Bálint Hodossy
96 lines
2.9 KiB
C#
96 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.Linq;
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using System.Xml;
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using UnityEngine;
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namespace Mujoco {
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// A facade that allows to select a type of Mujoco shape and define that shape's properties.
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//
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// To work around the lack of serialization support for polymorphism, the class aggregates
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// the settings of all available shape types. Coupled with a set of custom property drawers,
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// it will be presented in the Inspector as a single entity, encapsulating the details of
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// data persistance, Mjcf parsing and generation and debug visualization.
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public abstract class MjShapeComponent : MjComponent {
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public enum ShapeTypes {
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Sphere,
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Capsule,
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Ellipsoid,
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Cylinder,
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Box,
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Plane,
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Mesh,
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HField
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}
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public ShapeTypes ShapeType;
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public MjSphereShape Sphere = new MjSphereShape();
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public MjCapsuleShape Capsule = new MjCapsuleShape();
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public MjCylinderShape Cylinder = new MjCylinderShape();
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public MjBoxShape Box = new MjBoxShape();
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public MjEllipsoidShape Ellipsoid = new MjEllipsoidShape();
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public MjPlaneShape Plane = new MjPlaneShape();
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public MjMeshShape Mesh = new MjMeshShape();
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public MjHeightFieldShape HField = new MjHeightFieldShape();
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public IMjShape Shape {
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get {
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switch (ShapeType) {
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default:
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case ShapeTypes.Sphere: return Sphere;
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case ShapeTypes.Capsule: return Capsule;
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case ShapeTypes.Cylinder: return Cylinder;
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case ShapeTypes.Ellipsoid: return Ellipsoid;
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case ShapeTypes.Box: return Box;
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case ShapeTypes.Plane: return Plane;
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case ShapeTypes.Mesh: return Mesh;
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case ShapeTypes.HField: return HField;
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}
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}
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}
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public void ShapeToMjcf(XmlElement mjcf, Transform transform) {
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mjcf.SetAttribute("type", ShapeType.ToString().ToLower());
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Shape.ToMjcf(mjcf, transform);
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}
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public void ShapeFromMjcf(XmlElement mjcf) {
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ShapeType = mjcf.GetEnumAttribute<ShapeTypes>(
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"type", ShapeTypes.Sphere, ignoreCase: true);
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Shape.FromMjcf(mjcf);
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}
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public Tuple<Vector3[], int[]> BuildMesh() {
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return Shape.BuildMesh();
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}
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public Vector4 GetChangeStamp() {
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var stamp = Shape.GetChangeStamp();
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stamp.w = (float)ShapeType;
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return stamp;
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}
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public void DrawGizmos(Transform transform) {
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var oldMatrix = Gizmos.matrix;
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Shape.DebugDraw(transform);
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Gizmos.matrix = oldMatrix;
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}
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}
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}
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