Initial release of the Unity plugin.

PiperOrigin-RevId: 425947505

unity/Runtime/Components/MjBaseConstraint.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.Linq;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+  public abstract class MjBaseConstraint : MjComponent {
+    public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_EQUALITY;
+
+    protected abstract string _constraintName { get; }
+
+    public SolverImpedance SolverImpedanceSettings = SolverImpedance.Default;
+    public SolverReference SolverReferenceSettings = SolverReference.Default;
+
+    protected abstract void ToMjcf(XmlElement mjcf);
+    protected abstract void FromMjcf(XmlElement mjcf);
+
+    protected override void OnParseMjcf(XmlElement mjcf) {
+      FromMjcf(mjcf);
+      SolverReferenceSettings.FromMjcf(mjcf, "solref");
+      SolverImpedanceSettings.FromMjcf(mjcf, "solimp");
+    }
+
+    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
+      var mjcf = (XmlElement)doc.CreateElement(_constraintName);
+      ToMjcf(mjcf);
+      SolverReferenceSettings.ToMjcf(mjcf, "solref");
+      SolverImpedanceSettings.ToMjcf(mjcf, "solimp");
+      return mjcf;
+    }
+  }
+}