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Add gravcomp to body in unity plugin

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The unity plugin is missing gravcomp which makes it impossible for buoyancy
This commit is contained in:
Benjamin Nauck
2023-02-12 21:59:31 +01:00
parent 9971993cdb
commit e7a9447c03
1 changed files with 6 additions and 0 deletions
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unity/Runtime/Components/Bodies/MjBody.cs
+6
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@@ -20,17 +20,23 @@ namespace Mujoco {
// The component represents the apex of hierarchy that defines a single rigid body. // The component represents the apex of hierarchy that defines a single rigid body.
public class MjBody : MjBaseBody { public class MjBody : MjBaseBody {
[Tooltip("Gravity compensation force, specified as fraction of body weight.")]
public float GravityCompensation;
protected override void OnParseMjcf(XmlElement mjcf) { protected override void OnParseMjcf(XmlElement mjcf) {
// Transform // Transform
transform.localPosition = transform.localPosition =
MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("pos", defaultValue: Vector3.zero)); MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("pos", defaultValue: Vector3.zero));
transform.localRotation = MjEngineTool.UnityQuaternion( transform.localRotation = MjEngineTool.UnityQuaternion(
mjcf.GetQuaternionAttribute("quat", defaultValue: MjEngineTool.MjQuaternionIdentity)); mjcf.GetQuaternionAttribute("quat", defaultValue: MjEngineTool.MjQuaternionIdentity));
GravityCompensation = mjcf.GetFloatAttribute("gravcomp", defaultValue: 0.0f);
} }
protected override XmlElement OnGenerateMjcf(XmlDocument doc) { protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
var mjcf = (XmlElement)doc.CreateElement("body"); var mjcf = (XmlElement)doc.CreateElement("body");
MjEngineTool.PositionRotationToMjcf(mjcf, this); MjEngineTool.PositionRotationToMjcf(mjcf, this);
mjcf.SetAttribute("gravcomp", MjEngineTool.MakeLocaleInvariant($"{GravityCompensation}"));
return mjcf; return mjcf;
} }