Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
97 lines
3.7 KiB
C#
97 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.Linq;
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using System.Xml;
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using UnityEngine;
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namespace Mujoco {
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// The component represents a physical shape and models its inertia and material properties.
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public class MjGeom : MjShapeComponent {
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[Tooltip("If larger than zero, Density has no effect.")]
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public float Mass = 0.0f;
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[Tooltip("Material density. Set to 0 for a zero-mass geom.")]
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public float Density = 1000.0f;
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[Tooltip("Advanced settings.")]
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public MjGeomSettings Settings = MjGeomSettings.Default;
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public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_GEOM;
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private MjTransformation _geomInGlobalFrame = new MjTransformation();
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private MjTransformation _comTransform;
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protected override void OnParseMjcf(XmlElement mjcf) {
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ShapeFromMjcf(mjcf);
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Mass = mjcf.GetFloatAttribute("mass", defaultValue: 0.0f);
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Density = mjcf.GetFloatAttribute("density", defaultValue: 1000.0f);
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MjEngineTool.ParseTransformMjcf(mjcf, transform);
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Settings.FromMjcf(mjcf);
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}
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// The MuJoCo compiler shifts meshes' frames, so we need to cache this transformation at init and
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// apply it at runtime.
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protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
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var MjParent = MjHierarchyTool.FindParentComponent<MjBaseBody>(this);
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if (MjParent != null) {
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var comInParentFrame = new MjTransformation(
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translation: MjEngineTool.UnityVector3(model->geom_pos, MujocoId),
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rotation: MjEngineTool.UnityQuaternion(model->geom_quat, MujocoId));
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// We don't want to bother calculating global transform in mujoco from mjModel,
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// so we'll assume it's the same as the Unity transfor (it's the beginning of simulation after
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// all).
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var globalParentFrame = MjTransformation.LoadGlobal(transform.parent);
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var comInGlobalFrame = globalParentFrame * comInParentFrame;
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var globalFrame = MjTransformation.LoadGlobal(transform);
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_comTransform = comInGlobalFrame.Inverse() * globalFrame;
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}
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}
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protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
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var mjcf = (XmlElement)doc.CreateElement("geom");
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if (Mass > 0) {
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mjcf.SetAttribute("mass", MjEngineTool.MakeLocaleInvariant($"{Mass}"));
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} else {
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mjcf.SetAttribute("density", MjEngineTool.MakeLocaleInvariant($"{Density}"));
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}
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ShapeToMjcf(mjcf, transform);
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MjEngineTool.PositionRotationToMjcf(mjcf, this);
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Settings.ToMjcf(mjcf);
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return mjcf;
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}
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public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
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if (ShapeType == ShapeTypes.Mesh) {
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_geomInGlobalFrame.Set(
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translation: MjEngineTool.UnityVector3(data->geom_xpos, MujocoId),
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rotation: MjEngineTool.UnityQuaternionFromMatrix(data->geom_xmat, MujocoId));
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var comInGlobalFrame = _geomInGlobalFrame * _comTransform;
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comInGlobalFrame.StoreGlobal(transform);
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} else {
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transform.position = MjEngineTool.UnityVector3(data->geom_xpos, MujocoId);
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transform.rotation = MjEngineTool.UnityQuaternionFromMatrix(data->geom_xmat, MujocoId);
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}
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}
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public void OnDrawGizmosSelected() {
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Gizmos.color = Color.blue;
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DrawGizmos(transform);
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}
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}
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}
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