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Add support for global custom numeric fields.

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PiperOrigin-RevId: 495865065
Change-Id: I59ed65e84a0bcaa90220b938ed34fdc26165aa09
This commit is contained in:
Tom Erez
2022-12-16 07:02:47 -08:00
committed by Copybara-Service
parent 516d13d678
commit f70403d00a
6 changed files with 90 additions and 93 deletions
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unity/Runtime/Importer/MjcfImporter.cs
+17 -22
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@@ -133,30 +133,25 @@ public class MjcfImporter {
}
}
protected virtual void ParseRoot(GameObject parentObject, XmlElement parentNode) {
protected virtual void ParseRoot(GameObject rootObject, XmlElement mujocoNode) {
// This makes no references nor being referred into, so it can be parsed whenever.
var optionNode = parentNode.SelectSingleNode("option") as XmlElement;
var sizeNode = parentNode.SelectSingleNode("size") as XmlElement;
if (optionNode != null || sizeNode != null) {
var globalsObject = CreateGameObjectInParent("Global Settings", parentObject);
var settingsComponent = globalsObject.AddComponent<MjGlobalSettings>();
settingsComponent.ParseOptionSizeMjcf(optionNode, sizeNode);
}
var globalsObject = CreateGameObjectInParent("Global Settings", rootObject);
var settingsComponent = globalsObject.AddComponent<MjGlobalSettings>();
settingsComponent.ParseGlobalMjcfSections(mujocoNode);
// This makes references to assets.
var worldBodyNode = parentNode.SelectSingleNode("worldbody") as XmlElement;
ParseBodyChildren(parentObject, worldBodyNode);
var worldBodyNode = mujocoNode.SelectSingleNode("worldbody") as XmlElement;
ParseBodyChildren(rootObject, worldBodyNode);
// This section references bodies, must be parsed after worldbody.
var excludeNode = parentNode.SelectSingleNode("contact") as XmlElement;
var excludeNode = mujocoNode.SelectSingleNode("contact") as XmlElement;
if (excludeNode != null) {
var excludesParentObject = CreateGameObjectInParent("excludes", parentObject);
var excludesParentObject = CreateGameObjectInParent("excludes", rootObject);
foreach (var child in excludeNode.OfType<XmlElement>()) {
if (child.Name != "exclude") {
Debug.LogWarning(
$"Only 'exclude' is supported - {child.Name} isn't supported yet.",
parentObject);
rootObject);
} else {
_modifiers.ApplyModifiersToElement(child);
CreateGameObjectWithUniqueName<MjExclude>(excludesParentObject, child);
@@ -165,9 +160,9 @@ public class MjcfImporter {
}
// This section references joints/sites/geoms, must be parsed after worldbody.
var tendonNode = parentNode.SelectSingleNode("tendon") as XmlElement;
var tendonNode = mujocoNode.SelectSingleNode("tendon") as XmlElement;
if (tendonNode != null) {
var tendonsParentObject = CreateGameObjectInParent("tendons", parentObject);
var tendonsParentObject = CreateGameObjectInParent("tendons", rootObject);
foreach (var child in tendonNode.OfType<XmlElement>()) {
if (child.Name == "fixed") {
CreateGameObjectWithUniqueName<MjFixedTendon>(tendonsParentObject, child);
@@ -180,9 +175,9 @@ public class MjcfImporter {
}
// This section references worldbody elements + tendons, must be parsed after them.
var equalityNode = parentNode.SelectSingleNode("equality") as XmlElement;
var equalityNode = mujocoNode.SelectSingleNode("equality") as XmlElement;
if (equalityNode != null) {
var equalitiesParentObject = CreateGameObjectInParent("equality constraints", parentObject);
var equalitiesParentObject = CreateGameObjectInParent("equality constraints", rootObject);
foreach (var child in equalityNode.OfType<XmlElement>()) {
var equalityType = ParseEqualityType(child);
_modifiers.ApplyModifiersToElement(child);
@@ -191,9 +186,9 @@ public class MjcfImporter {
}
// This section references joints and tendons, must be parsed after worldbody and tendon.
var actuatorNode = parentNode.SelectSingleNode("actuator") as XmlElement;
var actuatorNode = mujocoNode.SelectSingleNode("actuator") as XmlElement;
if (actuatorNode != null) {
var actuatorsParentObject = CreateGameObjectInParent("actuators", parentObject);
var actuatorsParentObject = CreateGameObjectInParent("actuators", rootObject);
foreach (var child in actuatorNode.OfType<XmlElement>()) {
_modifiers.ApplyModifiersToElement(child);
CreateGameObjectWithUniqueName<MjActuator>(actuatorsParentObject, child);
@@ -201,9 +196,9 @@ public class MjcfImporter {
}
// This section references tendons, actuators and worldbody elements, must be parsed last.
var sensorNode = parentNode.SelectSingleNode("sensor") as XmlElement;
var sensorNode = mujocoNode.SelectSingleNode("sensor") as XmlElement;
if (sensorNode != null) {
var sensorParentObject = CreateGameObjectInParent("sensors", parentObject);
var sensorParentObject = CreateGameObjectInParent("sensors", rootObject);
foreach (var child in sensorNode.OfType<XmlElement>()) {
_modifiers.ApplyModifiersToElement(child);
var sensorType = ParseSensorType(child);