("size", MjEngineTool.MakeLocaleInvariant($"{hFieldComponent.HeightMapScale.x*hFieldComponent.HeightMapLength/2} {hFieldComponent.HeightMapScale.z * hFieldComponent.HeightMapWidth/2} {heightRange} {baseHeight}"));
-
+    mjcf.SetAttribute(
+      "size",
+      MjEngineTool.MakeLocaleInvariant(
+        $@"{hFieldComponent.HeightMapScale.x*hFieldComponent.HeightMapLength/2} 
+        {hFieldComponent.HeightMapScale.z * hFieldComponent.HeightMapWidth/2} 
+        {heightRange} 
+        {baseHeight}"));
   }
 }
 }