Tom Erez
88 lines
3.0 KiB
C#
88 lines
3.0 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.Collections;
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using System.Collections.Generic;
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using System.Linq;
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using UnityEngine;
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namespace Mujoco {
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// A set of helper methods for working with hierarchies of components.
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public static class MjHierarchyTool {
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public static IEnumerable<MjComponent> LinearizeHierarchyBFS(Transform start) {
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var open = new Queue<Transform>();
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open.Enqueue(start);
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while (open.Count > 0) {
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var transform = open.Dequeue();
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var components = transform.GetComponents<MjComponent>();
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foreach (var component in components) {
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if (component.isActiveAndEnabled) {
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yield return component;
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}
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}
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foreach (Transform child in transform) {
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open.Enqueue(child);
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}
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}
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}
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// Recurses up the tree (excluding self) and returns the first instance of a MjComponent.
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public static MjComponent FindParentComponent(MonoBehaviour start) {
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return FindParentComponent<MjComponent>(start);
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}
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// This is not equivalent to Unity's GetComponentInParent as it excludes self from the search.
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public static T FindParentComponent<T>(MonoBehaviour start) where T : MonoBehaviour {
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if (start.transform.parent == null) {
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return null;
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}
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var loopTransform = start.transform.parent;
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T result = loopTransform.GetComponent<T>();
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while (result == null && loopTransform.parent != null) {
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loopTransform = loopTransform.parent;
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result = loopTransform.GetComponent<T>();
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}
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return result;
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}
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public static List<T> GetComponentsInImmediateChildren<T>(Transform parent)
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where T : MonoBehaviour {
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var components = new List<T>();
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foreach (Transform child in parent) {
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components.AddRange(child.gameObject.GetComponents<T>());
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}
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return components;
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}
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// Finds a single component that matches both the type and the name criteria.
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public static T FindComponentOfTypeAndName<T>(string name) where T : MjComponent {
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var components = UnityEngine.Object.FindObjectsOfType<T>().Where(
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component => component.gameObject.name == name);
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var numComponents = components.Count();
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if (components == null || numComponents == 0) {
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throw new ArgumentException($"No components named '{name}' were found.");
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}
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if (numComponents > 1) {
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throw new ArgumentException($"More than one component named '{name}' was found.");
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}
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return components.FirstOrDefault() as T;
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}
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}
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}
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