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Use MuJoCo calculated cartesian axes for hinge and slide

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This commit is contained in:
Bálint Hodossy
2024-06-25 14:12:04 +01:00
parent d8b85245a7
commit 8ab7abf5af
2 changed files with 16 additions and 2 deletions
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unity/Runtime/Components/Joints/MjHingeJoint.cs
+8 -1
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@@ -37,7 +37,14 @@ namespace Mujoco {
public MjJointSettings Settings = MjJointSettings.Default;
// World space rotation axis.
public Vector3 RotationAxis => transform.rotation * Vector3.right;
public unsafe Vector3 RotationAxis {
get {
if (MjScene.InstanceExists) {
return MjEngineTool.UnityVector3(MjScene.Instance.Data->xaxis + 3 * MujocoId);
}
return transform.rotation * Vector3.right;
}
}
protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
base.OnBindToRuntime(model, data);
unity/Runtime/Components/Joints/MjSlideJoint.cs
+8 -1
View File
@@ -35,7 +35,14 @@ namespace Mujoco {
public MjJointSettings Settings = MjJointSettings.Default;
// World space slide axis.
public Vector3 SlideAxis => transform.rotation * Vector3.right;
public unsafe Vector3 SlideAxis {
get {
if (MjScene.InstanceExists) {
return MjEngineTool.UnityVector3(MjScene.Instance.Data->xaxis + 3 * MujocoId);
}
return transform.rotation * Vector3.right;
}
}
protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
base.OnBindToRuntime(model, data);