Initial release of the Unity plugin.

PiperOrigin-RevId: 425947505

unity/Runtime/Components/MjExclude.cs

@@ -0,0 +1,54 @@
+// 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 {
+
+public class MjExclude : MjComponent {
+
+  [Tooltip("A body whose contacts with other body are ignored")]
+  public MjBody Body1;
+  [Tooltip("Other body whose contacts with first body are ignored")]
+  public MjBody Body2;
+
+  public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_EXCLUDE;
+
+  protected override void OnParseMjcf(XmlElement mjcf) {
+    var body1Name = mjcf.GetStringAttribute("body1", defaultValue: string.Empty);
+    if (!string.IsNullOrEmpty(body1Name)) {
+      Body1 = MjHierarchyTool.FindComponentOfTypeAndName<MjBody>(body1Name);
+    }
+    var body2Name = mjcf.GetStringAttribute("body2", defaultValue: string.Empty);
+    if (!string.IsNullOrEmpty(body2Name)) {
+      Body2 = MjHierarchyTool.FindComponentOfTypeAndName<MjBody>(body2Name);
+    }
+  }
+
+  // Generate implementation specific XML element.
+  protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
+    if (Body1 == null || Body2 == null) {
+      throw new NullReferenceException($"Both bodies in {name} must be assigned.");
+    }
+
+    var mjcf = (XmlElement)doc.CreateElement("exclude");
+    mjcf.SetAttribute("body1", Body1.MujocoName);
+    mjcf.SetAttribute("body2", Body2.MujocoName);
+    return mjcf;
+  }
+}
+}