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.Linq;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+[Serializable]
+public class MjCapsuleShape : IMjShape {
+  public float Radius = 0.5f;
+  public float HalfHeight = 0.5f;
+  private const float _scaleTolerance = 1e-5f;
+
+  public void ToMjcf(XmlElement mjcf, Transform transform) {
+    if (Math.Abs(transform.lossyScale.x - transform.lossyScale.z) > _scaleTolerance) {
+      Debug.LogWarning(
+          $"{transform.name}: Capsule shapes require uniform scaling of XZ plane. Using the" +
+          " value of X and Y components.", transform);
+    }
+    mjcf.SetAttribute(
+        "size", $"{Radius * transform.lossyScale.x} {HalfHeight * transform.lossyScale.y}");
+  }
+
+  public void FromMjcf(XmlElement mjcf) {
+    var components = mjcf.GetFloatArrayAttribute("size", defaultValue: new float[] { 0.5f, 0.5f });
+    Radius = components[0];
+    HalfHeight = components[1];
+
+    Vector3 fromPoint, toPoint;
+    if (MjEngineTool.ParseFromToMjcf(mjcf, out fromPoint, out toPoint)) {
+      HalfHeight = 0.5f * (toPoint - fromPoint).magnitude;
+    }
+  }
+
+  public Tuple<Vector3[], int[]> BuildMesh() {
+    return MeshGenerators.BuildCapsule(radius: Radius, height: (HalfHeight + Radius) * 2.0f);
+  }
+
+  public Vector4 GetChangeStamp() {
+    return new Vector4(Radius, HalfHeight, 1, 0);
+  }
+
+  public void DebugDraw(Transform transform) {
+    Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, Vector3.one);
+    MjGizmos.DrawWireCapsule(
+        Vector3.zero, Radius * transform.lossyScale.x, 2 * HalfHeight * transform.lossyScale.y);
+  }
+}
+}