Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
60 lines
2.0 KiB
C#
60 lines
2.0 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 MjJointConstraint : MjBaseConstraint {
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[Tooltip("Mandatory.")]
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public MjBaseJoint Joint1;
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[Tooltip("Optional - if empty, constrain the value of Joint1")]
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public MjBaseJoint Joint2;
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public float[] PolynomialCoefficients = new float[5] { 0, 1, 0, 0, 0 };
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protected override string _constraintName => "joint";
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protected override void FromMjcf(XmlElement mjcf) {
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Joint1 = mjcf.GetObjectReferenceAttribute<MjBaseJoint>("joint1");
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Joint2 = mjcf.GetObjectReferenceAttribute<MjBaseJoint>("joint2");
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PolynomialCoefficients =
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mjcf.GetFloatArrayAttribute("polycoef", defaultValue: new float[] { 0, 1, 0, 0, 0 });
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}
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// Generate implementation specific XML element.
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protected override void ToMjcf(XmlElement mjcf) {
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if (Joint1 == null) {
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throw new NullReferenceException($"At least Joint1 in constraint {name} must be assigned.");
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}
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mjcf.SetAttribute("joint1", Joint1.MujocoName);
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if (Joint2 != null) {
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mjcf.SetAttribute("joint2", Joint2.MujocoName);
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}
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mjcf.SetAttribute("polycoef", MjEngineTool.ArrayToMjcf(PolynomialCoefficients));
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}
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public void OnValidate() {
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if (Joint1 != null && Joint1 == Joint2) {
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Debug.LogError("Joint1 and Joint2 can't be the same - resetting Joint2.", this);
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Joint2 = null;
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}
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}
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}
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}
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