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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 {
// Advanced settings of MjGeom component.
[Serializable]
public struct MjGeomSettings {
[Tooltip("Priority")]
public int Priority;
[Tooltip("Solver accuracy settings.")]
public GeomSolver Solver;
[Tooltip("Collision filtering settings.")]
public CollisionFiltering Filtering;
[Tooltip("Contact friction parameters for dynamically generated contact pairs.")]
public GeomFriction Friction;
// Default geom settings.
public static MjGeomSettings Default = new MjGeomSettings() {
Solver = GeomSolver.Default,
Filtering = CollisionFiltering.Default,
Friction = GeomFriction.Default
};
public void FromMjcf(XmlElement mjcf) {
Priority = (int) mjcf.GetFloatAttribute("priority", 0);
// Contact filtering settings.
Filtering.Contype = (int)mjcf.GetFloatAttribute("contype", CollisionFiltering.Default.Contype);
Filtering.Conaffinity = (int)mjcf.GetFloatAttribute(
"conaffinity", CollisionFiltering.Default.Conaffinity);
Filtering.Group = (int)mjcf.GetFloatAttribute("group", CollisionFiltering.Default.Group);
// Solver settings.
Solver.ConDim = (int)mjcf.GetFloatAttribute("condim", GeomSolver.Default.ConDim);
Solver.SolMix = mjcf.GetFloatAttribute("solmix", GeomSolver.Default.SolMix);
var solref = mjcf.GetFloatArrayAttribute(
"solref", new float[] { GeomSolver.Default.SolRef.TimeConst,
GeomSolver.Default.SolRef.DampRatio });
Solver.SolRef.TimeConst = solref[0];
Solver.SolRef.DampRatio = solref[1];
var solimp = mjcf.GetFloatArrayAttribute(
"solimp", new float[] { GeomSolver.Default.SolImp.DMin, GeomSolver.Default.SolImp.DMax,
GeomSolver.Default.SolImp.Width });
Solver.SolImp.DMin = solimp[0];
Solver.SolImp.DMax = solimp[1];
Solver.SolImp.Width = solimp[2];
Solver.Margin = mjcf.GetFloatAttribute("margin", GeomSolver.Default.Margin);
Solver.Gap = mjcf.GetFloatAttribute("gap", GeomSolver.Default.Gap);
// Inertia and friction settings.
var friction = mjcf.GetFloatArrayAttribute(
"friction", new float[] { GeomFriction.Default.Sliding, GeomFriction.Default.Torsional,
GeomFriction.Default.Rolling });
Friction.Sliding = friction[0];
Friction.Torsional = friction[1];
Friction.Rolling = friction[2];
}
public void ToMjcf(XmlElement mjcf) {
mjcf.SetAttribute("priority", $"{Priority}");
// Contact filtering settings.
mjcf.SetAttribute("contype", $"{Filtering.Contype}");
mjcf.SetAttribute("conaffinity", $"{Filtering.Conaffinity}");
mjcf.SetAttribute("group", $"{Filtering.Group}");
// Solver settings.
mjcf.SetAttribute("condim", $"{Solver.ConDim}");
mjcf.SetAttribute("solmix", MjEngineTool.MakeLocaleInvariant($"{Solver.SolMix}"));
mjcf.SetAttribute("solref", MjEngineTool.MakeLocaleInvariant($"{Solver.SolRef.TimeConst} {Solver.SolRef.DampRatio}"));
mjcf.SetAttribute(
"solimp", MjEngineTool.MakeLocaleInvariant($"{Solver.SolImp.DMin} {Solver.SolImp.DMax} {Solver.SolImp.Width}"));
mjcf.SetAttribute("margin", MjEngineTool.MakeLocaleInvariant($"{Solver.Margin}"));
mjcf.SetAttribute("gap", MjEngineTool.MakeLocaleInvariant($"{Solver.Gap}"));
// Inertia and friction settings.
mjcf.SetAttribute("friction", MjEngineTool.MakeLocaleInvariant($"{Friction.Sliding} {Friction.Torsional} {Friction.Rolling}"));
}
}
[Serializable]
public struct GeomFriction {
public float Sliding;
public float Torsional;
public float Rolling;
public static GeomFriction Default = new GeomFriction {
Sliding = 1.0f, Torsional = 0.005f, Rolling = 0.0001f
};
}
[Serializable]
public struct CollisionFiltering {
[Tooltip("Bitmasks used for contact filtering of dynamically generated contact pairs.")]
public int Contype;
[Tooltip("Bitmask for contact filtering")]
public int Conaffinity;
// The only effect on the physics is at compile time, when body masses and inertias are inferred
// from geoms selected based on their group.
[Tooltip("Group to which the geom belongs.")]
public int Group;
public static CollisionFiltering Default = new CollisionFiltering() {
Contype = 1, Conaffinity = 1, Group = 0
};
}
[Serializable]
public struct GeomSolver {
[Tooltip("The dimensionality of the contact space.")]
public int ConDim;
[Tooltip("Weight used for averaging of constraint solver parameters.")]
public float SolMix;
[Tooltip("Solver function d(r) reference parameters.")]
public SolverReference SolRef;
[Tooltip("Solver function d(r) impedance parameters.")]
public SolverImpedance SolImp;
[Tooltip("Distance threshold below which contacts are detected.")]
public float Margin;
[Tooltip("Positive value enables generation of inactive contacts.")]
public float Gap;
public static GeomSolver Default = new GeomSolver() {
ConDim = 3, SolMix = 1.0f, SolRef = SolverReference.Default, SolImp = SolverImpedance.Default,
Margin = 0.0f, Gap = 0.0f
};
}
}
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