Initial release of the Unity plugin.

PiperOrigin-RevId: 425947505

unity/Runtime/Components/MjGeomVectorSensor.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 {
+
+public class MjGeomVectorSensor : MjBaseSensor {
+  // NOTE: These names must match sensor names listed on mujoco.org.
+  // Changing them is justified only when Mujoco is upgraded to a new version.
+  public enum AvailableSensors {
+    FramePos,
+    FrameXAxis,
+    FrameYAxis,
+    FrameZAxis,
+    FrameLinVel,
+    FrameAngVel,
+    FrameLinAcc,
+    FrameAngAcc,
+  }
+
+  public AvailableSensors SensorType;
+
+  public MjGeom Geom;
+
+  public Vector3 SensorReading { get; private set; }
+
+  protected override XmlElement ToMjcf(XmlDocument doc) {
+    if (Geom == null) {
+      throw new NullReferenceException("Missing a reference to a MjGeom.");
+    }
+    var mjcf = doc.CreateElement(SensorType.ToString().ToLower());
+    mjcf.SetAttribute("objtype", "geom");
+    mjcf.SetAttribute("objname", Geom.MujocoName);
+    return mjcf;
+  }
+
+  protected override void FromMjcf(XmlElement mjcf) {
+    if (!Enum.TryParse(mjcf.Name, ignoreCase: true, result: out SensorType)) {
+      throw new ArgumentException($"Unknown sensor type {mjcf.Name}.");
+    }
+    Geom = mjcf.GetObjectReferenceAttribute<MjGeom>("objname");
+  }
+
+  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
+    SensorReading = MjEngineTool.UnityVector3(data->sensordata, _sensorAddress);
+  }
+}
+}