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removed Passive, added Damper and Spring objects

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This commit is contained in:
Joan Llobera
2025-10-17 09:58:07 +02:00
parent 0001fe221c
commit 92cb306ba5
1 changed files with 9 additions and 5 deletions
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unity/Runtime/Components/MjGlobalSettings.cs
+9 -5
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@@ -63,7 +63,8 @@ public struct MjcfOptionFlag {
public EnableDisableFlag FrictionLoss; public EnableDisableFlag FrictionLoss;
public EnableDisableFlag Limit; public EnableDisableFlag Limit;
public EnableDisableFlag Contact; public EnableDisableFlag Contact;
public EnableDisableFlag Passive; public EnableDisableFlag Spring;
public EnableDisableFlag Damper;
public EnableDisableFlag Gravity; public EnableDisableFlag Gravity;
public EnableDisableFlag ClampCtrl; public EnableDisableFlag ClampCtrl;
public EnableDisableFlag WarmStart; public EnableDisableFlag WarmStart;
@@ -80,7 +81,8 @@ public struct MjcfOptionFlag {
FrictionLoss = EnableDisableFlag.enable, FrictionLoss = EnableDisableFlag.enable,
Limit = EnableDisableFlag.enable, Limit = EnableDisableFlag.enable,
Contact = EnableDisableFlag.enable, Contact = EnableDisableFlag.enable,
Passive = EnableDisableFlag.enable, Spring = EnableDisableFlag.enable,
Damper = EnableDisableFlag.enable,
Gravity = EnableDisableFlag.enable, Gravity = EnableDisableFlag.enable,
ClampCtrl = EnableDisableFlag.enable, ClampCtrl = EnableDisableFlag.enable,
WarmStart = EnableDisableFlag.enable, WarmStart = EnableDisableFlag.enable,
@@ -101,7 +103,8 @@ public struct MjcfOptionFlag {
localDefault.FrictionLoss); localDefault.FrictionLoss);
Limit = mjcf.GetEnumAttribute<EnableDisableFlag>("limit", localDefault.Limit); Limit = mjcf.GetEnumAttribute<EnableDisableFlag>("limit", localDefault.Limit);
Contact = mjcf.GetEnumAttribute<EnableDisableFlag>("contact", localDefault.Contact); Contact = mjcf.GetEnumAttribute<EnableDisableFlag>("contact", localDefault.Contact);
Passive = mjcf.GetEnumAttribute<EnableDisableFlag>("passive", localDefault.Passive); Spring = mjcf.GetEnumAttribute<EnableDisableFlag>("spring", localDefault.Spring);
Damper = mjcf.GetEnumAttribute<EnableDisableFlag>("damper", localDefault.Damper);
Gravity = mjcf.GetEnumAttribute<EnableDisableFlag>("gravity", localDefault.Gravity); Gravity = mjcf.GetEnumAttribute<EnableDisableFlag>("gravity", localDefault.Gravity);
ClampCtrl = mjcf.GetEnumAttribute<EnableDisableFlag>("clampctrl", localDefault.ClampCtrl); ClampCtrl = mjcf.GetEnumAttribute<EnableDisableFlag>("clampctrl", localDefault.ClampCtrl);
WarmStart = mjcf.GetEnumAttribute<EnableDisableFlag>("warmstart", localDefault.WarmStart); WarmStart = mjcf.GetEnumAttribute<EnableDisableFlag>("warmstart", localDefault.WarmStart);
@@ -121,7 +124,8 @@ public struct MjcfOptionFlag {
mjcf.SetAttribute("frictionloss", FrictionLoss.ToString()); mjcf.SetAttribute("frictionloss", FrictionLoss.ToString());
mjcf.SetAttribute("limit", Limit.ToString()); mjcf.SetAttribute("limit", Limit.ToString());
mjcf.SetAttribute("contact", Contact.ToString()); mjcf.SetAttribute("contact", Contact.ToString());
// mjcf.SetAttribute("passive", Passive.ToString()); mjcf.SetAttribute("spring", Spring.ToString());
mjcf.SetAttribute("damper", Damper.ToString());
mjcf.SetAttribute("gravity", Gravity.ToString()); mjcf.SetAttribute("gravity", Gravity.ToString());
mjcf.SetAttribute("clampctrl", ClampCtrl.ToString()); mjcf.SetAttribute("clampctrl", ClampCtrl.ToString());
mjcf.SetAttribute("warmstart", WarmStart.ToString()); mjcf.SetAttribute("warmstart", WarmStart.ToString());
@@ -328,7 +332,7 @@ public class MjGlobalSettings : MonoBehaviour {
public static MjGlobalSettings Instance { public static MjGlobalSettings Instance {
get { get {
if (_instance == null) { if (_instance == null) {
var instances = FindObjectsOfType<MjGlobalSettings>(); var instances = FindObjectsByType<MjGlobalSettings>(FindObjectsSortMode.None);
if (instances.Length > 1) { if (instances.Length > 1) {
throw new InvalidOperationException( throw new InvalidOperationException(
"Only one MjGlobalSettings instance is allowed - please resolve manually."); "Only one MjGlobalSettings instance is allowed - please resolve manually.");