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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 {
// Functionality that needs to be implemented for each shape type.
public interface IMjShape {
// Generate the Mjcf representation of the shape. Infer the scale of the shape from the transform.
void ToMjcf(XmlElement mjcf, Transform transform);
// Parse the shape settings from the specified Mjcf node.
void FromMjcf(XmlElement mjcf);
// Build a parametric mesh (vertices, triangles) of this shape.
Tuple<Vector3[], int[]> BuildMesh();
// Generate a timestamp that can be used to quickly compare if the settings of a shape
// have changed.
// The timestamp should also allow to distinguish between different types of shapes.
//
// Because most of shapes use at most 3 floating point values as parameters, we will
// use the first 3 components of the returned Vector4 to store those values. We will store
// the id of the shape in the 4th component. That id will be derrived from MjShapeComponent.ShapeTypes
// enum.
Vector4 GetChangeStamp();
// Draw a debug gizmo for the shape.
void DebugDraw(Transform transform);
}
}
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