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 +1,47 @@
+using System;
+using System.IO;
+using System.Runtime.InteropServices;
+using UnityEditor;
+using UnityEditor.PackageManager;
+using UnityEngine;
+
+namespace Mujoco {
+public class MujocoBinaryRetriever {
+
+  [InitializeOnLoadMethod]
+  static void SubscribeToEvent() {
+    // This causes the method to be invoked after the Editor registers the new list of packages.
+    Events.registeredPackages += RegisteredPackagesEventHandler;
+  }
+
+  static void RegisteredPackagesEventHandler(
+      PackageRegistrationEventArgs packageRegistrationEventArgs) {
+    var mujocoPath = packageRegistrationEventArgs.added[0].assetPath;
+    if (RuntimeInformation.IsOSPlatform(OSPlatform.OSX)) {
+      if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/mujoco.dylib") == null) {
+        File.Copy(
+            "/Applications/MuJoCo.app/Contents/Frameworks" +
+            "/MuJoCo.framework/Versions/Current/libmujoco.2.1.1.dylib",
+            mujocoPath + "/mujoco.dylib");
+        AssetDatabase.Refresh();
+      }
+    } else if (RuntimeInformation.IsOSPlatform(OSPlatform.Linux)) {
+      if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/libmujoco.so") == null) {
+        File.Copy(
+            Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) +
+            "/.mujoco/mujoco-2.1.1/lib/libmujoco_nogl.so.2.1.1",
+            mujocoPath + "/libmujoco.so");
+        AssetDatabase.Refresh();
+      }
+    } else {
+      if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/mujoco.dll") == null) {
+        File.Copy(
+            Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) +
+            "\\MuJoCo\\bin\\mujoco.dll",
+            mujocoPath + "\\mujoco.dll");
+        AssetDatabase.Refresh();
+      }
+    }
+  }
+}
+}