Handle the implicit auto value for limits now written by the compiler to the xml

2024-03-14 12:38:56 +00:00
parent 069708a599
commit c2bef232b6
3 changed files with 27 additions and 15 deletions
@@ -82,13 +82,10 @@ public class MjActuator : MjComponent {
      LengthRange = mjcf.GetVector2Attribute("lengthrange", defaultValue: Vector2.zero);
      Gear = mjcf.GetFloatArrayAttribute("gear", defaultValue: new float[] { 1.0f }).ToList();

-      bool autolimits = (mjcf.OwnerDocument.GetElementsByTagName("compiler")[0]?["compiler"])
-                            ?.GetBoolAttribute("autolimits", true) ??
-                        false;
-      CtrlLimited = mjcf.GetBoolAttribute("ctrllimited",
-          defaultValue: autolimits ? CtrlRange != Vector2.zero : false);
-      ForceLimited = mjcf.GetBoolAttribute("forcelimited",
-          defaultValue: autolimits ? ForceRange != Vector2.zero : false);
+      CtrlLimited = mjcf.GetLimitedAttribute("ctrllimited",
+          rangeDefined: mjcf.HasAttribute("ctrlrange"));
+      ForceLimited = mjcf.GetLimitedAttribute("forcelimited",
+          rangeDefined: mjcf.HasAttribute("forcerange"));
    }
  }