Tom Erez
64 lines
2.2 KiB
C#
64 lines
2.2 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 MjCapsuleShape : IMjShape {
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public float Radius = 0.5f;
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public float HalfHeight = 0.5f;
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private const float _scaleTolerance = 1e-5f;
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public void ToMjcf(XmlElement mjcf, Transform transform) {
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if (Math.Abs(transform.lossyScale.x - transform.lossyScale.z) > _scaleTolerance) {
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Debug.LogWarning(
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$"{transform.name}: Capsule shapes require uniform scaling of XZ plane. Using the" +
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" value of X and Y components.", transform);
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}
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mjcf.SetAttribute(
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"size", $"{Radius * transform.lossyScale.x} {HalfHeight * transform.lossyScale.y}");
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}
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public void FromMjcf(XmlElement mjcf) {
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var components = mjcf.GetFloatArrayAttribute("size", defaultValue: new float[] { 0.5f, 0.5f });
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Radius = components[0];
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HalfHeight = components[1];
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Vector3 fromPoint, toPoint;
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if (MjEngineTool.ParseFromToMjcf(mjcf, out fromPoint, out toPoint)) {
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HalfHeight = 0.5f * (toPoint - fromPoint).magnitude;
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}
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}
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public Tuple<Vector3[], int[]> BuildMesh() {
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return MeshGenerators.BuildCapsule(radius: Radius, height: (HalfHeight + Radius) * 2.0f);
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}
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public Vector4 GetChangeStamp() {
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return new Vector4(Radius, HalfHeight, 1, 0);
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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, Vector3.one);
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MjGizmos.DrawWireCapsule(
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Vector3.zero, Radius * transform.lossyScale.x, 2 * HalfHeight * transform.lossyScale.y);
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}
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}
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}
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