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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 {
// Defines an inertial frame of a body.
public class MjInertial : MjComponent {
[Tooltip("Mass assigned to the parent body.")]
public float Mass = 1.0f;
[Tooltip("Diagonal inertia matrix, expressing the body inertia relative to the inertial frame.")]
public Vector3 DiagInertia = Vector3.one;
public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_BODY;
protected override bool _suppressNameAttribute => true;
// Parse the component settings from an external Mjcf.
protected override void OnParseMjcf(XmlElement mjcf) {
MjEngineTool.ParseTransformMjcf(mjcf, transform);
Mass = mjcf.GetFloatAttribute("mass", defaultValue: 1.0f);
DiagInertia = MjEngineTool.UnityExtents(
mjcf.GetVector3Attribute("diaginertia", defaultValue: Vector3.one));
}
// Generate implementation specific XML element.
protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
var mjcf = (XmlElement)doc.CreateElement("inertial");
MjEngineTool.PositionRotationToMjcf(mjcf, this);
mjcf.SetAttribute("mass", MjEngineTool.MakeLocaleInvariant($"{Mass}"));
mjcf.SetAttribute("diaginertia",
MjEngineTool.Vector3ToMjcf(MjEngineTool.MjExtents(DiagInertia)));
return mjcf;
}
protected void OnDrawGizmosSelected() {
Gizmos.color = Color.yellow;
var oldMatrix = Gizmos.matrix;
Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, transform.lossyScale);
var box = new Vector3(
Mathf.Sqrt((DiagInertia[1] + DiagInertia[2] - DiagInertia[0]) / Mass * 6.0f),
Mathf.Sqrt((DiagInertia[0] + DiagInertia[2] - DiagInertia[1]) / Mass * 6.0f),
Mathf.Sqrt((DiagInertia[0] + DiagInertia[1] - DiagInertia[2]) / Mass * 6.0f));
Gizmos.DrawWireCube(Vector3.zero, box);
Gizmos.matrix = oldMatrix;
}
}
}
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