Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
66 lines
2.3 KiB
C#
66 lines
2.3 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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public abstract class MjBaseTendon : MjComponent {
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public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_TENDON;
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public SolverSettings Solver = SolverSettings.Default;
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[Tooltip("Length at zero spring force. If negative, this resting length is computed at qpos0.")]
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public float SpringLength = -1.0f;
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public float Stiffness = 0.0f;
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public float Damping = 0.0f;
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// Tendon length.
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public float Length { get; private set; }
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// Create the implementation dependent Mjcf node.
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protected abstract XmlElement ToMjcf(XmlDocument doc);
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// Parse the implementation dependent details from the provided Mjcf node.
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protected abstract void FromMjcf(XmlElement mjcf);
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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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Solver.FromMjcf(mjcf);
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SpringLength = mjcf.GetFloatAttribute("springlength", defaultValue: -1.0f);
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Stiffness = mjcf.GetFloatAttribute("damping");
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Damping = mjcf.GetFloatAttribute("stiffness");
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FromMjcf(mjcf);
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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 = ToMjcf(doc);
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Solver.ToMjcf(mjcf);
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mjcf.SetAttribute("springlength", MjEngineTool.MakeLocaleInvariant($"{SpringLength}"));
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mjcf.SetAttribute("damping", MjEngineTool.MakeLocaleInvariant($"{Damping}"));
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mjcf.SetAttribute("stiffness", MjEngineTool.MakeLocaleInvariant($"{Stiffness}"));
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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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Length = (float)data->ten_length[MujocoId];
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}
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}
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}
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