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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 {
// Defines a reference frame and an anchoring point for other elements of the rig.
public class MjSite : MjShapeComponent {
public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_SITE;
// Parse the component settings from an external Mjcf.
protected override void OnParseMjcf(XmlElement mjcf) {
ShapeFromMjcf(mjcf);
MjEngineTool.ParseTransformMjcf(mjcf, transform);
}
// Generate implementation specific XML element.
protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
var mjcf = (XmlElement)doc.CreateElement("site");
ShapeToMjcf(mjcf, transform);
MjEngineTool.PositionRotationToMjcf(mjcf, this);
return mjcf;
}
// Synchronize the state of the component.
public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
transform.position = MjEngineTool.UnityVector3(
MjEngineTool.MjVector3AtEntry(data->site_xpos, MujocoId));
transform.rotation = MjEngineTool.UnityQuaternionFromMatrix(
MjEngineTool.MjMatrixAtEntry(data->site_xmat, MujocoId));
}
public void OnDrawGizmosSelected() {
Gizmos.color = Color.magenta;
DrawGizmos(transform);
}
}
}
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