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 +1,64 @@
+// 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 {
+
+// Defines an inertial frame of a body.
+public class MjInertial : MjComponent {
+
+  [Tooltip("Mass assigned to the parent body.")]
+  public float Mass = 1.0f;
+
+  [Tooltip("Diagonal inertia matrix, expressing the body inertia relative to the inertial frame.")]
+  public Vector3 DiagInertia = Vector3.one;
+
+  public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_BODY;
+  protected override bool _suppressNameAttribute => true;
+
+  // Parse the component settings from an external Mjcf.
+  protected override void OnParseMjcf(XmlElement mjcf) {
+    MjEngineTool.ParseTransformMjcf(mjcf, transform);
+    Mass = mjcf.GetFloatAttribute("mass", defaultValue: 1.0f);
+    DiagInertia = MjEngineTool.UnityExtents(
+        mjcf.GetVector3Attribute("diaginertia", defaultValue: Vector3.one));
+  }
+
+  // Generate implementation specific XML element.
+  protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
+    var mjcf = (XmlElement)doc.CreateElement("inertial");
+    MjEngineTool.PositionRotationToMjcf(mjcf, this);
+    mjcf.SetAttribute("mass", $"{Mass}");
+    mjcf.SetAttribute("diaginertia",
+                      MjEngineTool.Vector3ToMjcf(MjEngineTool.MjExtents(DiagInertia)));
+    return mjcf;
+  }
+
+  protected void OnDrawGizmosSelected() {
+    Gizmos.color = Color.yellow;
+    var oldMatrix = Gizmos.matrix;
+    Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, transform.lossyScale);
+    var box = new Vector3(
+        Mathf.Sqrt((DiagInertia[1] + DiagInertia[2] - DiagInertia[0]) / Mass * 6.0f),
+        Mathf.Sqrt((DiagInertia[0] + DiagInertia[2] - DiagInertia[1]) / Mass * 6.0f),
+        Mathf.Sqrt((DiagInertia[0] + DiagInertia[1] - DiagInertia[2]) / Mass * 6.0f));
+    Gizmos.DrawWireCube(Vector3.zero, box);
+    Gizmos.matrix = oldMatrix;
+  }
+}
+}