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 +1,108 @@
+// 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 base class for all components that represent Mujoco scene nodes.
+[DisallowMultipleComponent]
+public abstract class MjComponent : MonoBehaviour {
+
+  // Unique name assigned to each Mujoco component.
+  public string MujocoName { get; private set; }
+
+  // Id of the geom in Mujoco's internal data structures.
+  public int MujocoId { get; protected set; }
+
+  public abstract MujocoLib.mjtObj ObjectType { get; }
+
+  // Some components (Inertial frames for example) cannot have the name attribute
+  // added to the generated Mjcf.
+  protected virtual bool _suppressNameAttribute => false;
+
+  // Binds this component to the compiled Mujoco model.
+  public unsafe void BindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
+    MujocoId = MujocoLib.mj_name2id(model, (int)ObjectType, MujocoName);
+    if (MujocoId == -1 && !_suppressNameAttribute) {
+      throw new NullReferenceException($"element name {MujocoName} not found");
+    }
+    OnBindToRuntime(model, data);
+  }
+
+  // Generates the XML element that corresponds to this scene node.
+  public XmlElement GenerateMjcf(string name, XmlDocument doc) {
+    MujocoName = name;
+
+    var mjcf = OnGenerateMjcf(doc);
+    if (!_suppressNameAttribute) {
+      mjcf.SetAttribute("name", name);
+    }
+
+    return mjcf;
+  }
+
+  // Parse the component settings from an external Mjcf.
+  public void ParseMjcf(XmlElement mjcf) {
+    // I would like to preserve the naming dualism - external mechanisms
+    // calling a method, and the internal implementation implementing
+    // the method with an "On" prefix.
+    OnParseMjcf(mjcf);
+  }
+
+  // Parse the component settings from an external Mjcf.
+  protected abstract void OnParseMjcf(XmlElement mjcf);
+
+  // Generate implementation specific XML element.
+  protected abstract XmlElement OnGenerateMjcf(XmlDocument doc);
+
+  // Perform bind time initialization of the component.
+  protected virtual unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {}
+
+  // Synchronize the state of the component.
+  public virtual unsafe void OnSyncState(MujocoLib.mjData_* data) {}
+
+  private bool _sceneExcludesMe = false;
+
+  protected unsafe virtual void Start() {
+    if (MjScene.Instance == null) {
+      throw new Exception("MuJoCo Scene not found");
+    }
+    if (MjScene.Instance.Model != null) {
+      _sceneExcludesMe = true;
+    }
+  }
+
+  protected void Update() {
+    if (_sceneExcludesMe) {
+      MjScene.Instance.SceneRecreationAtLateUpdateRequested = true;
+      _sceneExcludesMe = false;
+    }
+  }
+
+  private bool _exiting = false;
+  public void OnApplicationQuit() {
+    _exiting = true;
+  }
+
+  public void OnDisable() {
+    if (!_exiting) {
+      MjScene.Instance.SceneRecreationAtLateUpdateRequested = true;
+    }
+  }
+
+}
+}