Initial release of the Unity plugin.

PiperOrigin-RevId: 425947505
2022-02-02 20:17:13 +00:00
parent 8ec3dd97a4
commit 6de9eafa13
298 changed files with 20617 additions and 2 deletions
@@ -0,0 +1,77 @@
+// 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 UnityEditor;
+using UnityEngine;
+
+namespace Mujoco {
+
+[CustomEditor(typeof(MjGeom), true)]
+[CanEditMultipleObjects]
+public class MjGeomEditor : MjShapeComponentEditor {
+  public override void OnInspectorGUI() {
+    serializedObject.Update();
+    EditorGUILayout.PropertyField(serializedObject.FindProperty("Mass"));
+    EditorGUILayout.PropertyField(serializedObject.FindProperty("Density"));
+    serializedObject.ApplyModifiedProperties();
+    base.OnInspectorGUI();
+  }
+
+  [MenuItem("CONTEXT/MjGeom/Add mesh renderer")]
+  private static void AddMeshComponents(MenuCommand menuCommand) {
+    var geom = menuCommand.context as MjGeom;
+    geom.gameObject.AddComponent<MjMeshFilter>();
+    geom.gameObject.AddComponent<MeshRenderer>().material = new Material(Shader.Find("Diffuse"));
+  }
+
+  [MenuItem("CONTEXT/MjGeom/Convert to free object")]
+  private static void ConvertToFreeObject(MenuCommand menuCommand) {
+    var geom = menuCommand.context as MjGeom;
+    if (geom.GetComponentInParent<MjBody>()) {
+      Debug.LogError("This geom already has a Body parent.", geom.GetComponentInParent<MjBody>());
+      return;
+    }
+    var parent = new GameObject(geom.gameObject.name + " Body").transform;
+    var root = geom.transform.root;
+    if (root != geom.transform) {
+      parent.parent = geom.transform.parent;
+    }
+    parent.gameObject.AddComponent<MjBody>();
+    var joint = new GameObject("Free Joint").AddComponent<MjFreeJoint>();
+    joint.transform.parent = parent;
+    geom.transform.parent = parent;
+  }
+
+  [MenuItem("CONTEXT/Collider/Add a matching MuJoCo geom")]
+  private static void AddMatchingGeom(MenuCommand menuCommand) {
+    var collider = menuCommand.context as Collider;
+    collider.enabled = false;
+    var geom = collider.gameObject.AddComponent<MjGeom>();
+    if (collider as BoxCollider) {
+      geom.ShapeType = MjShapeComponent.ShapeTypes.Box;
+    } else if (collider as SphereCollider) {
+      geom.ShapeType = MjShapeComponent.ShapeTypes.Sphere;
+    } else if (collider as CapsuleCollider) {
+      geom.ShapeType = MjShapeComponent.ShapeTypes.Capsule;
+    } else if (collider as MeshCollider) {
+      geom.ShapeType = MjShapeComponent.ShapeTypes.Mesh;
+      ((MjMeshShape)geom.Shape).Mesh = ((MeshCollider)collider).sharedMesh;
+    } else {
+      Debug.LogError("Collider type not supported yet.", collider);
+      collider.enabled = true;
+      GameObject.DestroyImmediate(geom);
+    }
+  }
+}
+}