Bálint Hodossy
53 lines
1.7 KiB
C#
53 lines
1.7 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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// The component represents a joint with 1 degree of translational freedom.
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public class MjBallJoint : MjBaseJoint {
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[Tooltip("In degrees.")]
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public float RangeUpper;
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[Tooltip("Joint settings.")]
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public MjJointSettings Settings = MjJointSettings.Default;
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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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Settings.FromMjcf(mjcf);
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var rangeValues = mjcf.GetFloatArrayAttribute("range", defaultValue: new float[] { 0, 0 });
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// rangeValues[0] is always 0 for ball joints.
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RangeUpper = rangeValues[1];
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}
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protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
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var mjcf = (XmlElement)doc.CreateElement("joint");
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mjcf.SetAttribute("type", "ball");
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MjEngineTool.PositionToMjcf(mjcf, this);
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Settings.ToMjcf(mjcf);
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mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"0 {RangeUpper}"));
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return mjcf;
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}
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}
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}
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