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Edit hfield_data in Unity

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This commit is contained in:
Bálint Hodossy
2023-12-21 16:04:25 +00:00
parent 1028051d1a
commit 2c024164ea
2 changed files with 74 additions and 32 deletions
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unity/Runtime/Tools/MjcfGenerationContext.cs
+17 -8
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@@ -118,20 +118,29 @@ public class MjcfGenerationContext {
}
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);
if (hFieldComponent.ExportImage) {
mjcf.SetAttribute("content_type", "image/png");
mjcf.SetAttribute("file", hFieldComponent.FullHeightMapPath);
mjcf.SetAttribute("nrow", "0");
mjcf.SetAttribute("ncol", "0");
} else {
mjcf.SetAttribute("nrow", hFieldComponent.HeightMapLength.ToString());
mjcf.SetAttribute("ncol", hFieldComponent.HeightMapWidth.ToString());
}
var baseHeight = hFieldComponent.Terrain.transform.localPosition.y +
hFieldComponent.MinimumHeight;
var heightRange = Mathf.Clamp(
hFieldComponent.MaximumHeight - hFieldComponent.MinimumHeight, 0.00001f, Mathf.Infinity);
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}"));
$@"{hFieldComponent.HeightMapScale.x * (hFieldComponent.HeightMapLength - 1) / 2f} {
hFieldComponent.HeightMapScale.z * (hFieldComponent.HeightMapWidth - 1) / 2f} {
heightRange} {
baseHeight}"));
}
}
}