Tom Erez
55 lines
1.9 KiB
C#
55 lines
1.9 KiB
C#
// Copyright 2019 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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using System;
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using System.Linq;
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using System.Xml;
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using UnityEngine;
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namespace Mujoco {
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public class MjExclude : MjComponent {
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[Tooltip("A body whose contacts with other body are ignored")]
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public MjBody Body1;
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[Tooltip("Other body whose contacts with first body are ignored")]
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public MjBody Body2;
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public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_EXCLUDE;
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protected override void OnParseMjcf(XmlElement mjcf) {
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var body1Name = mjcf.GetStringAttribute("body1", defaultValue: string.Empty);
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if (!string.IsNullOrEmpty(body1Name)) {
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Body1 = MjHierarchyTool.FindComponentOfTypeAndName<MjBody>(body1Name);
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}
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var body2Name = mjcf.GetStringAttribute("body2", defaultValue: string.Empty);
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if (!string.IsNullOrEmpty(body2Name)) {
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Body2 = MjHierarchyTool.FindComponentOfTypeAndName<MjBody>(body2Name);
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}
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}
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// Generate implementation specific XML element.
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protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
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if (Body1 == null || Body2 == null) {
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throw new NullReferenceException($"Both bodies in {name} must be assigned.");
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}
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var mjcf = (XmlElement)doc.CreateElement("exclude");
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mjcf.SetAttribute("body1", Body1.MujocoName);
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mjcf.SetAttribute("body2", Body2.MujocoName);
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return mjcf;
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}
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}
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}
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