Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
105 lines
3.7 KiB
C#
105 lines
3.7 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.Collections;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Xml;
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using UnityEngine;
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namespace Mujoco {
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// An instance of this class will be used to collect dynamic dependencies produced by a Mujoco model
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// during scene generation.
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public class MjcfGenerationContext {
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public int NUserSensor {
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get { return _nuserSensor; }
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set { _nuserSensor = Math.Max(_nuserSensor, value); }
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}
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private int _nuserSensor;
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private int _numGeneratedNames = 0;
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private Dictionary<Mesh, string> _meshAssets = new Dictionary<Mesh, string>();
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public void GenerateMjcf(XmlElement mjcf) {
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GenerateConfigurationMjcf(mjcf);
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GenerateAssetsMjcf(mjcf);
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}
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// Adds a mesh to the list of assets that will be added to the generated MJCF.
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// Returns the unique name that identifies this new asset.
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public string AddMeshAsset(Mesh mesh) {
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if (!_meshAssets.ContainsKey(mesh)) {
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var uniqueName = $"mesh_{_numGeneratedNames}";
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_numGeneratedNames++;
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_meshAssets.Add(mesh, uniqueName);
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}
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return _meshAssets[mesh];
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}
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// Generates a Unique name for the specified component.
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// Uniqueness of names is required for every type independently.
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// The per-type uniqueness will be guaranteed by the combination of information used:
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// - name of the host GameObject.
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// - number of names that have been generated to date.
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public string GenerateName(Component comp) {
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var name = $"{comp.gameObject.name}_{_numGeneratedNames}";
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_numGeneratedNames++;
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return name;
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}
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private void GenerateConfigurationMjcf(XmlElement mjcf) {
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var doc = mjcf.OwnerDocument;
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var compilerMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("compiler"));
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compilerMjcf.SetAttribute("coordinate", "local");
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var optionMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("option"));
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optionMjcf.SetAttribute(
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"gravity", MjEngineTool.Vector3ToMjcf(MjEngineTool.MjVector3(Physics.gravity)));
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optionMjcf.SetAttribute("timestep", MjEngineTool.MakeLocaleInvariant($"{Time.fixedDeltaTime}"));
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var sizeMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("size"));
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sizeMjcf.SetAttribute("nuser_sensor", $"{_nuserSensor}");
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var settings = MjGlobalSettings.Instance;
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if (settings) {
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settings.OptionSizeToMjcf(optionMjcf, sizeMjcf);
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}
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}
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private void GenerateAssetsMjcf(XmlElement mjcf) {
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var doc = mjcf.OwnerDocument;
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var assetMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("asset"));
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foreach (var asset in _meshAssets) {
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var meshMjcf = (XmlElement)assetMjcf.AppendChild(doc.CreateElement("mesh"));
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meshMjcf.SetAttribute("name", asset.Value);
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GenerateMeshMjcf(asset.Key, meshMjcf);
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}
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}
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private static void GenerateMeshMjcf(Mesh mesh, XmlElement mjcf) {
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var vertexPositionsStr = new StringBuilder();
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foreach (var unityVertex in mesh.vertices) {
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var mjVertex = MjEngineTool.MjVector3(unityVertex);
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vertexPositionsStr.Append(MjEngineTool.Vector3ToMjcf(mjVertex));
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vertexPositionsStr.Append(" ");
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}
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mjcf.SetAttribute("vertex", vertexPositionsStr.ToString());
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}
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}
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}
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