Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
47 lines
1.7 KiB
C#
47 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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// Functionality that needs to be implemented for each shape type.
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public interface IMjShape {
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// Generate the Mjcf representation of the shape. Infer the scale of the shape from the transform.
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void ToMjcf(XmlElement mjcf, Transform transform);
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// Parse the shape settings from the specified Mjcf node.
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void FromMjcf(XmlElement mjcf);
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// Build a parametric mesh (vertices, triangles) of this shape.
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Tuple<Vector3[], int[]> BuildMesh();
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// Generate a timestamp that can be used to quickly compare if the settings of a shape
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// have changed.
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// The timestamp should also allow to distinguish between different types of shapes.
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//
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// Because most of shapes use at most 3 floating point values as parameters, we will
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// use the first 3 components of the returned Vector4 to store those values. We will store
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// the id of the shape in the 4th component. That id will be derrived from MjShapeComponent.ShapeTypes
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// enum.
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Vector4 GetChangeStamp();
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// Draw a debug gizmo for the shape.
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void DebugDraw(Transform transform);
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}
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}
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