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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 MjExclude : MjComponent {
[Tooltip("A body whose contacts with other body are ignored")]
public MjBody Body1;
[Tooltip("Other body whose contacts with first body are ignored")]
public MjBody Body2;
public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_EXCLUDE;
protected override void OnParseMjcf(XmlElement mjcf) {
var body1Name = mjcf.GetStringAttribute("body1", defaultValue: string.Empty);
if (!string.IsNullOrEmpty(body1Name)) {
Body1 = MjHierarchyTool.FindComponentOfTypeAndName<MjBody>(body1Name);
}
var body2Name = mjcf.GetStringAttribute("body2", defaultValue: string.Empty);
if (!string.IsNullOrEmpty(body2Name)) {
Body2 = MjHierarchyTool.FindComponentOfTypeAndName<MjBody>(body2Name);
}
}
// Generate implementation specific XML element.
protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
if (Body1 == null || Body2 == null) {
throw new NullReferenceException($"Both bodies in {name} must be assigned.");
}
var mjcf = (XmlElement)doc.CreateElement("exclude");
mjcf.SetAttribute("body1", Body1.MujocoName);
mjcf.SetAttribute("body2", Body2.MujocoName);
return mjcf;
}
}
}
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