Initial release of the Unity plugin.

PiperOrigin-RevId: 425947505

unity/Runtime/Components/MjSite.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 {
+
+// Defines a reference frame and an anchoring point for other elements of the rig.
+public class MjSite : MjShapeComponent {
+
+  public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_SITE;
+
+  // Parse the component settings from an external Mjcf.
+  protected override void OnParseMjcf(XmlElement mjcf) {
+    ShapeFromMjcf(mjcf);
+    MjEngineTool.ParseTransformMjcf(mjcf, transform);
+  }
+
+  // Generate implementation specific XML element.
+  protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
+    var mjcf = (XmlElement)doc.CreateElement("site");
+    ShapeToMjcf(mjcf, transform);
+    MjEngineTool.PositionRotationToMjcf(mjcf, this);
+    return mjcf;
+  }
+
+  // Synchronize the state of the component.
+  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
+    transform.position = MjEngineTool.UnityVector3(data->site_xpos, MujocoId);
+    transform.rotation = MjEngineTool.UnityQuaternionFromMatrix(data->site_xmat, MujocoId);
+  }
+
+  public void OnDrawGizmosSelected() {
+    Gizmos.color = Color.magenta;
+    DrawGizmos(transform);
+  }
+}
+}