Tom Erez
02f300c762
This also fixes a sensor data reading bug: previously, _sensorIndex was multiplied by 3 by MjEngineTool. PiperOrigin-RevId: 451699887 Change-Id: I864bcbf8159857764854b25311a26ec5672125d9
55 lines
1.8 KiB
C#
55 lines
1.8 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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// Defines a reference frame and an anchoring point for other elements of the rig.
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public class MjSite : MjShapeComponent {
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public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_SITE;
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// Parse the component settings from an external Mjcf.
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protected override void OnParseMjcf(XmlElement mjcf) {
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ShapeFromMjcf(mjcf);
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MjEngineTool.ParseTransformMjcf(mjcf, transform);
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}
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// Generate implementation specific XML element.
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protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
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var mjcf = (XmlElement)doc.CreateElement("site");
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ShapeToMjcf(mjcf, transform);
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MjEngineTool.PositionRotationToMjcf(mjcf, this);
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return mjcf;
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}
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// Synchronize the state of the component.
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public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
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transform.position = MjEngineTool.UnityVector3(
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MjEngineTool.MjVector3AtEntry(data->site_xpos, MujocoId));
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transform.rotation = MjEngineTool.UnityQuaternionFromMatrix(
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MjEngineTool.MjMatrixAtEntry(data->site_xmat, MujocoId));
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}
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public void OnDrawGizmosSelected() {
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Gizmos.color = Color.magenta;
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DrawGizmos(transform);
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}
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}
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}
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