Tom Erez
ef9fa9dfe4
Use pointer arithmetic instead. PiperOrigin-RevId: 451493057 Change-Id: Ic89ad8ff1d3191180031a1011c1b100eaea12f6f
63 lines
2.1 KiB
C#
63 lines
2.1 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 MjWeld : MjBaseConstraint {
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public MjBaseBody Body1;
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public MjBaseBody Body2;
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public Transform WeldOffset;
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protected override string _constraintName => "weld";
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protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
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if (WeldOffset) {
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MjEngineTool.SetMjTransform(
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MjEngineTool.MjTransformAtEntry(model->eq_data, MujocoId),
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WeldOffset.localPosition, WeldOffset.localRotation);
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}
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}
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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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var relpose = mjcf.GetStringAttribute("relpose");
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if (relpose != null) {
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Debug.Log(
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$"relpose {relpose} in weld {name} ignored. Set WeldOffset in the editor.");
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}
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}
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protected override void ToMjcf(XmlElement mjcf) {
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if (Body1 == null || Body2 == null) {
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throw new NullReferenceException($"Both bodies in weld {name} must be assigned.");
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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.LogWarning("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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