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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 {
// The component represents a physical shape and models its inertia and material properties.
public class MjGeom : MjShapeComponent {
[Tooltip("If larger than zero, Density has no effect.")]
public float Mass = 0.0f;
[Tooltip("Material density. Set to 0 for a zero-mass geom.")]
public float Density = 1000.0f;
[Tooltip("Advanced settings.")]
public MjGeomSettings Settings = MjGeomSettings.Default;
public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_GEOM;
private MjTransformation _geomInGlobalFrame = new MjTransformation();
private MjTransformation _comTransform;
protected override void OnParseMjcf(XmlElement mjcf) {
ShapeFromMjcf(mjcf);
Mass = mjcf.GetFloatAttribute("mass", defaultValue: 0.0f);
Density = mjcf.GetFloatAttribute("density", defaultValue: 1000.0f);
MjEngineTool.ParseTransformMjcf(mjcf, transform);
Settings.FromMjcf(mjcf);
}
// The MuJoCo compiler shifts meshes' frames, so we need to cache this transformation at init and
// apply it at runtime.
protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
var MjParent = MjHierarchyTool.FindParentComponent<MjBaseBody>(this);
if (MjParent != null) {
var comInParentFrame = new MjTransformation(
translation: MjEngineTool.UnityVector3(
MjEngineTool.MjVector3AtEntry(model->geom_pos, MujocoId)),
rotation: MjEngineTool.UnityQuaternion(
MjEngineTool.MjQuaternionAtEntry(model->geom_quat, MujocoId)));
// We don't want to bother calculating global transform in mujoco from mjModel,
// so we'll assume it's the same as the Unity transfor (it's the beginning of simulation after
// all).
var globalParentFrame = MjTransformation.LoadGlobal(transform.parent);
var comInGlobalFrame = globalParentFrame * comInParentFrame;
var globalFrame = MjTransformation.LoadGlobal(transform);
_comTransform = comInGlobalFrame.Inverse() * globalFrame;
}
}
protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
var mjcf = (XmlElement)doc.CreateElement("geom");
if (Mass > 0) {
mjcf.SetAttribute("mass", MjEngineTool.MakeLocaleInvariant($"{Mass}"));
} else {
mjcf.SetAttribute("density", MjEngineTool.MakeLocaleInvariant($"{Density}"));
}
ShapeToMjcf(mjcf, transform);
MjEngineTool.PositionRotationToMjcf(mjcf, this);
Settings.ToMjcf(mjcf);
return mjcf;
}
public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
if (ShapeType == ShapeTypes.Mesh) {
_geomInGlobalFrame.Set(
translation: MjEngineTool.UnityVector3(
MjEngineTool.MjVector3AtEntry(data->geom_xpos, MujocoId)),
rotation: MjEngineTool.UnityQuaternionFromMatrix(
MjEngineTool.MjMatrixAtEntry(data->geom_xmat, MujocoId)));
var comInGlobalFrame = _geomInGlobalFrame * _comTransform;
comInGlobalFrame.StoreGlobal(transform);
} else {
transform.position = MjEngineTool.UnityVector3(
MjEngineTool.MjVector3AtEntry(data->geom_xpos, MujocoId));
transform.rotation = MjEngineTool.UnityQuaternionFromMatrix(
MjEngineTool.MjMatrixAtEntry(data->geom_xmat, MujocoId));
}
}
public void OnDrawGizmosSelected() {
Gizmos.color = Color.blue;
DrawGizmos(transform);
}
}
}
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