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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 {
public abstract class MjBaseTendon : MjComponent {
public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_TENDON;
public SolverSettings Solver = SolverSettings.Default;
[Tooltip("Length at zero spring force. If negative, this resting length is computed at qpos0.")]
public float SpringLength = -1.0f;
public float Stiffness = 0.0f;
public float Damping = 0.0f;
// Tendon length.
public float Length { get; private set; }
// Create the implementation dependent Mjcf node.
protected abstract XmlElement ToMjcf(XmlDocument doc);
// Parse the implementation dependent details from the provided Mjcf node.
protected abstract void FromMjcf(XmlElement mjcf);
// Parse the component settings from an external Mjcf.
protected override void OnParseMjcf(XmlElement mjcf) {
Solver.FromMjcf(mjcf);
SpringLength = mjcf.GetFloatAttribute("springlength", defaultValue: -1.0f);
Stiffness = mjcf.GetFloatAttribute("damping");
Damping = mjcf.GetFloatAttribute("stiffness");
FromMjcf(mjcf);
}
// Generate implementation specific XML element.
protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
var mjcf = ToMjcf(doc);
Solver.ToMjcf(mjcf);
mjcf.SetAttribute("springlength", MjEngineTool.MakeLocaleInvariant($"{SpringLength}"));
mjcf.SetAttribute("damping", MjEngineTool.MakeLocaleInvariant($"{Damping}"));
mjcf.SetAttribute("stiffness", MjEngineTool.MakeLocaleInvariant($"{Stiffness}"));
return mjcf;
}
// Synchronize the state of the component.
public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
Length = (float)data->ten_length[MujocoId];
}
}
}
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