Tom Erez
85 lines
2.9 KiB
C#
85 lines
2.9 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 UnityEngine;
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namespace Mujoco {
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// Utility class that represents a translation and rotation.
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// Used for converting between MuJoCo and Unity spaces.
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public struct MjTransformation {
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public Vector3 Translation;
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public Quaternion Rotation;
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public MjTransformation(Vector3 translation, Quaternion rotation) {
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Translation = translation;
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Rotation = rotation;
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}
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public void Set(Vector3 translation, Quaternion rotation) {
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Translation = translation;
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Rotation = rotation;
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}
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// Initializes MjTransformation from the specified Transform's local coordinates.
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public static MjTransformation LoadGlobal(Transform transform) {
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if (transform != null) {
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return new MjTransformation(transform.position, transform.rotation);
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} else {
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return new MjTransformation(Vector3.zero, Quaternion.identity);
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}
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}
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// Initializes MjTransformation from the specified Transform's global coordinates.
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public static MjTransformation LoadLocal(Transform transform) {
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if (transform != null) {
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return new MjTransformation(transform.localPosition, transform.localRotation);
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} else {
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return new MjTransformation(Vector3.zero, Quaternion.identity);
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}
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}
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// Stores the transform coordinates in the specified Transform's global coordinates.
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public void StoreGlobal(Transform transform) {
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transform.position = Translation;
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transform.rotation = Rotation;
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}
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// Stores the transform coordinates in the specified Transform's local coordinates.
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public void StoreLocal(Transform transform) {
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transform.localPosition = Translation;
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transform.localRotation = Rotation;
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}
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// Concatenates two transforms.
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// Equivalent of a matrix multiplication. This operation is not transitive.
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public static MjTransformation operator *(
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MjTransformation lhs, MjTransformation rhs) {
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return new MjTransformation(
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lhs.Translation + lhs.Rotation * rhs.Translation, lhs.Rotation * rhs.Rotation);
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}
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// Returns an inverse of this transform.
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public MjTransformation Inverse() {
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var inverseRotation = Quaternion.Inverse(Rotation);
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return new MjTransformation(inverseRotation * Translation * -1.0f, inverseRotation);
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}
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public override string ToString() {
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return $"[{Translation}, {Rotation}]";
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}
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}
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}
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