Copybara-Service
e4359c04df
PiperOrigin-RevId: 588420615 Change-Id: I2340f2fc025017133644eeedacf94b5c83e04669
69 lines
2.1 KiB
C#
69 lines
2.1 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.IO;
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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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{
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[Serializable]
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public class MjHeightFieldShape : IMjShape
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{
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public Terrain terrain;
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[Tooltip("The path, relative to Application.dataPath, where the heightmap data will be save in PNG format.")]
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public string heightMapExportPath;
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public string FullHeightMapPath => Path.GetFullPath(Path.Combine(Application.dataPath, heightMapExportPath));
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public int HeightMapWidth => terrain.terrainData.heightmapTexture.width;
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public int HeightMapHeight => terrain.terrainData.heightmapTexture.height;
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public Vector3 HeightMapScale => terrain.terrainData.heightmapScale;
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public void ToMjcf(XmlElement mjcf, Transform transform){
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ExportHeightMap();
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var scene = MjScene.Instance;
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var assetName = scene.GenerationContext.AddHeightFieldAsset(this);
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mjcf.SetAttribute("hfield", assetName);
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}
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public void FromMjcf(XmlElement mjcf){
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}
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public void ExportHeightMap(){
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RenderTexture.active = terrain.terrainData.heightmapTexture;
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Texture2D texture = new Texture2D(RenderTexture.active.width, RenderTexture.active.height);
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texture.ReadPixels(new Rect(0, 0, RenderTexture.active.width, RenderTexture.active.height), 0, 0);
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RenderTexture.active = null;
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File.WriteAllBytes(FullHeightMapPath, texture.EncodeToPNG());
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}
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public Vector4 GetChangeStamp(){
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return Vector4.one;
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}
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public Tuple<Vector3[], int[]> BuildMesh(){
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return Tuple.Create(new Vector3[]{}, new int[]{});
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}
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public void DebugDraw(Transform transform){
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}
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}
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}
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