Allow mocap bodies to be loaded by the Unity plugin.

PiperOrigin-RevId: 558735711 Change-Id: Ibc9a81cbf8ec4b979d5b325c822c1bffc1408509
2023-08-21 03:27:56 -07:00
parent ed4bb2aab5
commit ef699d4b6d
4 changed files with 22 additions and 7 deletions
@@ -252,7 +252,18 @@ public class MjcfImporter {
        break;
      }
      case "body": {
-        var childObject = CreateGameObjectWithUniqueName<MjBody>(parentObject, child);
+        GameObject childObject = null;
+        const string mocapAttribute = "mocap";
+        if (child.HasAttribute(mocapAttribute)) {
+          var mocapValueStr = child.GetAttribute(mocapAttribute);
+          var mocapValue = bool.Parse(mocapValueStr);
+          if (mocapValue) {
+            childObject = CreateGameObjectWithUniqueName<MjMocapBody>(parentObject, child);
+          }
+        }
+        if (childObject == null) {
+          childObject = CreateGameObjectWithUniqueName<MjBody>(parentObject, child);
+        }
        ParseBodyChildren(childObject, child);
        break;
      }