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 +1,104 @@
+// 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.Collections;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Xml;
+using UnityEngine;
+
+namespace Mujoco {
+
+// An instance of this class will be used to collect dynamic dependencies produced by a Mujoco model
+// during scene generation.
+public class MjcfGenerationContext {
+
+  public int NUserSensor {
+    get { return _nuserSensor; }
+    set { _nuserSensor = Math.Max(_nuserSensor, value); }
+  }
+
+  private int _nuserSensor;
+  private int _numGeneratedNames = 0;
+  private Dictionary<Mesh, string> _meshAssets = new Dictionary<Mesh, string>();
+
+  public void GenerateMjcf(XmlElement mjcf) {
+    GenerateConfigurationMjcf(mjcf);
+    GenerateAssetsMjcf(mjcf);
+  }
+
+  // Adds a mesh to the list of assets that will be added to the generated MJCF.
+  // Returns the unique name that identifies this new asset.
+  public string AddMeshAsset(Mesh mesh) {
+    if (!_meshAssets.ContainsKey(mesh)) {
+      var uniqueName = $"mesh_{_numGeneratedNames}";
+      _numGeneratedNames++;
+      _meshAssets.Add(mesh, uniqueName);
+    }
+    return _meshAssets[mesh];
+  }
+
+  // Generates a Unique name for the specified component.
+  // Uniqueness of names is required for every type independently.
+  // The per-type uniqueness will be guaranteed by the combination of information used:
+  // - name of the host GameObject.
+  // - number of names that have been generated to date.
+  public string GenerateName(Component comp) {
+    var name = $"{comp.gameObject.name}_{_numGeneratedNames}";
+    _numGeneratedNames++;
+    return name;
+  }
+
+  private void GenerateConfigurationMjcf(XmlElement mjcf) {
+    var doc = mjcf.OwnerDocument;
+    var compilerMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("compiler"));
+    compilerMjcf.SetAttribute("coordinate", "local");
+
+    var optionMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("option"));
+    optionMjcf.SetAttribute(
+        "gravity", MjEngineTool.Vector3ToMjcf(MjEngineTool.MjVector3(Physics.gravity)));
+    optionMjcf.SetAttribute("timestep", $"{Time.fixedDeltaTime}");
+
+    var sizeMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("size"));
+    sizeMjcf.SetAttribute("nuser_sensor", $"{_nuserSensor}");
+
+    var settings = MjGlobalSettings.Instance;
+    if (settings) {
+      settings.OptionSizeToMjcf(optionMjcf, sizeMjcf);
+    }
+  }
+
+  private void GenerateAssetsMjcf(XmlElement mjcf) {
+    var doc = mjcf.OwnerDocument;
+    var assetMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("asset"));
+    foreach (var asset in _meshAssets) {
+      var meshMjcf = (XmlElement)assetMjcf.AppendChild(doc.CreateElement("mesh"));
+      meshMjcf.SetAttribute("name", asset.Value);
+      GenerateMeshMjcf(asset.Key, meshMjcf);
+    }
+  }
+
+  private static void GenerateMeshMjcf(Mesh mesh, XmlElement mjcf) {
+    var vertexPositionsStr = new StringBuilder();
+    foreach (var unityVertex in mesh.vertices) {
+      var mjVertex = MjEngineTool.MjVector3(unityVertex);
+      vertexPositionsStr.Append(MjEngineTool.Vector3ToMjcf(mjVertex));
+      vertexPositionsStr.Append(" ");
+    }
+    mjcf.SetAttribute("vertex", vertexPositionsStr.ToString());
+  }
+}
+}