File size: 2,173 Bytes
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 52 53 54 55 56 57 58 59 60 | // 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.Linq;
using System.Xml;
using UnityEngine;
namespace Mujoco {
public class MjConnect : MjBaseConstraint {
public MjBaseBody Body1;
public MjBaseBody Body2;
public Transform Anchor;
protected override string _constraintName => "connect";
protected override void FromMjcf(XmlElement mjcf) {
Body1 = mjcf.GetObjectReferenceAttribute<MjBaseBody>("body1");
Body2 = mjcf.GetObjectReferenceAttribute<MjBaseBody>("body2");
var anchorPos = MjEngineTool.UnityVector3(
mjcf.GetVector3Attribute("anchor", defaultValue: Vector3.zero));
Anchor = new GameObject("connect_anchor").transform;
Anchor.parent = Body1.transform;
Anchor.localPosition = anchorPos;
}
// Generate implementation specific XML element.
protected override void ToMjcf(XmlElement mjcf) {
if (Body1 == null || Body2 == null) {
throw new NullReferenceException($"Both bodies in connect {name} are required.");
}
if (Anchor == null) {
throw new NullReferenceException($"Anchor in connect {name} is required.");
}
mjcf.SetAttribute("body1", Body1.MujocoName);
mjcf.SetAttribute("body2", Body2.MujocoName);
mjcf.SetAttribute("anchor",
MjEngineTool.Vector3ToMjcf(MjEngineTool.MjVector3(Anchor.localPosition)));
}
public void OnValidate() {
if (Body1 != null && Body1 == Body2) {
Debug.LogError("Body1 and Body2 can't be the same - resetting Body2.", this);
Body2 = null;
}
}
}
}
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