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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 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 | // 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 {
// Advanced settings of MjGeom component.
[Serializable]
public struct MjGeomSettings {
public enum FluidShapeTypes {
None,
Ellipsoid,
}
[Tooltip("Priority")]
public int Priority;
[Tooltip("Solver accuracy settings.")]
public GeomSolver Solver;
[Tooltip("Collision filtering settings.")]
public CollisionFiltering Filtering;
[Tooltip("Contact friction parameters for dynamically generated contact pairs.")]
public GeomFriction Friction;
[Tooltip("Shape used for fluid simulation.")]
public FluidShapeTypes FluidShapeType;
[Tooltip("Dimensionless coefficients of fluid interaction model.")]
public GeomFluidCoefficients FluidCoefficients;
// Default geom settings.
public static MjGeomSettings Default = new MjGeomSettings() {
Solver = GeomSolver.Default,
Filtering = CollisionFiltering.Default,
Friction = GeomFriction.Default,
FluidShapeType = FluidShapeTypes.None,
FluidCoefficients = GeomFluidCoefficients.Default
};
public void FromMjcf(XmlElement mjcf) {
Priority = (int) mjcf.GetFloatAttribute("priority", 0);
// Contact filtering settings.
Filtering.Contype = (int)mjcf.GetFloatAttribute("contype", CollisionFiltering.Default.Contype);
Filtering.Conaffinity = (int)mjcf.GetFloatAttribute(
"conaffinity", CollisionFiltering.Default.Conaffinity);
Filtering.Group = (int)mjcf.GetFloatAttribute("group", CollisionFiltering.Default.Group);
// Solver settings.
Solver.ConDim = (int)mjcf.GetFloatAttribute("condim", GeomSolver.Default.ConDim);
Solver.SolMix = mjcf.GetFloatAttribute("solmix", GeomSolver.Default.SolMix);
var solref = mjcf.GetFloatArrayAttribute(
"solref", new float[] { GeomSolver.Default.SolRef.TimeConst,
GeomSolver.Default.SolRef.DampRatio });
Solver.SolRef.TimeConst = solref[0];
Solver.SolRef.DampRatio = solref[1];
var solimp = mjcf.GetFloatArrayAttribute(
"solimp", new float[] { GeomSolver.Default.SolImp.DMin, GeomSolver.Default.SolImp.DMax,
GeomSolver.Default.SolImp.Width });
Solver.SolImp.DMin = solimp[0];
Solver.SolImp.DMax = solimp[1];
Solver.SolImp.Width = solimp[2];
Solver.Margin = mjcf.GetFloatAttribute("margin", GeomSolver.Default.Margin);
Solver.Gap = mjcf.GetFloatAttribute("gap", GeomSolver.Default.Gap);
// Inertia and friction settings.
var friction = mjcf.GetFloatArrayAttribute(
"friction", new float[] { GeomFriction.Default.Sliding, GeomFriction.Default.Torsional,
GeomFriction.Default.Rolling });
Friction.Sliding = friction[0];
Friction.Torsional = friction[1];
Friction.Rolling = friction[2];
// Fluid settings.
FluidShapeType = mjcf.GetEnumAttribute<FluidShapeTypes>(
"fluidshape", FluidShapeTypes.None, ignoreCase: true);
var fluidcoef = mjcf.GetFloatArrayAttribute("fluidcoef", new float[] {
GeomFluidCoefficients.Default.BluntDrag, GeomFluidCoefficients.Default.SlenderDrag,
GeomFluidCoefficients.Default.AngularDrag, GeomFluidCoefficients.Default.KuttaLift,
GeomFluidCoefficients.Default.MagnusLift
});
FluidCoefficients.BluntDrag = fluidcoef[0];
FluidCoefficients.SlenderDrag = fluidcoef[1];
FluidCoefficients.AngularDrag = fluidcoef[2];
FluidCoefficients.KuttaLift = fluidcoef[3];
FluidCoefficients.MagnusLift = fluidcoef[4];
}
public void ToMjcf(XmlElement mjcf) {
mjcf.SetAttribute("priority", $"{Priority}");
// Contact filtering settings.
