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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 MjMeshShape : IMjShape {
public Mesh Mesh;
public void ToMjcf(XmlElement mjcf, Transform transform) {
var scene = MjScene.Instance;
var assetName = scene.GenerationContext.AddMeshAsset(Mesh);
mjcf.SetAttribute("mesh", assetName);
}
public void FromMjcf(XmlElement mjcf) {
// When the asset was parsed and stored its name was sanitized, so we should load it using a
// sanitized name:
var assetName = MjEngineTool.Sanitize(
mjcf.GetStringAttribute("mesh", defaultValue: string.Empty));
if (!string.IsNullOrEmpty(assetName)) {
Mesh = (Mesh)Resources.Load(assetName);
}
}
public Tuple<Vector3[], int[]> BuildMesh() {
return Tuple.Create(Mesh.vertices, Mesh.triangles);
}
public Vector4 GetChangeStamp() {
return Vector4.one;
}
public void DebugDraw(Transform transform) {
Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, transform.lossyScale);
Gizmos.DrawWireMesh(Mesh);
}
}
}
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