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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 | // 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.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Xml;
#if UNITY_EDITOR
using UnityEditor;
#endif
using UnityEngine;
namespace Mujoco {
[Serializable]
public class SpatialTendonEntry {
[Tooltip("Only one of site/geom/pulley can be specified at each entry.")]
public MjSite Site;
[Tooltip("Only one of site/geom/pulley can be specified at each entry.")]
public MjGeom WrapGeom;
[Tooltip("Only used if wrap geom is specified.")]
public MjSite WrapSideSite;
[Tooltip("Only one of site/geom/pulley can be specified at each entry.")]
public float PulleyDivisor;
}
public class MjSpatialTendon : MjBaseTendon {
[Tooltip("In meters.")]
public float RangeLower;
[Tooltip("In meters.")]
public float RangeUpper;
[Tooltip("Scales with UI points. 0.003 is mapped to 1 UI point.")]
public float Width = 0.003f;
public List<SpatialTendonEntry> ViapointsList = new List<SpatialTendonEntry>() {};
protected override void FromMjcf(XmlElement mjcf) {
foreach (var child in mjcf.Cast<XmlNode>().OfType<XmlElement>()) {
var viapoint = new SpatialTendonEntry();
viapoint.Site = child.GetObjectReferenceAttribute<MjSite>("site");
viapoint.WrapGeom = child.GetObjectReferenceAttribute<MjGeom>("geom");
viapoint.WrapSideSite = child.GetObjectReferenceAttribute<MjSite>("sidesite");
viapoint.PulleyDivisor = child.GetFloatAttribute("pulley");
ViapointsList.Add(viapoint);
}
var rangeValues = mjcf.GetFloatArrayAttribute("range", defaultValue: new float[] { 0, 0 });
Width = mjcf.GetFloatAttribute("width", defaultValue: 0.003f);
RangeLower = rangeValues[0];
RangeUpper = rangeValues[1];
}
protected override XmlElement ToMjcf(XmlDocument doc) {
if (ViapointsList.Count() < 2) {
throw new ArgumentOutOfRangeException($"Spatial tendon {name} needs at least 2 sites.");
}
if (ViapointsList[0].Site == null) {
throw new NullReferenceException(
$"The first entry of a spatial tendon {name} must be a site.");
}
if (ViapointsList[ViapointsList.Count - 1].Site == null) {
throw new NullReferenceException(
$"The last entry of a spatial tendon {name} must be a site.");
}
var mjcf = doc.CreateElement("spatial");
foreach (SpatialTendonEntry spatialTendonEntry in ViapointsList) {
XmlElement elementMjcf;
if (spatialTendonEntry.Site) {
if (spatialTendonEntry.WrapGeom || spatialTendonEntry.PulleyDivisor != 0) {
throw new ArgumentException(
$"Only one of site/wrap geom/pulley {name} is allowed at each entry.");
}
elementMjcf = doc.CreateElement("site");
elementMjcf.SetAttribute("site", spatialTendonEntry.Site.MujocoName);
} else if (spatialTendonEntry.WrapGeom) {
if (spatialTendonEntry.PulleyDivisor != 0) {
throw new ArgumentException(
$"Only one of site/wrap geom/pulley {name} is allowed at each entry.");
}
elementMjcf = doc.CreateElement("geom");
elementMjcf.SetAttribute("geom", spatialTendonEntry.WrapGeom.MujocoName);
if (spatialTendonEntry.WrapSideSite) {
elementMjcf.SetAttribute("sidesite", spatialTendonEntry.WrapSideSite.MujocoName);
}
} else {
if (spatialTendonEntry.PulleyDivisor == 0) {
throw new ArgumentException(
$"Exactly one of site/wrap geom/pulley {name} is required at each entry.");
}
elementMjcf = doc.CreateElement("pulley");
elementMjcf.SetAttribute("divisor", MjEngineTool.MakeLocaleInvariant($"{spatialTendonEntry.PulleyDivisor}"));
}
mjcf.AppendChild(elementMjcf);
}
if (RangeLower > RangeUpper) {
throw new ArgumentException("Lower range value can't be bigger than Higher");
}
mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"{RangeLower} {RangeUpper}"));
mjcf.SetAttribute("width", MjEngineTool.MakeLocaleInvariant($"{Width}"));
return mjcf;
}
#if UNITY_EDITOR
public unsafe void OnDrawGizmosSelected() {
if (Application.isPlaying && MjScene.InstanceExists) {
// Lifted from src/engine/engine_vis_visualize.c
var d = MjScene.Instance.Data;
var m = MjScene.Instance.Model;
int i = MujocoId;
double sz;
for (int j = d->ten_wrapadr[i]; j < d->ten_wrapadr[i] + d->ten_wrapnum[i] - 1; j++) {
// Skip drawing of pulley (-2):
if (d->wrap_obj[j] != -2 && d->wrap_obj[j + 1] != -2) {
// determine width: smaller for segments inside wrapping objects
if (d->wrap_obj[j] >= 0 && d->wrap_obj[j + 1] >= 0) {
sz = 0.5 * m->tendon_width[i];
} else {
sz = m->tendon_width[i];
}
var startPos = MjEngineTool.UnityVector3(d->wrap_xpos + 3 * j);
var endPos = MjEngineTool.UnityVector3(d->wrap_xpos + 3 * j + 3);
// Construct line
// At the moment we use handles instead of Gizmos (to be able to set width).
// This means rendering won't be performed outside editor; We could implement a "TendonRenderer" component
// (added using a context tool) that uses a LineRenderer. Then we could have nice features such as updating
// tendon colors or width based on length or tension. That would also allow in-build rendering.
Handles.color = Color.magenta; // Currently we ignore tendon material.
#if UNITY_2020_2_OR_NEWER
Handles.DrawLine(startPos, endPos, (float)sz/0.003f); // Handle width in UI points. We map the default width to 1 pixel.
#else
Handles.DrawLine(startPos, endPos);
#endif
}
}
}
}
#endif
}
}
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