Joss Moore
ef699d4b6d
PiperOrigin-RevId: 558735711 Change-Id: Ibc9a81cbf8ec4b979d5b325c822c1bffc1408509
49 lines
1.9 KiB
C#
49 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.Xml;
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using UnityEngine;
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namespace Mujoco {
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public class MjMocapBody : MjBaseBody {
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protected override void OnParseMjcf(XmlElement mjcf) {
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// Transform
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transform.localPosition =
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MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("pos", defaultValue: Vector3.zero));
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transform.localRotation = MjEngineTool.UnityQuaternion(
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mjcf.GetQuaternionAttribute("quat", defaultValue: MjEngineTool.MjQuaternionIdentity));
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}
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protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
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var bodyId = MujocoLib.mj_name2id(model, (int)ObjectType, MujocoName);
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MujocoId = model->body_mocapid[bodyId];
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}
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protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
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var mjcf = doc.CreateElement("body");
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MjEngineTool.PositionRotationToMjcf(mjcf, this);
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mjcf.SetAttribute("mocap", "true");
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return mjcf;
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}
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public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
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MjEngineTool.SetMjVector3(
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MjEngineTool.MjVector3AtEntry(data->mocap_pos, MujocoId), transform.position);
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MjEngineTool.SetMjQuaternion(
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MjEngineTool.MjQuaternionAtEntry(data->mocap_quat, MujocoId), transform.rotation);
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}
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}
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}
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