Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
2022-03-15 14:04:44 +00:00
parent 175d25cd9f
commit 3577e2cf8b
304 changed files with 23906 additions and 1013 deletions
@@ -0,0 +1,42 @@
+// Copyright 2019 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+using System;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+  public class MjMocapBody : MjBaseBody {
+    protected override void OnParseMjcf(XmlElement mjcf) {
+      throw new Exception("parsing mocap bodies isn't supported.");
+    }
+
+    protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
+      var bodyId = MujocoLib.mj_name2id(model, (int)ObjectType, MujocoName);
+      MujocoId = model->body_mocapid[bodyId];
+    }
+
+    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
+      var mjcf = doc.CreateElement("body");
+      MjEngineTool.PositionRotationToMjcf(mjcf, this);
+      mjcf.SetAttribute("mocap", "true");
+      return mjcf;
+    }
+
+    public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
+      MjEngineTool.SetMjVector3(data->mocap_pos, transform.position, MujocoId);
+      MjEngineTool.SetMjQuaternion(data->mocap_quat, transform.rotation, MujocoId);
+    }
+  }
+}