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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 {
[Serializable]
public struct MjJointSettings {
[Tooltip("Added inertia of all DoFs created by this joint.")]
public float Armature;
[Tooltip("Joint spring settings.")]
public SpringSettings Spring;
[Tooltip("Joint solver settings.")]
public SolverSettings Solver;
// Default joint settings.
public static MjJointSettings Default = new MjJointSettings() {
Solver = SolverSettings.Default,
};
public void FromMjcf(XmlElement mjcf) {
Armature = mjcf.GetFloatAttribute("armature", 0.0f);
Spring.FromMjcf(mjcf);
Solver.FromMjcf(mjcf);
}
public void ToMjcf(XmlElement mjcf) {
mjcf.SetAttribute("armature", MjEngineTool.MakeLocaleInvariant($"{Armature}"));
Spring.ToMjcf(mjcf);
Solver.ToMjcf(mjcf);
}
}
[Serializable]
public struct SpringSettings {
public float TimeConstant;
public float DampingRatio;
[Tooltip("Joint stiffness. If this value is positive, a spring will be created.")]
public float Stiffness;
[Tooltip("Damping applied to all degrees of freedom created by this joint.")]
public float Damping;
[Tooltip("Spring equilibrium pose.")]
public float EquilibriumPose;
public void ToMjcf(XmlElement mjcf) {
// Spring settings.
mjcf.SetAttribute("springref", MjEngineTool.MakeLocaleInvariant($"{EquilibriumPose}"));
mjcf.SetAttribute("springdamper", MjEngineTool.MakeLocaleInvariant($"{TimeConstant} {DampingRatio}"));
mjcf.SetAttribute("damping", MjEngineTool.MakeLocaleInvariant($"{Damping}"));
mjcf.SetAttribute("stiffness", MjEngineTool.MakeLocaleInvariant($"{Stiffness}"));
}
public void FromMjcf(XmlElement mjcf) {
var springDamper = mjcf.GetVector2Attribute("springdamper", Vector2.zero);
TimeConstant = springDamper.x;
DampingRatio = springDamper.y;
EquilibriumPose = mjcf.GetFloatAttribute("springref", 0.0f);
Damping = mjcf.GetFloatAttribute("damping", 0.0f);
Stiffness = mjcf.GetFloatAttribute("stiffness", 0.0f);
}
}
[Serializable]
public struct SolverImpedance {
public float DMin;
public float DMax;
public float Width;
public float Midpoint;
public float Power;
public static SolverImpedance Default =
new SolverImpedance() { DMin = 0.9f, DMax = 0.95f, Width = 0.001f, Midpoint = 0.5f,
Power = 2.0f };
public void FromMjcf(XmlElement element, string attributeName) {
var values = element.GetFloatArrayAttribute(
attributeName, new float[] { Default.DMin, Default.DMax, Default.Width, Default.Midpoint,
Default.Power });
DMin = values[0];
DMax = values[1];
Width = values[2];
Midpoint = values[3];
Power = values[4];
}
public void ToMjcf(XmlElement element, string attributeName) {
element.SetAttribute(attributeName, MjEngineTool.MakeLocaleInvariant($"{DMin} {DMax} {Width} {Midpoint} {Power}"));
}
}
[Serializable]
public struct SolverReference {
public float TimeConst;
public float DampRatio;
public static SolverReference Default =
new SolverReference() { TimeConst = 0.02f, DampRatio = 1.0f };
public void FromMjcf(XmlElement element, string attributeName) {
var values = element.GetFloatArrayAttribute(
attributeName, new float[] { Default.TimeConst, Default.DampRatio });
TimeConst = values[0];
DampRatio = values[1];
}
public void ToMjcf(XmlElement element, string attributeName) {
element.SetAttribute(attributeName, MjEngineTool.MakeLocaleInvariant($"{TimeConst} {DampRatio}"));
}
}
[Serializable]
public struct SolverSettings {
[Tooltip("Does the joint have limits.")]
public bool Limited;
[Tooltip("Limit margin - always in radians/meters.")]
public float Margin;
public SolverReference RefLimit;
public SolverImpedance ImpLimit;
[Tooltip("Friction loss due to dry friction.")]
public float FrictionLoss;
public SolverImpedance ImpFriction;
public SolverReference RefFriction;
public static SolverSettings Default = new SolverSettings() {
ImpFriction = SolverImpedance.Default,
ImpLimit = SolverImpedance.Default,
RefFriction = SolverReference.Default,
RefLimit = SolverReference.Default,
};
public void ToMjcf(XmlElement mjcf) {
RefLimit.ToMjcf(mjcf, "solreflimit");
ImpLimit.ToMjcf(mjcf, "solimplimit");
RefFriction.ToMjcf(mjcf, "solreffriction");
ImpFriction.ToMjcf(mjcf, "solimpfriction");
mjcf.SetAttribute("frictionloss", MjEngineTool.MakeLocaleInvariant($"{FrictionLoss}"));
mjcf.SetAttribute("limited", $"{Limited}".ToLower());
mjcf.SetAttribute("margin", MjEngineTool.MakeLocaleInvariant($"{Margin}"));
}
public void FromMjcf(XmlElement mjcf) {
RefLimit.FromMjcf(mjcf, "solreflimit");
ImpLimit.FromMjcf(mjcf, "solimplimit");
RefFriction.FromMjcf(mjcf, "solreffriction");
ImpFriction.FromMjcf(mjcf, "solimpfriction");
FrictionLoss = mjcf.GetFloatAttribute("frictionloss", 0.0f);
Limited = mjcf.GetBoolAttribute("limited", false);
Margin = mjcf.GetFloatAttribute("margin", defaultValue: 0.0f);
}
}
}
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