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Perform autolimit check on actuators

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This commit is contained in:
Bálint Hodossy
2024-01-11 16:29:08 +00:00
parent 3a00450d00
commit 66a0cd3b0b
1 changed files with 7 additions and 2 deletions
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unity/Runtime/Components/MjActuator.cs
+7 -2
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@@ -77,12 +77,17 @@ public class MjActuator : MjComponent {
} }
public void FromMjcf(XmlElement mjcf) { public void FromMjcf(XmlElement mjcf) {
CtrlLimited = mjcf.GetBoolAttribute("ctrllimited", defaultValue: false);
ForceLimited = mjcf.GetBoolAttribute("forcelimited", defaultValue: false);
CtrlRange = mjcf.GetVector2Attribute("ctrlrange", defaultValue: Vector2.zero); CtrlRange = mjcf.GetVector2Attribute("ctrlrange", defaultValue: Vector2.zero);
ForceRange = mjcf.GetVector2Attribute("forcerange", defaultValue: Vector2.zero); ForceRange = mjcf.GetVector2Attribute("forcerange", defaultValue: Vector2.zero);
LengthRange = mjcf.GetVector2Attribute("lengthrange", defaultValue: Vector2.zero); LengthRange = mjcf.GetVector2Attribute("lengthrange", defaultValue: Vector2.zero);
Gear = mjcf.GetFloatArrayAttribute("gear", defaultValue: new float[] { 1.0f }).ToList(); Gear = mjcf.GetFloatArrayAttribute("gear", defaultValue: new float[] { 1.0f }).ToList();
bool autolimits = mjcf.OwnerDocument.GetElementsByTagName("compiler")[0] is not XmlElement
compilerElement || compilerElement.GetBoolAttribute("autolimits", true);
CtrlLimited = mjcf.GetBoolAttribute("ctrllimited",
defaultValue: autolimits ? CtrlRange != Vector2.zero : false);
ForceLimited = mjcf.GetBoolAttribute("forcelimited",
defaultValue: autolimits ? ForceRange != Vector2.zero : false);
} }
} }