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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 class MjTendonConstraint : MjBaseConstraint {
public MjBaseTendon Tendon1;
public MjBaseTendon Tendon2;
public float[] PolynomialCoefficients = new float[5] { 0, 1, 0, 0, 0 };
protected override string _constraintName => "tendon";
protected override void FromMjcf(XmlElement mjcf) {
Tendon1 = mjcf.GetObjectReferenceAttribute<MjBaseTendon>("tendon1");
Tendon2 = mjcf.GetObjectReferenceAttribute<MjBaseTendon>("tendon2");
PolynomialCoefficients =
mjcf.GetFloatArrayAttribute("polycoef", new Single[] { 0, 1, 0, 0, 0 });
}
// Generate implementation specific XML element.
protected override void ToMjcf(XmlElement mjcf) {
if (Tendon1 == null) {
throw new NullReferenceException(
$"At least Tendon1 in constraint {name} must be assigned.");
}
mjcf.SetAttribute("tendon1", Tendon1.MujocoName);
if (Tendon2 != null) {
mjcf.SetAttribute("tendon2", Tendon2.MujocoName);
}
mjcf.SetAttribute("polycoef", MjEngineTool.ArrayToMjcf(PolynomialCoefficients));
}
public void OnValidate() {
if (Tendon1 != null && Tendon1 == Tendon2) {
Debug.LogWarning(
"Tendon1 and Tendon2 can't be the same - resetting Tendon2.", this);
Tendon2 = null;
}
}
}
}
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