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Merge pull request #2893 from joanllobera:fix/passive-attribute-droped

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PiperOrigin-RevId: 878958794
Change-Id: I2d1fe080bd02b5c3e685cefbf36d45821cdfb46d
This commit is contained in:
Copybara-Service
2026-03-05 03:18:10 -08:00
parent aef44210cb 1a9469765f
commit f1bcac2952
4 changed files with 8 additions and 8 deletions
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unity/Runtime/Components/MjGlobalSettings.cs
+1 -1
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@@ -327,7 +327,7 @@ public class MjGlobalSettings : MonoBehaviour {
public static MjGlobalSettings Instance { public static MjGlobalSettings Instance {
get { get {
if (_instance == null) { if (_instance == null) {
var instances = FindObjectsOfType<MjGlobalSettings>(); var instances = FindObjectsByType<MjGlobalSettings>(FindObjectsSortMode.None);
if (instances.Length > 1) { if (instances.Length > 1) {
throw new InvalidOperationException( throw new InvalidOperationException(
"Only one MjGlobalSettings instance is allowed - please resolve manually."); "Only one MjGlobalSettings instance is allowed - please resolve manually.");
unity/Runtime/Components/MjScene.cs
+3 -3
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@@ -50,7 +50,7 @@ public class MjScene : MonoBehaviour {
public static MjScene Instance { public static MjScene Instance {
get { get {
if (_instance == null) { if (_instance == null) {
var instances = FindObjectsOfType<MjScene>(); var instances = FindObjectsByType<MjScene>(FindObjectsSortMode.None);
if (instances.Length >= 1) { // even one is too much - _instance shouldn't have been null. if (instances.Length >= 1) { // even one is too much - _instance shouldn't have been null.
throw new InvalidOperationException( throw new InvalidOperationException(
"A MjScene singleton is created automatically, yet multiple instances exist."); "A MjScene singleton is created automatically, yet multiple instances exist.");
@@ -135,7 +135,7 @@ public class MjScene : MonoBehaviour {
// I briefly explored that approach, but decided against it. It increases the amount of code // I briefly explored that approach, but decided against it. It increases the amount of code
// on the side of the individual components. This solution allows to restrict the code in the // on the side of the individual components. This solution allows to restrict the code in the
// components to a bare minimum, at the expense of one extra method here. // components to a bare minimum, at the expense of one extra method here.
var hierarchyRoots = FindObjectsOfType<MjComponent>() var hierarchyRoots = FindObjectsByType<MjComponent>(FindObjectsSortMode.None)
.Where(component => MjHierarchyTool.FindParentComponent(component) == null) .Where(component => MjHierarchyTool.FindParentComponent(component) == null)
.Select(component => component.transform) .Select(component => component.transform)
.Distinct(); .Distinct();
@@ -209,7 +209,7 @@ public class MjScene : MonoBehaviour {
// 4. rehydrate the physics scene, and sync the Unity scene to it. // 4. rehydrate the physics scene, and sync the Unity scene to it.
public unsafe void RecreateScene() { public unsafe void RecreateScene() {
// cache joint states in order to re-apply it to the new scene // cache joint states in order to re-apply it to the new scene
var joints = FindObjectsOfType<MjBaseJoint>(); var joints = FindObjectsByType<MjBaseJoint>(FindObjectsSortMode.None);
var positions = new Dictionary<MjBaseJoint, double[]>(); var positions = new Dictionary<MjBaseJoint, double[]>();
var velocities = new Dictionary<MjBaseJoint, double[]>(); var velocities = new Dictionary<MjBaseJoint, double[]>();
foreach (var joint in joints) { foreach (var joint in joints) {
unity/Runtime/Tools/ConvertMj2Rca.cs
+3 -3
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@@ -22,8 +22,8 @@ public static class ConvertMj2Rca {
private static MjActuator[] _actuators; private static MjActuator[] _actuators;
private static MjExclude[] _excludes; private static MjExclude[] _excludes;
public static GameObject ConvertTree(MjBody mjRoot) { public static GameObject ConvertTree(MjBody mjRoot) {
_excludes = GameObject.FindObjectsOfType<MjExclude>(); _excludes = GameObject.FindObjectsByType<MjExclude>(FindObjectsSortMode.None);
_actuators = GameObject.FindObjectsOfType<MjActuator>(); _actuators = GameObject.FindObjectsByType<MjActuator>(FindObjectsSortMode.None);
// does it have joints with its parent? // does it have joints with its parent?
bool jointFound = false; bool jointFound = false;
foreach (Transform mjChild in mjRoot.transform) { foreach (Transform mjChild in mjRoot.transform) {
@@ -283,7 +283,7 @@ public static class ConvertMj2Rca {
} }
// The list of available ArticulationBodies changes as the recursion advances // The list of available ArticulationBodies changes as the recursion advances
foreach (var rcOther in GameObject.FindObjectsOfType<ArticulationBody>()) { foreach (var rcOther in GameObject.FindObjectsByType<ArticulationBody>(FindObjectsSortMode.None)) {
// don't add explicit exclusion to immediate parent (no children yet) // don't add explicit exclusion to immediate parent (no children yet)
if (rcParentParent != rcOther && rcOther.gameObject.name == other) { if (rcParentParent != rcOther && rcOther.gameObject.name == other) {
// MISSING: Physics.IgnoreCollision statements between all colliders of rcParent // MISSING: Physics.IgnoreCollision statements between all colliders of rcParent
unity/Runtime/Tools/MjHierarchyTool.cs
+1 -1
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@@ -72,7 +72,7 @@ public static class MjHierarchyTool {
// Finds a single component that matches both the type and the name criteria. // Finds a single component that matches both the type and the name criteria.
public static T FindComponentOfTypeAndName<T>(string name) where T : MjComponent { public static T FindComponentOfTypeAndName<T>(string name) where T : MjComponent {
var components = UnityEngine.Object.FindObjectsOfType<T>().Where( var components = UnityEngine.Object.FindObjectsByType<T>(FindObjectsSortMode.None).Where(
component => component.gameObject.name == name); component => component.gameObject.name == name);
var numComponents = components.Count(); var numComponents = components.Count();
if (components == null || numComponents == 0) { if (components == null || numComponents == 0) {