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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 SpatialTendonEntry {
[Tooltip("Only one of site/geom/pulley can be specified at each entry.")]
public MjSite Site;
[Tooltip("Only one of site/geom/pulley can be specified at each entry.")]
public MjGeom WrapGeom;
[Tooltip("Only used if wrap geom is specified.")]
public MjSite WrapSideSite;
[Tooltip("Only one of site/geom/pulley can be specified at each entry.")]
public float PulleyDivisor;
}
public class MjSpatialTendon : MjBaseTendon {
[Tooltip("In meters.")]
public float RangeLower;
[Tooltip("In meters.")]
public float RangeUpper;
public List<SpatialTendonEntry> ViapointsList = new List<SpatialTendonEntry>() {};
protected override void FromMjcf(XmlElement mjcf) {
foreach (var child in mjcf.Cast<XmlNode>().OfType<XmlElement>()) {
var viapoint = new SpatialTendonEntry();
viapoint.Site = child.GetObjectReferenceAttribute<MjSite>("site");
viapoint.WrapGeom = child.GetObjectReferenceAttribute<MjGeom>("geom");
viapoint.WrapSideSite = child.GetObjectReferenceAttribute<MjSite>("sidesite");
viapoint.PulleyDivisor = child.GetFloatAttribute("pulley");
ViapointsList.Add(viapoint);
}
var rangeValues = mjcf.GetFloatArrayAttribute("range", defaultValue: new float[] { 0, 0 });
RangeLower = rangeValues[0];
RangeUpper = rangeValues[1];
}
protected override XmlElement ToMjcf(XmlDocument doc) {
if (ViapointsList.Count() < 2) {
throw new ArgumentOutOfRangeException($"Spatial tendon {name} needs at least 2 sites.");
}
if (ViapointsList[0].Site == null) {
throw new NullReferenceException(
$"The first entry of a spatial tendon {name} must be a site.");
}
if (ViapointsList[ViapointsList.Count - 1].Site == null) {
throw new NullReferenceException(
$"The last entry of a spatial tendon {name} must be a site.");
}
var mjcf = doc.CreateElement("spatial");
foreach (SpatialTendonEntry spatialTendonEntry in ViapointsList) {
XmlElement elementMjcf;
if (spatialTendonEntry.Site) {
if (spatialTendonEntry.WrapGeom || spatialTendonEntry.PulleyDivisor != 0) {
throw new ArgumentException(
$"Only one of site/wrap geom/pulley {name} is allowed at each entry.");
}
elementMjcf = doc.CreateElement("site");
elementMjcf.SetAttribute("site", spatialTendonEntry.Site.MujocoName);
} else if (spatialTendonEntry.WrapGeom) {
if (spatialTendonEntry.PulleyDivisor != 0) {
throw new ArgumentException(
$"Only one of site/wrap geom/pulley {name} is allowed at each entry.");
}
elementMjcf = doc.CreateElement("geom");
elementMjcf.SetAttribute("geom", spatialTendonEntry.WrapGeom.MujocoName);
if (spatialTendonEntry.WrapSideSite) {
elementMjcf.SetAttribute("sidesite", spatialTendonEntry.WrapSideSite.MujocoName);
}
} else {
if (spatialTendonEntry.PulleyDivisor == 0) {
throw new ArgumentException(
$"Exactly one of site/wrap geom/pulley {name} is required at each entry.");
}
elementMjcf = doc.CreateElement("pulley");
elementMjcf.SetAttribute("divisor", MjEngineTool.MakeLocaleInvariant($"{spatialTendonEntry.PulleyDivisor}"));
}
mjcf.AppendChild(elementMjcf);
}
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 unsafe void OnDrawGizmos() {
if (Application.isPlaying) {
var scene = MjScene.Instance;
var segmentCount = scene.Model->nwrap - 1;
var data = scene.Data;
int readHead = 0;
for (int i = 0; i < segmentCount; ++i) {
// Skip drawing of pulley:
if (data->wrap_obj[readHead] == -2 || data->wrap_obj[readHead + 1] == -2) {
readHead += 1;
} else {
Vector3 start = MjEngineTool.UnityVector3(
MjEngineTool.MjVector3AtEntry(data->wrap_xpos, readHead));
Vector3 end = MjEngineTool.UnityVector3(
MjEngineTool.MjVector3AtEntry(data->wrap_xpos, readHead + 1));
Gizmos.DrawLine(start, end);
if (data->wrap_obj[readHead + 1] >= 0) { // a wrap geom
readHead += 2;
} else { // site or pulley
readHead += 1;
}
}
}
}
}
}
}
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