Initial release of the Unity plugin.

PiperOrigin-RevId: 425947505

unity/Runtime/Components/IMjShape.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.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+// Functionality that needs to be implemented for each shape type.
+public interface IMjShape {
+
+  // Generate the Mjcf representation of the shape. Infer the scale of the shape from the transform.
+  void ToMjcf(XmlElement mjcf, Transform transform);
+
+  // Parse the shape settings from the specified Mjcf node.
+  void FromMjcf(XmlElement mjcf);
+
+  // Build a parametric mesh (vertices, triangles) of this shape.
+  Tuple<Vector3[], int[]> BuildMesh();
+
+  // Generate a timestamp that can be used to quickly compare if the settings of a shape
+  // have changed.
+  // The timestamp should also allow to distinguish between different types of shapes.
+  //
+  // Because most of shapes use at most 3 floating point values as parameters, we will
+  // use the first 3 components of the returned Vector4 to store those values. We will store
+  // the id of the shape in the 4th component. That id will be derrived from MjShapeComponent.ShapeTypes
+  // enum.
+  Vector4 GetChangeStamp();
+
+  // Draw a debug gizmo for the shape.
+  void DebugDraw(Transform transform);
+}
+}