chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge pull request #1759 from Balint-H:fix/unity-multi-dof-axes

Browse Source 
PiperOrigin-RevId: 653173396
Change-Id: Iedd13dc23ccdd370ba0237bbe278d3bde755bb84
This commit is contained in:
Copybara-Service
2024-07-17 03:54:22 -07:00
parent 2cf352c2e6 8ab7abf5af
commit f20edda26e
2 changed files with 16 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
unity/Runtime/Components/Joints/MjHingeJoint.cs
+8 -1
View File
@@ -37,7 +37,14 @@ namespace Mujoco {
public MjJointSettings Settings = MjJointSettings.Default;
// World space rotation axis.
public Vector3 RotationAxis => transform.rotation * Vector3.right;
public unsafe Vector3 RotationAxis {
get {
if (MjScene.InstanceExists) {
return MjEngineTool.UnityVector3(MjScene.Instance.Data->xaxis + 3 * MujocoId);
}
return transform.rotation * Vector3.right;
}
}
protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
base.OnBindToRuntime(model, data);
unity/Runtime/Components/Joints/MjSlideJoint.cs
+8 -1
View File
@@ -35,7 +35,14 @@ namespace Mujoco {
public MjJointSettings Settings = MjJointSettings.Default;
// World space slide axis.
public Vector3 SlideAxis => transform.rotation * Vector3.right;
public unsafe Vector3 SlideAxis {
get {
if (MjScene.InstanceExists) {
return MjEngineTool.UnityVector3(MjScene.Instance.Data->xaxis + 3 * MujocoId);
}
return transform.rotation * Vector3.right;
}
}
protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
base.OnBindToRuntime(model, data);