1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
|
// 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 {
[Serializable]
public class MjCapsuleShape : IMjShape {
public float Radius = 0.5f;
public float HalfHeight = 0.5f;
private const float _scaleTolerance = 1e-5f;
public void ToMjcf(XmlElement mjcf, Transform transform) {
if (Math.Abs(transform.lossyScale.x - transform.lossyScale.z) > _scaleTolerance) {
Debug.LogWarning(
$"{transform.name}: Capsule shapes require uniform scaling of XZ plane. Using the" +
" value of X and Y components.", transform);
}
mjcf.SetAttribute(
"size", MjEngineTool.MakeLocaleInvariant($"{Radius * transform.lossyScale.x} {HalfHeight * transform.lossyScale.y}"));
}
public void FromMjcf(XmlElement mjcf) {
var components = mjcf.GetFloatArrayAttribute("size", defaultValue: new float[] { 0.5f, 0.5f });
Radius = components[0];
HalfHeight = components[1];
Vector3 fromPoint, toPoint;
if (MjEngineTool.ParseFromToMjcf(mjcf, out fromPoint, out toPoint)) {
HalfHeight = 0.5f * (toPoint - fromPoint).magnitude;
}
}
public Tuple<Vector3[], int[]> BuildMesh() {
return MeshGenerators.BuildCapsule(radius: Radius, height: (HalfHeight + Radius) * 2.0f);
}
public Vector4 GetChangeStamp() {
return new Vector4(Radius, HalfHeight, 1, 0);
}
public void DebugDraw(Transform transform) {
Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, Vector3.one);
MjGizmos.DrawWireCapsule(
Vector3.zero, Radius * transform.lossyScale.x, 2 * HalfHeight * transform.lossyScale.y);
}
}
}
|
