Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
56 lines
1.9 KiB
C#
56 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.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 MjSphereShape : IMjShape {
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public float Radius = 0.5f;
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private const float _scaleTolerance = 1e-6f;
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public void ToMjcf(XmlElement mjcf, Transform transform) {
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if (Math.Abs(transform.lossyScale.x - transform.lossyScale.y) > _scaleTolerance ||
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Math.Abs(transform.lossyScale.y - transform.lossyScale.z) > _scaleTolerance) {
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Debug.LogWarning(
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$"{transform.name}: Sphere shapes work only with uniform scaling. Using the value of X" +
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" component.\n Consider using Ellipsoid shape if you want to use non-uniform scaling.",
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transform);
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}
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mjcf.SetAttribute("size", MjEngineTool.MakeLocaleInvariant($"{Radius * transform.lossyScale.x}"));
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}
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public void FromMjcf(XmlElement mjcf) {
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var values = mjcf.GetFloatArrayAttribute("size", defaultValue: new float[] { 0.5f });
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Radius = values[0];
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}
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public Tuple<Vector3[], int[]> BuildMesh() {
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return MeshGenerators.BuildSphere(scale: Vector3.one * Radius);
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}
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public Vector4 GetChangeStamp() {
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return new Vector4(Radius, 1, 1, 0);
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}
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public void DebugDraw(Transform transform) {
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Gizmos.DrawWireSphere(transform.position, Radius * transform.lossyScale.x);
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}
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}
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}
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