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2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 | // Copyright 2019 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
using System;
using System.Xml;
using UnityEngine;
namespace Mujoco {
// The component represents the apex of hierarchy that defines a single rigid body.
public class MjBody : MjBaseBody {
[Tooltip("Gravity compensation force, specified as fraction of body weight.")]
public float GravityCompensation;
protected override void OnParseMjcf(XmlElement mjcf) {
// Transform
transform.localPosition =
MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("pos", defaultValue: Vector3.zero));
transform.localRotation = MjEngineTool.UnityQuaternion(
mjcf.GetQuaternionAttribute("quat", defaultValue: MjEngineTool.MjQuaternionIdentity));
GravityCompensation = mjcf.GetFloatAttribute("gravcomp", defaultValue: 0.0f);
}
protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
var mjcf = (XmlElement)doc.CreateElement("body");
MjEngineTool.PositionRotationToMjcf(mjcf, this);
mjcf.SetAttribute("gravcomp", MjEngineTool.MakeLocaleInvariant($"{GravityCompensation}"));
return mjcf;
}
public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
transform.position = MjEngineTool.UnityVector3(
MjEngineTool.MjVector3AtEntry(data->xpos, MujocoId));
transform.rotation = MjEngineTool.UnityQuaternion(
MjEngineTool.MjQuaternionAtEntry(data->xquat, MujocoId));
}
}
}
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