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Get rid of the opaque "entryIndex" argument.

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Use pointer arithmetic instead.

PiperOrigin-RevId: 451493057
Change-Id: Ic89ad8ff1d3191180031a1011c1b100eaea12f6f
This commit is contained in:
Tom Erez
2022-05-27 15:23:29 -07:00
committed by Copybara-Service
parent 6faf1d93de
commit ef9fa9dfe4
2 changed files with 16 additions and 12 deletions
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unity/Runtime/Components/Equality/MjWeld.cs
+3 -2
View File
@@ -27,8 +27,9 @@ namespace Mujoco {
protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
if (WeldOffset) {
MjEngineTool.SetMjTransform(model->eq_data, WeldOffset.localPosition,
WeldOffset.localRotation, MujocoId);
MjEngineTool.SetMjTransform(
MjEngineTool.MjTransformAtEntry(model->eq_data, MujocoId),
WeldOffset.localPosition, WeldOffset.localRotation);
}
}
unity/Runtime/Tools/MjEngineTool.cs
+13 -10
View File
@@ -92,20 +92,23 @@ public static class MjEngineTool {
mjTarget[startOffset + 3] = mjQuat.z;
}
// Returns a pointer to an entry in the MuJoCo field that's 7*offsetEntry down the buffer.
public static unsafe double* MjTransformAtEntry(double* mjTarget, int offsetEntry) {
return mjTarget + offsetEntry * _elementsPerTransform;
}
// Stores a unity transform (position+rotation) in a Mujoco target buffer.
// The vector coordinates will be stored at the 'entryIndex * 7' of the 'mjTarget' array.
public static unsafe void SetMjTransform(
double* mjTarget, Vector3 unityVec, Quaternion unityQuat, int entryIndex) {
var startOffset = entryIndex * _elementsPerTransform;
double* mjTarget, Vector3 unityVec, Quaternion unityQuat) {
var mjVec = MjVector3(unityVec);
var mjQuat = MjQuaternion(unityQuat);
mjTarget[startOffset] = mjVec[0];
mjTarget[startOffset + 1] = mjVec[1];
mjTarget[startOffset + 2] = mjVec[2];
mjTarget[startOffset + 3] = mjQuat.w;
mjTarget[startOffset + 4] = mjQuat.x;
mjTarget[startOffset + 5] = mjQuat.y;
mjTarget[startOffset + 6] = mjQuat.z;
mjTarget[0] = mjVec[0];
mjTarget[1] = mjVec[1];
mjTarget[2] = mjVec[2];
mjTarget[3] = mjQuat.w;
mjTarget[4] = mjQuat.x;
mjTarget[5] = mjQuat.y;
mjTarget[6] = mjQuat.z;
}
// Converts a Unity Vector3 to a Mujoco vector.