Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
48 lines
1.6 KiB
C#
48 lines
1.6 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 abstract class MjBaseConstraint : MjComponent {
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public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_EQUALITY;
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protected abstract string _constraintName { get; }
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public SolverImpedance SolverImpedanceSettings = SolverImpedance.Default;
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public SolverReference SolverReferenceSettings = SolverReference.Default;
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protected abstract void ToMjcf(XmlElement mjcf);
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protected abstract void FromMjcf(XmlElement mjcf);
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protected override void OnParseMjcf(XmlElement mjcf) {
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FromMjcf(mjcf);
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SolverReferenceSettings.FromMjcf(mjcf, "solref");
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SolverImpedanceSettings.FromMjcf(mjcf, "solimp");
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}
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protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
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var mjcf = (XmlElement)doc.CreateElement(_constraintName);
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ToMjcf(mjcf);
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SolverReferenceSettings.ToMjcf(mjcf, "solref");
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SolverImpedanceSettings.ToMjcf(mjcf, "solimp");
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return mjcf;
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}
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}
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}
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