1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
|
// 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;
using System.Collections.Generic;
using System.Linq;
using UnityEngine;
namespace Mujoco {
// A set of helper methods for working with hierarchies of components.
public static class MjHierarchyTool {
public static IEnumerable<MjComponent> LinearizeHierarchyBFS(Transform start) {
var open = new Queue<Transform>();
open.Enqueue(start);
while (open.Count > 0) {
var transform = open.Dequeue();
var components = transform.GetComponents<MjComponent>();
foreach (var component in components) {
if (component.isActiveAndEnabled) {
yield return component;
}
}
foreach (Transform child in transform) {
open.Enqueue(child);
}
}
}
// Recurses up the tree (excluding self) and returns the first instance of a MjComponent.
public static MjComponent FindParentComponent(MonoBehaviour start) {
return FindParentComponent<MjComponent>(start);
}
// This is not equivalent to Unity's GetComponentInParent as it excludes self from the search.
public static T FindParentComponent<T>(MonoBehaviour start) where T : MonoBehaviour {
if (start.transform.parent == null) {
return null;
}
var loopTransform = start.transform.parent;
T result = loopTransform.GetComponent<T>();
while (result == null && loopTransform.parent != null) {
loopTransform = loopTransform.parent;
result = loopTransform.GetComponent<T>();
}
return result;
}
public static List<T> GetComponentsInImmediateChildren<T>(Transform parent)
where T : MonoBehaviour {
var components = new List<T>();
foreach (Transform child in parent) {
components.AddRange(child.gameObject.GetComponents<T>());
}
return components;
}
// Finds a single component that matches both the type and the name criteria.
public static T FindComponentOfTypeAndName<T>(string name) where T : MjComponent {
var components = UnityEngine.Object.FindObjectsOfType<T>().Where(
component => component.gameObject.name == name);
var numComponents = components.Count();
if (components == null || numComponents == 0) {
throw new ArgumentException($"No components named '{name}' were found.");
}
if (numComponents > 1) {
throw new ArgumentException($"More than one component named '{name}' was found.");
}
return components.FirstOrDefault() as T;
}
}
}
|
