Initial release of the Unity plugin.

PiperOrigin-RevId: 425947505

unity/Runtime/Components/MjBody.cs

@@ -0,0 +1,42 @@
+// 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 {
+
+  // The component represents the apex of hierarchy that defines a single rigid body.
+  public class MjBody : MjBaseBody {
+    protected override void OnParseMjcf(XmlElement mjcf) {
+      // Transform
+      transform.localPosition =
+          MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("pos", defaultValue: Vector3.zero));
+      transform.localRotation = MjEngineTool.UnityQuaternion(
+          mjcf.GetQuaternionAttribute("quat", defaultValue: MjEngineTool.MjQuaternionIdentity));
+    }
+
+    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
+      var mjcf = (XmlElement)doc.CreateElement("body");
+      MjEngineTool.PositionRotationToMjcf(mjcf, this);
+      return mjcf;
+    }
+
+    public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
+      transform.position = MjEngineTool.UnityVector3(data->xpos, MujocoId);
+      transform.rotation = MjEngineTool.UnityQuaternion(data->xquat, MujocoId);
+    }
+  }
+}