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Add multiccd option in Unity MJCF parser and writer

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This commit is contained in:
Bálint Hodossy
2022-11-18 13:10:06 +00:00
parent b13d6ae7bd
commit 5c79a9a8fe
1 changed files with 5 additions and 1 deletions
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unity/Runtime/Components/MjGlobalSettings.cs
+5 -1
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@@ -76,6 +76,7 @@ public struct MjcfOptionFlag {
public EnableDisableFlag Energy; public EnableDisableFlag Energy;
public EnableDisableFlag FwdInv; public EnableDisableFlag FwdInv;
public EnableDisableFlag SensorNoise; public EnableDisableFlag SensorNoise;
public EnableDisableFlag MultiCCD;
public static MjcfOptionFlag Default = new MjcfOptionFlag() { public static MjcfOptionFlag Default = new MjcfOptionFlag() {
Constraint = EnableDisableFlag.enable, Constraint = EnableDisableFlag.enable,
Equality = EnableDisableFlag.enable, Equality = EnableDisableFlag.enable,
@@ -92,7 +93,8 @@ public struct MjcfOptionFlag {
Override = EnableDisableFlag.disable, Override = EnableDisableFlag.disable,
Energy = EnableDisableFlag.disable, Energy = EnableDisableFlag.disable,
FwdInv = EnableDisableFlag.disable, FwdInv = EnableDisableFlag.disable,
SensorNoise = EnableDisableFlag.disable SensorNoise = EnableDisableFlag.disable,
MultiCCD = EnableDisableFlag.disable
}; };
public void FromMjcf(XmlElement mjcf) { public void FromMjcf(XmlElement mjcf) {
@@ -115,6 +117,7 @@ public struct MjcfOptionFlag {
Energy = mjcf.GetEnumAttribute<EnableDisableFlag>("energy", localDefault.Energy); Energy = mjcf.GetEnumAttribute<EnableDisableFlag>("energy", localDefault.Energy);
FwdInv = mjcf.GetEnumAttribute<EnableDisableFlag>("fwdinv", localDefault.FwdInv); FwdInv = mjcf.GetEnumAttribute<EnableDisableFlag>("fwdinv", localDefault.FwdInv);
SensorNoise = mjcf.GetEnumAttribute<EnableDisableFlag>("sensornoise", localDefault.SensorNoise); SensorNoise = mjcf.GetEnumAttribute<EnableDisableFlag>("sensornoise", localDefault.SensorNoise);
MultiCCD = mjcf.GetEnumAttribute<EnableDisableFlag>("multiccd", localDefault.MultiCCD);
} }
public void ToMjcf(XmlElement mjcf) { public void ToMjcf(XmlElement mjcf) {
@@ -134,6 +137,7 @@ public struct MjcfOptionFlag {
mjcf.SetAttribute("energy", Energy.ToString()); mjcf.SetAttribute("energy", Energy.ToString());
mjcf.SetAttribute("fwdinv", FwdInv.ToString()); mjcf.SetAttribute("fwdinv", FwdInv.ToString());
mjcf.SetAttribute("sensornoise", SensorNoise.ToString()); mjcf.SetAttribute("sensornoise", SensorNoise.ToString());
mjcf.SetAttribute("multiccd", MultiCCD.ToString());
} }
} }