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 +1,61 @@
+// 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 MjWeld : MjBaseConstraint {
+    public MjBaseBody Body1;
+    public MjBaseBody Body2;
+    public Transform WeldOffset;
+    protected override string _constraintName => "weld";
+
+    protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
+      if (WeldOffset) {
+        MjEngineTool.SetMjTransform(model->eq_data, WeldOffset.localPosition,
+                                    WeldOffset.localRotation, MujocoId);
+      }
+    }
+
+    protected override void FromMjcf(XmlElement mjcf) {
+      Body1 = mjcf.GetObjectReferenceAttribute<MjBaseBody>("body1");
+      Body2 = mjcf.GetObjectReferenceAttribute<MjBaseBody>("body2");
+      var relpose = mjcf.GetStringAttribute("relpose");
+      if (relpose != null) {
+        Debug.Log(
+            $"relpose {relpose} in weld {name} ignored. Set WeldOffset in the editor.");
+      }
+    }
+
+    protected override void ToMjcf(XmlElement mjcf) {
+      if (Body1 == null || Body2 == null) {
+        throw new NullReferenceException($"Both bodies in weld {name} must be assigned.");
+      }
+
+      mjcf.SetAttribute("body1", Body1.MujocoName);
+      mjcf.SetAttribute("body2", Body2.MujocoName);
+    }
+
+    public void OnValidate() {
+      if (Body1 != null && Body1 == Body2) {
+        Debug.LogWarning("Body1 and Body2 can't be the same - resetting Body2.", this);
+        Body2 = null;
+      }
+    }
+  }
+}