Initial release of the Unity plugin.

PiperOrigin-RevId: 425947505

unity/Runtime/Components/MjPlaneShape.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 {
+
+[Serializable]
+public class MjPlaneShape : IMjShape {
+  public Vector2 Extents = Vector3.one;
+
+  public void ToMjcf(XmlElement mjcf, Transform transform) {
+    var extents = new Vector3(Extents.x, Extents.y, 1.0f);
+    var scaledExtents = Vector3.Scale(extents, transform.lossyScale);
+    mjcf.SetAttribute("size", $"{scaledExtents.x} {scaledExtents.y} {scaledExtents.z}");
+  }
+
+  public void FromMjcf(XmlElement mjcf) {
+    var components = mjcf.GetFloatArrayAttribute("size", defaultValue: new float[] { 1, 1, 1 });
+    Extents = new Vector2(components[0], components[1]);
+  }
+
+  public Tuple<Vector3[], int[]> BuildMesh() {
+    return MeshGenerators.BuildPlane(Extents.x * 2.0f, Extents.y * 2.0f);
+  }
+
+  public Vector4 GetChangeStamp() {
+    return new Vector4(Extents.x, Extents.y, 1, 0);
+  }
+
+  public void DebugDraw(Transform transform) {
+    Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, Vector3.one);
+    MjGizmos.DrawWirePlane(Vector3.zero, Extents.x * 2.0f, Extents.y * 2.0f);
+  }
+}
+}