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 +1,57 @@
+// 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 MjTendonConstraint : MjBaseConstraint {
+    public MjBaseTendon Tendon1;
+    public MjBaseTendon Tendon2;
+    public float[] PolynomialCoefficients = new float[5] { 0, 1, 0, 0, 0 };
+    protected override string _constraintName => "tendon";
+
+    protected override void FromMjcf(XmlElement mjcf) {
+      Tendon1 = mjcf.GetObjectReferenceAttribute<MjBaseTendon>("tendon1");
+      Tendon2 = mjcf.GetObjectReferenceAttribute<MjBaseTendon>("tendon2");
+      PolynomialCoefficients =
+          mjcf.GetFloatArrayAttribute("polycoef", new Single[] { 0, 1, 0, 0, 0 });
+    }
+
+    // Generate implementation specific XML element.
+    protected override void ToMjcf(XmlElement mjcf) {
+      if (Tendon1 == null) {
+        throw new NullReferenceException(
+            $"At least Tendon1 in constraint {name} must be assigned.");
+      }
+
+      mjcf.SetAttribute("tendon1", Tendon1.MujocoName);
+      if (Tendon2 != null) {
+        mjcf.SetAttribute("tendon2", Tendon2.MujocoName);
+      }
+      mjcf.SetAttribute("polycoef", MjEngineTool.ArrayToMjcf(PolynomialCoefficients));
+    }
+
+    public void OnValidate() {
+      if (Tendon1 != null && Tendon1 == Tendon2) {
+        Debug.LogWarning(
+            "Tendon1 and Tendon2 can't be the same - resetting Tendon2.", this);
+        Tendon2 = null;
+      }
+    }
+  }
+}