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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 {
// The component represents a joint with 1 degree of translational freedom.
public class MjBallJoint : MjBaseJoint {
[Tooltip("In radians.")]
public float RangeUpper;
[Tooltip("Joint settings.")]
public MjJointSettings Settings = MjJointSettings.Default;
protected override void OnParseMjcf(XmlElement mjcf) {
// Transform.
transform.localPosition =
MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("pos", defaultValue: Vector3.zero));
Settings.FromMjcf(mjcf);
var rangeValues = mjcf.GetFloatArrayAttribute("range", defaultValue: new float[] { 0, 0 });
// rangeValues[0] is always 0 for ball joints.
RangeUpper = rangeValues[1];
}
protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
var mjcf = (XmlElement)doc.CreateElement("joint");
mjcf.SetAttribute("type", "ball");
MjEngineTool.PositionToMjcf(mjcf, this);
Settings.ToMjcf(mjcf);
mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"0 {RangeUpper}"));
return mjcf;
}
}
}
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