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Reformat scripts to better follow guidelines

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This commit is contained in:
Bálint Hodossy
2023-12-19 13:54:49 +00:00
parent 315a2f334f
commit d0b505c67b
2 changed files with 65 additions and 44 deletions
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unity/Runtime/Tools/MjcfGenerationContext.cs
+14 -11
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@@ -34,7 +34,9 @@ public class MjcfGenerationContext {
private int _nuserSensor;
private int _numGeneratedNames = 0;
private Dictionary<Mesh, string> _meshAssets = new Dictionary<Mesh, string>();
private Dictionary<MjHeightFieldShape, string> _hFieldAssets = new Dictionary<MjHeightFieldShape, string>();
private Dictionary<MjHeightFieldShape, string> _hFieldAssets =
new Dictionary<MjHeightFieldShape, string>();
public void GenerateMjcf(XmlElement mjcf) {
GenerateConfigurationMjcf(mjcf);
@@ -98,7 +100,7 @@ public class MjcfGenerationContext {
meshMjcf.SetAttribute("name", meshAsset.Value);
GenerateMeshMjcf(meshAsset.Key, meshMjcf);
}
foreach (var hFieldAsset in _hFieldAssets) {
foreach (var hFieldAsset in _hFieldAssets) {
var hFieldMjcf = (XmlElement)assetMjcf.AppendChild(doc.CreateElement("hfield"));
hFieldMjcf.SetAttribute("name", hFieldAsset.Value);
GenerateHeightFieldMjcf(hFieldAsset.Key, hFieldMjcf);
@@ -114,21 +116,22 @@ public class MjcfGenerationContext {
}
mjcf.SetAttribute("vertex", vertexPositionsStr.ToString());
}
private static void GenerateHeightFieldMjcf(MjHeightFieldShape hFieldComponent, XmlElement mjcf) {
mjcf.SetAttribute("nrow", "0");
mjcf.SetAttribute("ncol", "0");
mjcf.SetAttribute("content_type", "image/png");
mjcf.SetAttribute("file", hFieldComponent.FullHeightMapPath);
var baseHeight = hFieldComponent.terrain.transform.localPosition.y + hFieldComponent.MinimumHeight;
var heightRange = Mathf.Clamp(hFieldComponent.MaximumHeight - hFieldComponent.MinimumHeight, 0.00001f, Mathf.Infinity);
var baseHeight = hFieldComponent.Terrain.transform.localPosition.y +
hFieldComponent.MinimumHeight;
var heightRange = Mathf.Clamp(
hFieldComponent.MaximumHeight - hFieldComponent.MinimumHeight, 0.00001f, Mathf.Infinity);
mjcf.SetAttribute(
"size",
MjEngineTool.MakeLocaleInvariant(
$@"{hFieldComponent.HeightMapScale.x*hFieldComponent.HeightMapLength/2}
{hFieldComponent.HeightMapScale.z * hFieldComponent.HeightMapWidth/2}
{heightRange}
{baseHeight}"));
"size",
MjEngineTool.MakeLocaleInvariant(
$@"{hFieldComponent.HeightMapScale.x * hFieldComponent.HeightMapLength / 2} {
hFieldComponent.HeightMapScale.z * hFieldComponent.HeightMapWidth / 2} {heightRange} {
baseHeight}"));
}
}
}