Tom Erez
43 lines
1.6 KiB
C#
43 lines
1.6 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 the apex of hierarchy that defines a single rigid body.
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public class MjBody : MjBaseBody {
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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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transform.localRotation = MjEngineTool.UnityQuaternion(
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mjcf.GetQuaternionAttribute("quat", defaultValue: MjEngineTool.MjQuaternionIdentity));
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}
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protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
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var mjcf = (XmlElement)doc.CreateElement("body");
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MjEngineTool.PositionRotationToMjcf(mjcf, this);
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return mjcf;
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}
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public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
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transform.position = MjEngineTool.UnityVector3(data->xpos, MujocoId);
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transform.rotation = MjEngineTool.UnityQuaternion(data->xquat, MujocoId);
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}
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}
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}
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