Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
52 lines
1.7 KiB
C#
52 lines
1.7 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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public class MjConnect : MjBaseConstraint {
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public MjBaseBody Body1;
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public MjBaseBody Body2;
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protected override string _constraintName => "connect";
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protected override void FromMjcf(XmlElement mjcf) {
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Body1 = mjcf.GetObjectReferenceAttribute<MjBaseBody>("body1");
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Body2 = mjcf.GetObjectReferenceAttribute<MjBaseBody>("body2");
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if (mjcf.GetStringAttribute("anchor") != null) {
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Debug.Log($"anchor in connect {name} ignored. Set Transforms in the editor.");
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}
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}
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// Generate implementation specific XML element.
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protected override void ToMjcf(XmlElement mjcf) {
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if (Body1 == null || Body2 == null) {
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throw new NullReferenceException($"Both bodies in connect {name} are required.");
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}
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mjcf.SetAttribute("body1", Body1.MujocoName);
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mjcf.SetAttribute("body2", Body2.MujocoName);
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}
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public void OnValidate() {
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if (Body1 != null && Body1 == Body2) {
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Debug.LogError("Body1 and Body2 can't be the same - resetting Body2.", this);
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Body2 = null;
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}
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}
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}
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}
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