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Merge pull request #3164 from Balint-H:unity/passive-resubmit

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PiperOrigin-RevId: 886821338
Change-Id: I2b733732fcc17223aad4299713f5528b597f03e8
This commit is contained in:
Copybara-Service
2026-03-20 09:05:07 -07:00
parent c348bc9f4c ce0356b78f
commit f7bd6d15f7
2 changed files with 12 additions and 9 deletions
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unity/Runtime/Components/MjGlobalSettings.cs
+10 -8
View File
@@ -63,7 +63,8 @@ public struct MjcfOptionFlag {
public EnableDisableFlag FrictionLoss;
public EnableDisableFlag Limit;
public EnableDisableFlag Contact;
public EnableDisableFlag Passive;
public EnableDisableFlag Spring;
public EnableDisableFlag Damper;
public EnableDisableFlag Gravity;
public EnableDisableFlag ClampCtrl;
public EnableDisableFlag WarmStart;
@@ -80,7 +81,8 @@ public struct MjcfOptionFlag {
FrictionLoss = EnableDisableFlag.enable,
Limit = EnableDisableFlag.enable,
Contact = EnableDisableFlag.enable,
Passive = EnableDisableFlag.enable,
Spring = EnableDisableFlag.enable,
Damper = EnableDisableFlag.enable,
Gravity = EnableDisableFlag.enable,
ClampCtrl = EnableDisableFlag.enable,
WarmStart = EnableDisableFlag.enable,
@@ -101,7 +103,8 @@ public struct MjcfOptionFlag {
localDefault.FrictionLoss);
Limit = mjcf.GetEnumAttribute<EnableDisableFlag>("limit", localDefault.Limit);
Contact = mjcf.GetEnumAttribute<EnableDisableFlag>("contact", localDefault.Contact);
Passive = mjcf.GetEnumAttribute<EnableDisableFlag>("passive", localDefault.Passive);
Spring = mjcf.GetEnumAttribute<EnableDisableFlag>("spring", localDefault.Spring);
Damper = mjcf.GetEnumAttribute<EnableDisableFlag>("damper", localDefault.Damper);
Gravity = mjcf.GetEnumAttribute<EnableDisableFlag>("gravity", localDefault.Gravity);
ClampCtrl = mjcf.GetEnumAttribute<EnableDisableFlag>("clampctrl", localDefault.ClampCtrl);
WarmStart = mjcf.GetEnumAttribute<EnableDisableFlag>("warmstart", localDefault.WarmStart);
@@ -121,7 +124,8 @@ public struct MjcfOptionFlag {
mjcf.SetAttribute("frictionloss", FrictionLoss.ToString());
mjcf.SetAttribute("limit", Limit.ToString());
mjcf.SetAttribute("contact", Contact.ToString());
mjcf.SetAttribute("passive", Passive.ToString());
mjcf.SetAttribute("spring", Spring.ToString());
mjcf.SetAttribute("damper", Damper.ToString());
mjcf.SetAttribute("gravity", Gravity.ToString());
mjcf.SetAttribute("clampctrl", ClampCtrl.ToString());
mjcf.SetAttribute("warmstart", WarmStart.ToString());
@@ -270,10 +274,9 @@ public struct MjOptionStruct {
public XmlElement ToMjcf(XmlElement mjcf) {
mjcf.SetAttribute("impratio", MjEngineTool.MakeLocaleInvariant($"{ImpRatio}"));
mjcf.SetAttribute("magnetic", MjEngineTool.MakeLocaleInvariant($"{Magnetic.x} {Magnetic.y} {Magnetic.z}"));
mjcf.SetAttribute("magnetic",
MjEngineTool.MakeLocaleInvariant($"{Magnetic.x} {Magnetic.y} {Magnetic.z}"));
mjcf.SetAttribute("wind", MjEngineTool.MakeLocaleInvariant($"{Wind.x} {Wind.y} {Wind.z}"));
mjcf.SetAttribute("density", MjEngineTool.MakeLocaleInvariant($"{Density}"));
mjcf.SetAttribute("viscosity", MjEngineTool.MakeLocaleInvariant($"{Viscosity}"));
mjcf.SetAttribute("o_margin", MjEngineTool.MakeLocaleInvariant($"{OverrideMargin}"));
@@ -285,7 +288,6 @@ public struct MjOptionStruct {
mjcf.SetAttribute("cone", Cone.ToString());
mjcf.SetAttribute("jacobian", Jacobian.ToString());
mjcf.SetAttribute("solver", Solver.ToString());
mjcf.SetAttribute("iterations", MjEngineTool.MakeLocaleInvariant($"{Iterations}"));
mjcf.SetAttribute("tolerance", MjEngineTool.MakeLocaleInvariant($"{Tolerance}"));
mjcf.SetAttribute("noslip_iterations", MjEngineTool.MakeLocaleInvariant($"{NoSlipIterations}"));
unity/Tests/Editor/Components/MjGlobalSettingsTests.cs
+2 -1
View File
@@ -92,7 +92,8 @@ public class MjGlobalSettingsGenerationTests {
Assert.That(_doc.OuterXml, Does.Contain(@"frictionloss="));
Assert.That(_doc.OuterXml, Does.Contain(@"limit="));
Assert.That(_doc.OuterXml, Does.Contain(@"contact="));
Assert.That(_doc.OuterXml, Does.Contain(@"passive="));
Assert.That(_doc.OuterXml, Does.Contain(@"spring="));
Assert.That(_doc.OuterXml, Does.Contain(@"damper="));
Assert.That(_doc.OuterXml, Does.Contain(@"clampctrl="));
Assert.That(_doc.OuterXml, Does.Contain(@"warmstart="));
Assert.That(_doc.OuterXml, Does.Contain(@"filterparent="));