e7a9447c03
Add gravcomp to body in unity plugin
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The unity plugin is missing gravcomp which makes it impossible for buoyancy
2023-02-13 10:21:09 +01:00
9971993cdb
Add support for implicit integrator type
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The `implicit` option was added in the IntegratorType enum.
Using `@` prefix to avoid collision with reserved keyword.
2023-02-13 10:20:42 +01:00
f3c966796f
Allow models without numerical suffixes.
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This is important for MJPC, where some element special names (e.g., a site called "trace0", or different custom numeric fields) are used.
PiperOrigin-RevId: 502338391
Change-Id: I632b5d633c92b82b60160daeeb169693225640a3
2023-01-16 02:59:11 -08:00
eb8389fead
Find MjScene at OnEnable: ensure MuJoCo compilation happens only once at startup.
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PiperOrigin-RevId: 498655077
Change-Id: Ibed8f36a880426063b7729fc66b15c67adcc9a65
2022-12-30 18:37:59 -08:00
f78ebeab96
Add post-compile and pre-destroy events to MjScene.
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PiperOrigin-RevId: 498516529
Change-Id: I52dbf135e3260ca2999069bcb9f9b9ad648595d2
2022-12-29 22:43:11 -08:00
6a58fd1522
Clean-up test files.
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Also, don't add a Global Settings component at import if the xml doesn't have any global settings (option/size/custom).
PiperOrigin-RevId: 495950899
Change-Id: I6599e8ea3f3a82729fc5c974fd7ced8eb93b277e
2022-12-16 13:39:28 -08:00
4d91866e98
Merge pull request #652 from Balint-H:fix/unity-scene-tranisition
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PiperOrigin-RevId: 495876985
Change-Id: I9880aa6bd2fc696509e518449a35a69457d92ba4
2022-12-16 08:13:03 -08:00
189349f421
Don't add an empty "user" attribute to user sensors.
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This fixes the broken TAP tests.
PiperOrigin-RevId: 495867491
Change-Id: I740651ed0dd8d1c84053a48f3fca577b6024bf95
2022-12-16 07:17:42 -08:00
f70403d00a
Add support for global custom numeric fields.
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PiperOrigin-RevId: 495865065
Change-Id: I59ed65e84a0bcaa90220b938ed34fdc26165aa09
2022-12-16 07:03:31 -08:00
a0ab1940bf
Fix ignored units of springref
2022-12-15 15:36:14 +00:00
e95b0c0eaf
Add anchor support for connect constraint components.
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Fixes #647
PiperOrigin-RevId: 495587232
Change-Id: I528a69dabbc1ac9a12f9ab7c16716e3d69c635e2
2022-12-15 07:25:59 -08:00
aec125fb4e
Check whether MjScene exists in components' OnDisable()
2022-12-14 13:38:36 +00:00
21f10ce1b6
Add user sensor bindings.
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Stop force-setting nusersensor, instead allow MuJoCo to infer the size.
PiperOrigin-RevId: 494783883
Change-Id: Ia2a1b1803b2904f2dded7b790d01eb6f1920dbaf
2022-12-12 11:43:00 -08:00
8312f37e7e
Reuse existing mesh assets in MjMeshFilter
2022-12-06 16:11:03 +00:00
170a060a50
Merge pull request #601 from Balint-H:fix/mesh-filter-disappear
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PiperOrigin-RevId: 490719489
Change-Id: I04bdd2f302197a06acaf922e9d10a0bbf00ee89a
2022-11-24 05:46:49 -08:00
dc927b367d
Remove unnecessary unit conversion
2022-11-23 16:26:42 +00:00
12d3e0ae09
Create separate mesh when MjMeshfilter is first instantiated, to support duplicating in Editor
2022-11-23 15:02:35 +00:00
6f2092bef2
Merge pull request #593 from Balint-H:feature/unity-ccd
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PiperOrigin-RevId: 489551476
Change-Id: I751d2faa95d82f201614e8a3f08a9629492bfbe7
2022-11-18 13:38:51 -08:00
5c79a9a8fe
Add multiccd option in Unity MJCF parser and writer
2022-11-18 13:10:06 +00:00
1fdbfa7061
Add MjScene property to check if scene has initialized
2022-11-18 11:25:08 +00:00
2328316d7d
Add synchronisation events to MjScene
2022-11-18 11:23:41 +00:00
f6fd7efeb3
Add UVs to newly created geom meshes
2022-11-01 22:21:30 +00:00
d0a628f464
Fix MjWeld using wrong address in Unity plugin
2022-09-17 17:35:09 +01:00
c8ff7b3d34
Remove distance constraints.
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- `distance` constraints were not very useful and increased the contact buffer within the constraint solver, violating a core design principle. Therefore they have been removed.
- The enum value `mjEQ_DISTANCE` is retained, but errors will be thrown in the parser and engine if these constraints are selected.
PiperOrigin-RevId: 467050101
Change-Id: Ie72a07e4fe338eea5107004a9fc0f5e47eb0c3b7
2022-08-11 14:31:11 -07:00
02f300c762
Refactor: separate buffer indexing and swizzling.
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This also fixes a sensor data reading bug: previously, _sensorIndex was multiplied by 3 by MjEngineTool.
PiperOrigin-RevId: 451699887
Change-Id: I864bcbf8159857764854b25311a26ec5672125d9
2022-05-29 00:24:30 -07:00
ef9fa9dfe4
Get rid of the opaque "entryIndex" argument.
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Use pointer arithmetic instead.
PiperOrigin-RevId: 451493057
Change-Id: Ic89ad8ff1d3191180031a1011c1b100eaea12f6f
2022-05-27 15:24:22 -07:00
a83a8f642f
Add priority settings to geometry
2022-05-13 17:40:11 +02:00
c62c68d744
Fixed reading offsets for Sensors. Added Advanced Settings property to MjGeomEditor
2022-05-13 13:32:40 +02:00
3577e2cf8b
Version 2.1.2: Python bindings, OBJ assets support, bugfixes.
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PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
2022-03-15 14:04:44 +00:00
6de9eafa13
Initial release of the Unity plugin.
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PiperOrigin-RevId: 425947505
2022-02-02 20:44:39 +00:00
Benjamin Nauck