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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 {
// A facade that allows to select a type of Mujoco shape and define that shape's properties.
//
// To work around the lack of serialization support for polymorphism, the class aggregates
// the settings of all available shape types. Coupled with a set of custom property drawers,
// it will be presented in the Inspector as a single entity, encapsulating the details of
// data persistance, Mjcf parsing and generation and debug visualization.
public abstract class MjShapeComponent : MjComponent {
public enum ShapeTypes {
Sphere,
Capsule,
Ellipsoid,
Cylinder,
Box,
Plane,
Mesh
}
public ShapeTypes ShapeType;
public MjSphereShape Sphere = new MjSphereShape();
public MjCapsuleShape Capsule = new MjCapsuleShape();
public MjCylinderShape Cylinder = new MjCylinderShape();
public MjBoxShape Box = new MjBoxShape();
public MjEllipsoidShape Ellipsoid = new MjEllipsoidShape();
public MjPlaneShape Plane = new MjPlaneShape();
public MjMeshShape Mesh = new MjMeshShape();
public IMjShape Shape {
get {
switch (ShapeType) {
default:
case ShapeTypes.Sphere: return Sphere;
case ShapeTypes.Capsule: return Capsule;
case ShapeTypes.Cylinder: return Cylinder;
case ShapeTypes.Ellipsoid: return Ellipsoid;
case ShapeTypes.Box: return Box;
case ShapeTypes.Plane: return Plane;
case ShapeTypes.Mesh: return Mesh;
}
}
}
public void ShapeToMjcf(XmlElement mjcf, Transform transform) {
mjcf.SetAttribute("type", ShapeType.ToString().ToLower());
Shape.ToMjcf(mjcf, transform);
}
public void ShapeFromMjcf(XmlElement mjcf) {
ShapeType = mjcf.GetEnumAttribute<ShapeTypes>(
"type", ShapeTypes.Sphere, ignoreCase: true);
Shape.FromMjcf(mjcf);
}
public Tuple<Vector3[], int[]> BuildMesh() {
return Shape.BuildMesh();
}
public Vector4 GetChangeStamp() {
var stamp = Shape.GetChangeStamp();
stamp.w = (float)ShapeType;
return stamp;
}
public void DrawGizmos(Transform transform) {
var oldMatrix = Gizmos.matrix;
Shape.DebugDraw(transform);
Gizmos.matrix = oldMatrix;
}
}
}
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