Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
56 lines
1.7 KiB
C#
56 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.Linq;
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using System.Xml;
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using UnityEngine;
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namespace Mujoco {
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[Serializable]
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public class MjBoxShape : IMjShape {
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public Vector3 Extents = Vector3.one * 0.5f;
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public void ToMjcf(XmlElement mjcf, Transform transform) {
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var scaledExtents = MjEngineTool.MjExtents(Vector3.Scale(Extents, transform.lossyScale));
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mjcf.SetAttribute("size", MjEngineTool.Vector3ToMjcf(scaledExtents));
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}
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public void FromMjcf(XmlElement mjcf) {
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Extents = MjEngineTool.UnityExtents(
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mjcf.GetVector3Attribute("size", defaultValue: Vector3.one * 0.5f));
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Vector3 fromPoint, toPoint;
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if (MjEngineTool.ParseFromToMjcf(mjcf, out fromPoint, out toPoint)) {
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var extent = (toPoint - fromPoint).magnitude * 0.5f;
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Extents = Vector3.one * extent;
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}
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}
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public Tuple<Vector3[], int[]> BuildMesh() {
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return MeshGenerators.BuildBox(extents: Extents);
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}
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public Vector4 GetChangeStamp() {
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return Extents;
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}
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public void DebugDraw(Transform transform) {
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Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, transform.lossyScale);
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Gizmos.DrawWireCube(Vector3.zero, Extents * 2.0f);
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}
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}
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}
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