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// 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 {
public class MjMocapBody : MjBaseBody {
protected override void OnParseMjcf(XmlElement mjcf) {
throw new Exception("parsing mocap bodies isn't supported.");
}
protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
var bodyId = MujocoLib.mj_name2id(model, (int)ObjectType, MujocoName);
MujocoId = model->body_mocapid[bodyId];
}
protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
var mjcf = doc.CreateElement("body");
MjEngineTool.PositionRotationToMjcf(mjcf, this);
mjcf.SetAttribute("mocap", "true");
return mjcf;
}
public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
MjEngineTool.SetMjVector3(
MjEngineTool.MjVector3AtEntry(data->mocap_pos, MujocoId), transform.position);
MjEngineTool.SetMjQuaternion(
MjEngineTool.MjQuaternionAtEntry(data->mocap_quat, MujocoId), transform.rotation);
}
}
}
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