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 +1,58 @@
+// 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.Collections.Generic;
+using System.Linq;
+using UnityEditor;
+using UnityEditor.AnimatedValues;
+using UnityEngine;
+
+namespace Mujoco {
+
+  public static class MjHandles {
+
+    // Renders a visualization of an axis, anchored at the specified world space origin.
+    //
+    // Args:
+    //   origin: World space coordinates of the anchoring point for the visualization.
+    //   direction: Axis direction.
+    public static void Axis(Vector3 origin, Vector3 direction) {
+      var size = HandleUtility.GetHandleSize(origin) * 0.3f;
+      var axisEnd = origin + direction * size;
+      var capRotation = Quaternion.LookRotation(direction);
+      Handles.DrawLine(origin, axisEnd);
+      Handles.ConeHandleCap(0, axisEnd, capRotation, size, EventType.Repaint);
+    }
+
+    // Renders a visualization of linear (translational) limits, anchored at the specified world
+    // space origin.
+    //
+    // Args:
+    //   origin: World space coordinates of the anchoring point for the visualization.
+    //   lower: Distance from the origin below, where the limit expires.
+    //   upper: Distance from the origin above, where the limit expires.
+    //   axis: Axis along which the limit works.
+    public static void LinearLimits(Vector3 origin, float lower, float upper, Vector3 axis) {
+      if (upper > lower) {
+        var discRadius = HandleUtility.GetHandleSize(origin) * 0.7f;
+        var startPosition = origin + axis * lower;
+        var endPosition = origin + axis * upper;
+        Handles.DrawSolidDisc(startPosition, axis, discRadius);
+        Handles.DrawSolidDisc(endPosition, axis, discRadius);
+        Handles.DrawLine(origin, endPosition);
+      }
+    }
+  }
+}