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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 MjSlideJoint : MjBaseJoint {
[Tooltip("In meters.")]
public float RangeLower;
[Tooltip("In meters.")]
public float RangeUpper;
[Tooltip("The current joint angle, in degrees. Read-only at play time.")]
public float Configuration;
[Tooltip("Joint movement, in rad/sec. Read-only at play time.")]
public float Velocity;
[Tooltip("Joint settings.")]
public MjJointSettings Settings = MjJointSettings.Default;
// World space slide axis.
public Vector3 SlideAxis => transform.rotation * Vector3.right;
protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
base.OnBindToRuntime(model, data);
data->qvel[DofAddress] = Velocity;
}
public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
var qpos = (float)data->qpos[QposAddress];
Configuration = (qpos % (2 * Mathf.PI)) * Mathf.Rad2Deg;
Velocity = (float)data->qvel[DofAddress];
}
protected override void OnParseMjcf(XmlElement mjcf) {
// Transform.
transform.localPosition =
MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("pos", defaultValue: Vector3.zero));
var rotationAxis =
MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("axis", defaultValue: Vector3.right));
transform.localRotation = Quaternion.FromToRotation(Vector3.right, rotationAxis);
var rangeValues = mjcf.GetFloatArrayAttribute("range", defaultValue: new float[] { 0, 0 });
RangeLower = rangeValues[0];
RangeUpper = rangeValues[1];
Configuration = mjcf.GetFloatAttribute("ref", 0.0f);
Settings.FromMjcf(mjcf);
}
protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
var mjcf = (XmlElement)doc.CreateElement("joint");
mjcf.SetAttribute("type", "slide");
MjEngineTool.PositionAxisToMjcf(mjcf, this);
Settings.ToMjcf(mjcf);
if (RangeLower > RangeUpper) {
throw new ArgumentException("Lower range value can't be bigger than Higher");
}
mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"{RangeLower} {RangeUpper}"));
mjcf.SetAttribute("ref", MjEngineTool.MakeLocaleInvariant($"{Configuration}"));
return mjcf;
}
}
}
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