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
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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 {
+
+// A facade that allows to select a type of Mujoco shape and define that shape's properties.
+//
+// To work around the lack of serialization support for polymorphism, the class aggregates
+// the settings of all available shape types. Coupled with a set of custom property drawers,
+// it will be presented in the Inspector as a single entity, encapsulating the details of
+// data persistance, Mjcf parsing and generation and debug visualization.
+public abstract class MjShapeComponent : MjComponent {
+
+  public enum ShapeTypes {
+    Sphere,
+    Capsule,
+    Ellipsoid,
+    Cylinder,
+    Box,
+    Plane,
+    Mesh
+  }
+
+  public ShapeTypes ShapeType;
+
+  public MjSphereShape Sphere = new MjSphereShape();
+  public MjCapsuleShape Capsule = new MjCapsuleShape();
+  public MjCylinderShape Cylinder = new MjCylinderShape();
+  public MjBoxShape Box = new MjBoxShape();
+  public MjEllipsoidShape Ellipsoid = new MjEllipsoidShape();
+  public MjPlaneShape Plane = new MjPlaneShape();
+  public MjMeshShape Mesh = new MjMeshShape();
+
+  public IMjShape Shape {
+    get {
+      switch (ShapeType) {
+        default:
+        case ShapeTypes.Sphere: return Sphere;
+        case ShapeTypes.Capsule: return Capsule;
+        case ShapeTypes.Cylinder: return Cylinder;
+        case ShapeTypes.Ellipsoid: return Ellipsoid;
+        case ShapeTypes.Box: return Box;
+        case ShapeTypes.Plane: return Plane;
+        case ShapeTypes.Mesh: return Mesh;
+      }
+    }
+  }
+
+  public void ShapeToMjcf(XmlElement mjcf, Transform transform) {
+    mjcf.SetAttribute("type", ShapeType.ToString().ToLower());
+    Shape.ToMjcf(mjcf, transform);
+  }
+
+  public void ShapeFromMjcf(XmlElement mjcf) {
+    ShapeType = mjcf.GetEnumAttribute<ShapeTypes>(
+        "type", ShapeTypes.Sphere, ignoreCase: true);
+    Shape.FromMjcf(mjcf);
+  }
+
+  public Tuple<Vector3[], int[]> BuildMesh() {
+    return Shape.BuildMesh();
+  }
+
+  public Vector4 GetChangeStamp() {
+    var stamp = Shape.GetChangeStamp();
+    stamp.w = (float)ShapeType;
+    return stamp;
+  }
+
+  public void DrawGizmos(Transform transform) {
+    var oldMatrix = Gizmos.matrix;
+    Shape.DebugDraw(transform);
+    Gizmos.matrix = oldMatrix;
+  }
+}
+}