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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 {
[Serializable]
public class MjCylinderShape : IMjShape {
public float Radius = 0.5f;
public float HalfHeight = 1.0f;
private const float _scaleTolerance = 1e-6f;
public void ToMjcf(XmlElement mjcf, Transform transform) {
if (Math.Abs(transform.lossyScale.x - transform.lossyScale.z) > _scaleTolerance) {
Debug.LogWarning(
$"{transform.name}: Cylinder shapes require uniform scaling of XZ plane. Using the" +
" value of X and Y components.", transform);
}
mjcf.SetAttribute(
"size", MjEngineTool.MakeLocaleInvariant($"{Radius * transform.lossyScale.x} {HalfHeight * transform.lossyScale.y}"));
}
public void FromMjcf(XmlElement mjcf) {
var components = mjcf.GetFloatArrayAttribute("size", defaultValue: new float[] { 0.5f, 1.0f });
Radius = components[0];
HalfHeight = components[1];
Vector3 fromPoint, toPoint;
if (MjEngineTool.ParseFromToMjcf(mjcf, out fromPoint, out toPoint)) {
HalfHeight = (toPoint - fromPoint).magnitude * 0.5f;
}
}
public Tuple<Vector3[], int[]> BuildMesh() {
return MeshGenerators.BuildCylinder(radius: Radius, height: HalfHeight * 2);
}
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.DrawWireCylinder(
Vector3.zero, Radius * transform.lossyScale.x, HalfHeight * 2 * transform.lossyScale.y);
}
}
}
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