File size: 1,839 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 | // 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 {
[Serializable]
public class MjEllipsoidShape : IMjShape {
public Vector3 Radiuses = Vector3.one * 0.5f;
public void ToMjcf(XmlElement mjcf, Transform transform) {
var scaledRadiuses = MjEngineTool.MjExtents(Vector3.Scale(Radiuses, transform.lossyScale));
mjcf.SetAttribute("size", MjEngineTool.Vector3ToMjcf(scaledRadiuses));
}
public void FromMjcf(XmlElement mjcf) {
Radiuses = MjEngineTool.UnityExtents(
mjcf.GetVector3Attribute("size", defaultValue: Vector3.one * 0.5f));
Vector3 fromPoint, toPoint;
if (MjEngineTool.ParseFromToMjcf(mjcf, out fromPoint, out toPoint)) {
var radius = (toPoint - fromPoint).magnitude * 0.5f;
Radiuses = Vector3.one * radius;
}
}
public Tuple<Vector3[], int[]> BuildMesh() {
return MeshGenerators.BuildSphere(scale: Radiuses);
}
public Vector4 GetChangeStamp() {
return Radiuses;
}
public void DebugDraw(Transform transform) {
Gizmos.matrix = Matrix4x4.TRS(
transform.position,
transform.rotation,
Vector3.Scale(Radiuses, transform.lossyScale));
Gizmos.DrawWireSphere(Vector3.zero, 1.0f);
}
}
}
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