File size: 5,436 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 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 | // 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;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Xml;
using UnityEngine;
namespace Mujoco {
// An instance of this class will be used to collect dynamic dependencies produced by a Mujoco model
// during scene generation.
public class MjcfGenerationContext {
public int NUserSensor {
get { return _nuserSensor; }
set { _nuserSensor = Math.Max(_nuserSensor, value); }
}
private int _nuserSensor;
private int _numGeneratedNames = 0;
private Dictionary<Mesh, string> _meshAssets = new Dictionary<Mesh, string>();
private Dictionary<MjHeightFieldShape, string> _hFieldAssets =
new Dictionary<MjHeightFieldShape, string>();
public void GenerateMjcf(XmlElement mjcf) {
GenerateConfigurationMjcf(mjcf);
GenerateAssetsMjcf(mjcf);
}
// Adds a mesh to the list of assets that will be added to the generated MJCF.
// Returns the unique name that identifies this new asset.
public string AddMeshAsset(Mesh mesh) {
if (!_meshAssets.ContainsKey(mesh)) {
var uniqueName = $"mesh_{_numGeneratedNames}";
_numGeneratedNames++;
_meshAssets.Add(mesh, uniqueName);
}
return _meshAssets[mesh];
}
// Adds a mesh to the list of assets that will be added to the generated MJCF.
// Returns the unique name that identifies this new asset.
public string AddHeightFieldAsset(MjHeightFieldShape hField) {
if (!_hFieldAssets.ContainsKey(hField)) {
var uniqueName = $"hfield_{_numGeneratedNames}";
_numGeneratedNames++;
_hFieldAssets.Add(hField, uniqueName);
}
return _hFieldAssets[hField];
}
public string GenerateName(Component comp) {
var settings = MjGlobalSettings.Instance;
if (settings?.UseRawGameObjectNames ?? false) {
return comp.gameObject.name;
} else {
var name = $"{comp.gameObject.name}_{_numGeneratedNames}";
_numGeneratedNames++;
return name;
}
}
private void GenerateConfigurationMjcf(XmlElement mjcf) {
var doc = mjcf.OwnerDocument;
var compilerMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("compiler"));
compilerMjcf.SetAttribute("coordinate", "local");
var optionMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("option"));
optionMjcf.SetAttribute(
"gravity", MjEngineTool.Vector3ToMjcf(MjEngineTool.MjVector3(Physics.gravity)));
optionMjcf.SetAttribute("timestep", MjEngineTool.MakeLocaleInvariant($"{Time.fixedDeltaTime}"));
var settings = MjGlobalSettings.Instance;
if (settings) {
settings.GlobalsToMjcf(mjcf);
}
}
private void GenerateAssetsMjcf(XmlElement mjcf) {
var doc = mjcf.OwnerDocument;
var assetMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("asset"));
foreach (var meshAsset in _meshAssets) {
var meshMjcf = (XmlElement)assetMjcf.AppendChild(doc.CreateElement("mesh"));
meshMjcf.SetAttribute("name", meshAsset.Value);
GenerateMeshMjcf(meshAsset.Key, meshMjcf);
}
foreach (var hFieldAsset in _hFieldAssets) {
var hFieldMjcf = (XmlElement)assetMjcf.AppendChild(doc.CreateElement("hfield"));
hFieldMjcf.SetAttribute("name", hFieldAsset.Value);
GenerateHeightFieldMjcf(hFieldAsset.Key, hFieldMjcf);
}
}
private static void GenerateMeshMjcf(Mesh mesh, XmlElement mjcf) {
var vertexPositionsStr = new StringBuilder();
foreach (var unityVertex in mesh.vertices) {
var mjVertex = MjEngineTool.MjVector3(unityVertex);
vertexPositionsStr.Append(MjEngineTool.Vector3ToMjcf(mjVertex));
vertexPositionsStr.Append(" ");
}
mjcf.SetAttribute("vertex", vertexPositionsStr.ToString());
}
private static void GenerateHeightFieldMjcf(MjHeightFieldShape hFieldComponent, XmlElement mjcf) {
if (hFieldComponent.ExportImage) {
mjcf.SetAttribute("content_type", "image/png");
mjcf.SetAttribute("file", hFieldComponent.FullHeightMapPath);
mjcf.SetAttribute("nrow", "0");
mjcf.SetAttribute("ncol", "0");
} else {
mjcf.SetAttribute("nrow", hFieldComponent.HeightMapLength.ToString());
mjcf.SetAttribute("ncol", hFieldComponent.HeightMapWidth.ToString());
}
var baseHeight = hFieldComponent.Terrain.transform.localPosition.y +
hFieldComponent.MinimumHeight;
var heightRange = Mathf.Clamp(
hFieldComponent.MaximumHeight - hFieldComponent.MinimumHeight,
0.00001f,
Mathf.Infinity);
mjcf.SetAttribute(
"size",
MjEngineTool.MakeLocaleInvariant(
$@"{hFieldComponent.HeightMapScale.x * (hFieldComponent.HeightMapLength - 1) / 2f} {
hFieldComponent.HeightMapScale.z * (hFieldComponent.HeightMapWidth - 1) / 2f} {
heightRange} {
baseHeight}"));
}
}
}
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