Initial release of the Unity plugin.

PiperOrigin-RevId: 425947505

unity/Runtime/Components/MjBoxShape.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 {
+
+[Serializable]
+public class MjBoxShape : IMjShape {
+  public Vector3 Extents = Vector3.one * 0.5f;
+
+  public void ToMjcf(XmlElement mjcf, Transform transform) {
+    var scaledExtents = MjEngineTool.MjExtents(Vector3.Scale(Extents, transform.lossyScale));
+    mjcf.SetAttribute("size", MjEngineTool.Vector3ToMjcf(scaledExtents));
+  }
+
+  public void FromMjcf(XmlElement mjcf) {
+    Extents = MjEngineTool.UnityExtents(
+        mjcf.GetVector3Attribute("size", defaultValue: Vector3.one * 0.5f));
+
+    Vector3 fromPoint, toPoint;
+    if (MjEngineTool.ParseFromToMjcf(mjcf, out fromPoint, out toPoint)) {
+      var extent = (toPoint - fromPoint).magnitude * 0.5f;
+      Extents = Vector3.one * extent;
+    }
+  }
+
+  public Tuple<Vector3[], int[]> BuildMesh() {
+    return MeshGenerators.BuildBox(extents: Extents);
+  }
+
+  public Vector4 GetChangeStamp() {
+    return Extents;
+  }
+
+  public void DebugDraw(Transform transform) {
+    Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, transform.lossyScale);
+    Gizmos.DrawWireCube(Vector3.zero, Extents * 2.0f);
+  }
+}
+}