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Fixed reading offsets for Sensors. Added Advanced Settings property to MjGeomEditor

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This commit is contained in:
Jesper Smith
2022-05-13 13:32:40 +02:00
parent 87539dbd24
commit c62c68d744
2 changed files with 3 additions and 1 deletions
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unity/Editor/Components/MjGeomEditor.cs
+1
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@@ -24,6 +24,7 @@ public class MjGeomEditor : MjShapeComponentEditor {
serializedObject.Update(); serializedObject.Update();
EditorGUILayout.PropertyField(serializedObject.FindProperty("Mass")); EditorGUILayout.PropertyField(serializedObject.FindProperty("Mass"));
EditorGUILayout.PropertyField(serializedObject.FindProperty("Density")); EditorGUILayout.PropertyField(serializedObject.FindProperty("Density"));
EditorGUILayout.PropertyField(serializedObject.FindProperty("Settings"));
serializedObject.ApplyModifiedProperties(); serializedObject.ApplyModifiedProperties();
base.OnInspectorGUI(); base.OnInspectorGUI();
} }
unity/Runtime/Components/Sensors/MjSiteVectorSensor.cs
+2 -1
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@@ -69,7 +69,8 @@ public class MjSiteVectorSensor : MjBaseSensor {
} }
public override unsafe void OnSyncState(MujocoLib.mjData_* data) { public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
SensorReading = MjEngineTool.UnityVector3(data->sensordata, _sensorAddress); Vector3 mjReading = new Vector3((float)data->sensordata[_sensorAddress], (float)data->sensordata[_sensorAddress + 1], (float)data->sensordata[_sensorAddress + 2]);
SensorReading = MjEngineTool.UnityVector3(mjReading);
} }
} }
} }