Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
65 lines
2.5 KiB
C#
65 lines
2.5 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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// Defines an inertial frame of a body.
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public class MjInertial : MjComponent {
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[Tooltip("Mass assigned to the parent body.")]
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public float Mass = 1.0f;
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[Tooltip("Diagonal inertia matrix, expressing the body inertia relative to the inertial frame.")]
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public Vector3 DiagInertia = Vector3.one;
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public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_BODY;
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protected override bool _suppressNameAttribute => true;
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// Parse the component settings from an external Mjcf.
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protected override void OnParseMjcf(XmlElement mjcf) {
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MjEngineTool.ParseTransformMjcf(mjcf, transform);
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Mass = mjcf.GetFloatAttribute("mass", defaultValue: 1.0f);
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DiagInertia = MjEngineTool.UnityExtents(
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mjcf.GetVector3Attribute("diaginertia", defaultValue: Vector3.one));
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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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var mjcf = (XmlElement)doc.CreateElement("inertial");
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MjEngineTool.PositionRotationToMjcf(mjcf, this);
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mjcf.SetAttribute("mass", MjEngineTool.MakeLocaleInvariant($"{Mass}"));
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mjcf.SetAttribute("diaginertia",
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MjEngineTool.Vector3ToMjcf(MjEngineTool.MjExtents(DiagInertia)));
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return mjcf;
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}
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protected void OnDrawGizmosSelected() {
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Gizmos.color = Color.yellow;
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var oldMatrix = Gizmos.matrix;
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Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, transform.lossyScale);
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var box = new Vector3(
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Mathf.Sqrt((DiagInertia[1] + DiagInertia[2] - DiagInertia[0]) / Mass * 6.0f),
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Mathf.Sqrt((DiagInertia[0] + DiagInertia[2] - DiagInertia[1]) / Mass * 6.0f),
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Mathf.Sqrt((DiagInertia[0] + DiagInertia[1] - DiagInertia[2]) / Mass * 6.0f));
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Gizmos.DrawWireCube(Vector3.zero, box);
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Gizmos.matrix = oldMatrix;
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}
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}
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}
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