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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 MjWeld : MjBaseConstraint {
public MjBaseBody Body1;
public MjBaseBody Body2;
public Transform WeldOffset;
protected override string _constraintName => "weld";
protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
if (WeldOffset) {
MjEngineTool.SetMjTransform(
MjEngineTool.MjTransformAtEntry(model->eq_data, MujocoId),
WeldOffset.localPosition, WeldOffset.localRotation);
}
}
protected override void FromMjcf(XmlElement mjcf) {
Body1 = mjcf.GetObjectReferenceAttribute<MjBaseBody>("body1");
Body2 = mjcf.GetObjectReferenceAttribute<MjBaseBody>("body2");
var relpose = mjcf.GetStringAttribute("relpose");
if (relpose != null) {
Debug.Log(
$"relpose {relpose} in weld {name} ignored. Set WeldOffset in the editor.");
}
}
protected override void ToMjcf(XmlElement mjcf) {
if (Body1 == null || Body2 == null) {
throw new NullReferenceException($"Both bodies in weld {name} must be assigned.");
}
mjcf.SetAttribute("body1", Body1.MujocoName);
mjcf.SetAttribute("body2", Body2.MujocoName);
}
public void OnValidate() {
if (Body1 != null && Body1 == Body2) {
Debug.LogWarning("Body1 and Body2 can't be the same - resetting Body2.", this);
Body2 = null;
}
}
}
}
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