Initial release of the Unity plugin.

PiperOrigin-RevId: 425947505

unity/Editor/Components/MjSlideJointEditor.cs

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+// 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 {
+
+  [CustomEditor(typeof(MjSlideJoint))]
+  public class MjSlideJointEditor : Editor {
+    private MjSlideJoint _joint;
+
+    protected virtual void OnEnable() {
+      _joint = (MjSlideJoint)target;
+    }
+
+    protected virtual void OnSceneGUI() {
+      DrawHandles(_joint);
+    }
+
+    // Draw the handles for the slide joint.
+    public static void DrawHandles(MjSlideJoint joint) {
+      // Draw the handles.
+      if (joint.Settings.Solver.Limited) {
+        Handles.color = Color.blue;
+        MjHandles.LinearLimits(joint.transform.position, joint.RangeLower, joint.RangeUpper,
+                                   joint.SlideAxis);
+      }
+      Handles.color = Color.yellow;
+      MjHandles.Axis(joint.transform.position, joint.SlideAxis);
+    }
+  }
+}