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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.Linq;
using System.Xml;
using UnityEngine;
namespace Mujoco {
public abstract class MjBaseConstraint : MjComponent {
public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_EQUALITY;
protected abstract string _constraintName { get; }
public SolverImpedance SolverImpedanceSettings = SolverImpedance.Default;
public SolverReference SolverReferenceSettings = SolverReference.Default;
protected abstract void ToMjcf(XmlElement mjcf);
protected abstract void FromMjcf(XmlElement mjcf);
protected override void OnParseMjcf(XmlElement mjcf) {
FromMjcf(mjcf);
SolverReferenceSettings.FromMjcf(mjcf, "solref");
SolverImpedanceSettings.FromMjcf(mjcf, "solimp");
}
protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
var mjcf = (XmlElement)doc.CreateElement(_constraintName);
ToMjcf(mjcf);
SolverReferenceSettings.ToMjcf(mjcf, "solref");
SolverImpedanceSettings.ToMjcf(mjcf, "solimp");
return mjcf;
}
}
}
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