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 +1,63 @@
+// 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 {
+
+  public abstract class MjBaseJoint : MjComponent {
+    public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_JOINT;
+
+    public int QposAddress { get; private set; } = -1;
+    public int DofAddress { get; private set; } = -1;
+    // Joint will add Degrees of Freedom to this MjBaseBody.
+    // It's the MjBaseBody located immediately above this joint in the scene tree.
+    // NOTE: This property won't be initialized until runtime.
+    public MjBaseBody ParentBody { get; private set; }
+
+    // Joint will constrain the ParentBody to this MjBaseBody.
+    // It's the MjBaseBody located two levels above this joint in the scene tree.
+    // For some joints, such as MjFreeJoint, this can be null.
+    // NOTE: This property won't be initialized until runtime.
+    public MjBaseBody GrandParentBody { get; private set; }
+
+    // Return the bodies connected by this joint.
+    public void GetConnectedBodies(out MjBaseBody grandParent, out MjBaseBody parent) {
+      parent = MjHierarchyTool.FindParentComponent<MjBaseBody>(this);
+      if (parent != null) {
+        grandParent = MjHierarchyTool.FindParentComponent<MjBaseBody>(parent);
+      } else {
+        grandParent = null;
+      }
+    }
+
+    protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
+      QposAddress = model->jnt_qposadr[MujocoId];
+      DofAddress = model->jnt_dofadr[MujocoId];
+    }
+
+    protected override void Start() {
+      base.Start();
+      MjBaseBody grandparentBody, parentBody;
+      GetConnectedBodies(out grandparentBody, out parentBody);
+      GrandParentBody = grandparentBody;
+      ParentBody = parentBody;
+      if (ParentBody == null) {
+        throw new Exception("The joint doesn't have a ParentBody.");
+      }
+    }
+  }
+}