mjcf.SetAttribute("contype", $"{Filtering.Contype}");
mjcf.SetAttribute("conaffinity", $"{Filtering.Conaffinity}");
mjcf.SetAttribute("group", $"{Filtering.Group}");
// Solver settings.
mjcf.SetAttribute("condim", $"{Solver.ConDim}");
mjcf.SetAttribute("solmix", MjEngineTool.MakeLocaleInvariant($"{Solver.SolMix}"));
mjcf.SetAttribute("solref", MjEngineTool.MakeLocaleInvariant($"{Solver.SolRef.TimeConst} {Solver.SolRef.DampRatio}"));
mjcf.SetAttribute(
"solimp", MjEngineTool.MakeLocaleInvariant($"{Solver.SolImp.DMin} {Solver.SolImp.DMax} {Solver.SolImp.Width}"));
mjcf.SetAttribute("margin", MjEngineTool.MakeLocaleInvariant($"{Solver.Margin}"));
mjcf.SetAttribute("gap", MjEngineTool.MakeLocaleInvariant($"{Solver.Gap}"));
// Inertia and friction settings.
mjcf.SetAttribute("friction", MjEngineTool.MakeLocaleInvariant($"{Friction.Sliding} {Friction.Torsional} {Friction.Rolling}"));
// Fluid settings.
mjcf.SetAttribute("fluidshape", FluidShapeType.ToString().ToLower());
mjcf.SetAttribute("fluidcoef", MjEngineTool.MakeLocaleInvariant(
$"{FluidCoefficients.BluntDrag} {FluidCoefficients.SlenderDrag} {FluidCoefficients.AngularDrag} {FluidCoefficients.KuttaLift} {FluidCoefficients.MagnusLift}"));
}
}
[Serializable]
public struct GeomFriction {
public float Sliding;
public float Torsional;
public float Rolling;
public static GeomFriction Default = new GeomFriction {
Sliding = 1.0f, Torsional = 0.005f, Rolling = 0.0001f
};
}
[Serializable]
public struct CollisionFiltering {
[Tooltip("Bitmasks used for contact filtering of dynamically generated contact pairs.")]
public int Contype;
[Tooltip("Bitmask for contact filtering")]
public int Conaffinity;
// The only effect on the physics is at compile time, when body masses and inertias are inferred
// from geoms selected based on their group.
[Tooltip("Group to which the geom belongs.")]
public int Group;
public static CollisionFiltering Default = new CollisionFiltering() {
Contype = 1, Conaffinity = 1, Group = 0
};
}
[Serializable]
public struct GeomSolver {
[Tooltip("The dimensionality of the contact space.")]
public int ConDim;
[Tooltip("Weight used for averaging of constraint solver parameters.")]
public float SolMix;
[Tooltip("Solver function d(r) reference parameters.")]
public SolverReference SolRef;
[Tooltip("Solver function d(r) impedance parameters.")]
public SolverImpedance SolImp;
[Tooltip("Distance threshold below which contacts are detected.")]
public float Margin;
[Tooltip("Positive value enables generation of inactive contacts.")]
public float Gap;
public static GeomSolver Default = new GeomSolver() {
ConDim = 3, SolMix = 1.0f, SolRef = SolverReference.Default, SolImp = SolverImpedance.Default,
Margin = 0.0f, Gap = 0.0f
};
}
[Serializable]
public struct GeomFluidCoefficients {
public float BluntDrag;
public float SlenderDrag;
public float AngularDrag;
public float KuttaLift;
public float MagnusLift;
public static GeomFluidCoefficients Default = new GeomFluidCoefficients() {
BluntDrag = 5f, SlenderDrag = .25f, AngularDrag = 1.5f, KuttaLift = 1f, MagnusLift = 1f
};
}
}
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