Tom Erez
eb8389fead
PiperOrigin-RevId: 498655077 Change-Id: Ibed8f36a880426063b7729fc66b15c67adcc9a65
109 lines
3.4 KiB
C#
109 lines
3.4 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 base class for all components that represent Mujoco scene nodes.
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[DisallowMultipleComponent]
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public abstract class MjComponent : MonoBehaviour {
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// Unique name assigned to each Mujoco component.
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public string MujocoName { get; private set; }
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// Id of the geom in Mujoco's internal data structures.
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public int MujocoId { get; protected set; }
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public abstract MujocoLib.mjtObj ObjectType { get; }
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// Some components (Inertial frames for example) cannot have the name attribute
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// added to the generated Mjcf.
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protected virtual bool _suppressNameAttribute => false;
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// Binds this component to the compiled Mujoco model.
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public unsafe void BindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
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MujocoId = MujocoLib.mj_name2id(model, (int)ObjectType, MujocoName);
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if (MujocoId == -1 && !_suppressNameAttribute) {
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throw new NullReferenceException($"element name {MujocoName} not found");
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}
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OnBindToRuntime(model, data);
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}
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// Generates the XML element that corresponds to this scene node.
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public XmlElement GenerateMjcf(string name, XmlDocument doc) {
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MujocoName = name;
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var mjcf = OnGenerateMjcf(doc);
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if (!_suppressNameAttribute) {
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mjcf.SetAttribute("name", name);
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}
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return mjcf;
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}
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// Parse the component settings from an external Mjcf.
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public void ParseMjcf(XmlElement mjcf) {
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// I would like to preserve the naming dualism - external mechanisms
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// calling a method, and the internal implementation implementing
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// the method with an "On" prefix.
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OnParseMjcf(mjcf);
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}
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// Parse the component settings from an external Mjcf.
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protected abstract void OnParseMjcf(XmlElement mjcf);
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// Generate implementation specific XML element.
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protected abstract XmlElement OnGenerateMjcf(XmlDocument doc);
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// Perform bind time initialization of the component.
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protected virtual unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {}
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// Synchronize the state of the component.
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public virtual unsafe void OnSyncState(MujocoLib.mjData_* data) {}
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private bool _sceneExcludesMe = false;
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protected unsafe virtual void OnEnable() {
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if (MjScene.Instance == null) {
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throw new Exception("MuJoCo Scene not found");
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}
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if (MjScene.Instance.Model != null) {
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_sceneExcludesMe = true;
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}
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}
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protected void Update() {
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if (_sceneExcludesMe) {
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MjScene.Instance.SceneRecreationAtLateUpdateRequested = true;
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_sceneExcludesMe = false;
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}
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}
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private bool _exiting = false;
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public void OnApplicationQuit() {
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_exiting = true;
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}
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public void OnDisable() {
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if (!_exiting && MjScene.InstanceExists) {
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MjScene.Instance.SceneRecreationAtLateUpdateRequested = true;
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}
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}
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}
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}
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