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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.Collections.Generic;
using System.Linq;
using System.Xml;
using UnityEngine;
namespace Mujoco {
[Serializable]
public class FixedTendonEntry {
[Tooltip("Only scalar joints can be used - hinge and slide.")]
public MjBaseJoint Joint;
[Tooltip("Multiplier for the value of the joint.")]
public float Coefficient = 1.0f;
}
public class MjFixedTendon : MjBaseTendon {
[Tooltip("In (scaled) radians/meters.")]
public float RangeLower;
[Tooltip("In (scaled) radians/meters.")]
public float RangeUpper;
public List<FixedTendonEntry> JointList = new List<FixedTendonEntry>() {};
protected override void FromMjcf(XmlElement mjcf) {
foreach (var child in mjcf.Cast<XmlNode>().OfType<XmlElement>()) {
var fixedTendonEntry = new FixedTendonEntry();
fixedTendonEntry.Joint = child.GetObjectReferenceAttribute<MjBaseJoint>("joint");
fixedTendonEntry.Coefficient = child.GetFloatAttribute("coef", defaultValue: 1.0f);
JointList.Add(fixedTendonEntry);
}
var rangeValues = mjcf.GetFloatArrayAttribute("range", defaultValue: new float[] { 0, 0 });
RangeLower = rangeValues[0];
RangeUpper = rangeValues[1];
}
protected override XmlElement ToMjcf(XmlDocument doc) {
if (JointList.Count < 1) {
throw new ArgumentOutOfRangeException($"Fixed tendon {name} needs at least one joint.");
}
var mjcf = doc.CreateElement("fixed");
foreach (FixedTendonEntry fixedTendonEntry in JointList) {
var jointMjcf = doc.CreateElement("joint");
jointMjcf.SetAttribute("joint", fixedTendonEntry.Joint.MujocoName);
jointMjcf.SetAttribute("coef", MjEngineTool.MakeLocaleInvariant($"{fixedTendonEntry.Coefficient}"));
mjcf.AppendChild(jointMjcf);
}
if (RangeLower > RangeUpper) {
throw new ArgumentException("Lower range value can't be bigger than Higher");
}
mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"{RangeLower} {RangeUpper}"));
return mjcf;
}
public void OnValidate() {
foreach (FixedTendonEntry fixedTendonEntry in JointList) {
if (!(fixedTendonEntry.Joint is MjHingeJoint) &&
!(fixedTendonEntry.Joint is MjSlideJoint)) {
Debug.LogError("Only scalar joints (hinge or slide) are allowed.", this);
fixedTendonEntry.Joint = null;
}
}
}
}
}
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