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 +1,65 @@
+// 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 MjBaseTendon : MjComponent {
+
+  public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_TENDON;
+
+  public SolverSettings Solver = SolverSettings.Default;
+
+  [Tooltip("Length at zero spring force. If negative, this resting length is computed at qpos0.")]
+  public float SpringLength = -1.0f;
+  public float Stiffness = 0.0f;
+  public float Damping = 0.0f;
+
+  // Tendon length.
+  public float Length { get; private set; }
+
+  // Create the implementation dependent Mjcf node.
+  protected abstract XmlElement ToMjcf(XmlDocument doc);
+
+  // Parse the implementation dependent details from the provided Mjcf node.
+  protected abstract void FromMjcf(XmlElement mjcf);
+
+  // Parse the component settings from an external Mjcf.
+  protected override void OnParseMjcf(XmlElement mjcf) {
+    Solver.FromMjcf(mjcf);
+    SpringLength = mjcf.GetFloatAttribute("springlength", defaultValue: -1.0f);
+    Stiffness = mjcf.GetFloatAttribute("damping");
+    Damping = mjcf.GetFloatAttribute("stiffness");
+    FromMjcf(mjcf);
+  }
+
+  // Generate implementation specific XML element.
+  protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
+    var mjcf = ToMjcf(doc);
+    Solver.ToMjcf(mjcf);
+    mjcf.SetAttribute("springlength", $"{SpringLength}");
+    mjcf.SetAttribute("damping", $"{Damping}");
+    mjcf.SetAttribute("stiffness", $"{Stiffness}");
+    return mjcf;
+  }
+
+  // Synchronize the state of the component.
+  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
+    Length = (float)data->ten_length[MujocoId];
+  }
+}
+}