Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
82 lines
2.9 KiB
C#
82 lines
2.9 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.Collections.Generic;
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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 FixedTendonEntry {
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[Tooltip("Only scalar joints can be used - hinge and slide.")]
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public MjBaseJoint Joint;
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[Tooltip("Multiplier for the value of the joint.")]
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public float Coefficient = 1.0f;
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}
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public class MjFixedTendon : MjBaseTendon {
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[Tooltip("In (scaled) radians/meters.")]
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public float RangeLower;
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[Tooltip("In (scaled) radians/meters.")]
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public float RangeUpper;
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public List<FixedTendonEntry> JointList = new List<FixedTendonEntry>() {};
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protected override void FromMjcf(XmlElement mjcf) {
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foreach (var child in mjcf.Cast<XmlNode>().OfType<XmlElement>()) {
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var fixedTendonEntry = new FixedTendonEntry();
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fixedTendonEntry.Joint = child.GetObjectReferenceAttribute<MjBaseJoint>("joint");
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fixedTendonEntry.Coefficient = child.GetFloatAttribute("coef", defaultValue: 1.0f);
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JointList.Add(fixedTendonEntry);
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}
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var rangeValues = mjcf.GetFloatArrayAttribute("range", defaultValue: new float[] { 0, 0 });
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RangeLower = rangeValues[0];
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RangeUpper = rangeValues[1];
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}
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protected override XmlElement ToMjcf(XmlDocument doc) {
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if (JointList.Count < 1) {
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throw new ArgumentOutOfRangeException($"Fixed tendon {name} needs at least one joint.");
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}
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var mjcf = doc.CreateElement("fixed");
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foreach (FixedTendonEntry fixedTendonEntry in JointList) {
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var jointMjcf = doc.CreateElement("joint");
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jointMjcf.SetAttribute("joint", fixedTendonEntry.Joint.MujocoName);
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jointMjcf.SetAttribute("coef", MjEngineTool.MakeLocaleInvariant($"{fixedTendonEntry.Coefficient}"));
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mjcf.AppendChild(jointMjcf);
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}
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if (RangeLower > RangeUpper) {
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throw new ArgumentException("Lower range value can't be bigger than Higher");
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}
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mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"{RangeLower} {RangeUpper}"));
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return mjcf;
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}
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public void OnValidate() {
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foreach (FixedTendonEntry fixedTendonEntry in JointList) {
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if (!(fixedTendonEntry.Joint is MjHingeJoint) &&
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!(fixedTendonEntry.Joint is MjSlideJoint)) {
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Debug.LogError("Only scalar joints (hinge or slide) are allowed.", this);
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fixedTendonEntry.Joint = null;
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}
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}
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}
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}
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}
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