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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;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Xml;
using UnityEngine;
namespace Mujoco {
// An instance of this class will be used to collect dynamic dependencies produced by a Mujoco model
// during scene generation.
public class MjcfGenerationContext {
public int NUserSensor {
get { return _nuserSensor; }
set { _nuserSensor = Math.Max(_nuserSensor, value); }
}
private int _nuserSensor;
private int _numGeneratedNames = 0;
private Dictionary<Mesh, string> _meshAssets = new Dictionary<Mesh, string>();
public void GenerateMjcf(XmlElement mjcf) {
GenerateConfigurationMjcf(mjcf);
GenerateAssetsMjcf(mjcf);
}
// Adds a mesh to the list of assets that will be added to the generated MJCF.
// Returns the unique name that identifies this new asset.
public string AddMeshAsset(Mesh mesh) {
if (!_meshAssets.ContainsKey(mesh)) {
var uniqueName = $"mesh_{_numGeneratedNames}";
_numGeneratedNames++;
_meshAssets.Add(mesh, uniqueName);
}
return _meshAssets[mesh];
}
// Generates a Unique name for the specified component.
// Uniqueness of names is required for every type independently.
// The per-type uniqueness will be guaranteed by the combination of information used:
// - name of the host GameObject.
// - number of names that have been generated to date.
public string GenerateName(Component comp) {
var name = $"{comp.gameObject.name}_{_numGeneratedNames}";
_numGeneratedNames++;
return name;
}
private void GenerateConfigurationMjcf(XmlElement mjcf) {
var doc = mjcf.OwnerDocument;
var compilerMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("compiler"));
compilerMjcf.SetAttribute("coordinate", "local");
var optionMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("option"));
optionMjcf.SetAttribute(
"gravity", MjEngineTool.Vector3ToMjcf(MjEngineTool.MjVector3(Physics.gravity)));
optionMjcf.SetAttribute("timestep", MjEngineTool.MakeLocaleInvariant($"{Time.fixedDeltaTime}"));
var sizeMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("size"));
sizeMjcf.SetAttribute("nuser_sensor", $"{_nuserSensor}");
var settings = MjGlobalSettings.Instance;
if (settings) {
settings.OptionSizeToMjcf(optionMjcf, sizeMjcf);
}
}
private void GenerateAssetsMjcf(XmlElement mjcf) {
var doc = mjcf.OwnerDocument;
var assetMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("asset"));
foreach (var asset in _meshAssets) {
var meshMjcf = (XmlElement)assetMjcf.AppendChild(doc.CreateElement("mesh"));
meshMjcf.SetAttribute("name", asset.Value);
GenerateMeshMjcf(asset.Key, meshMjcf);
}
}
private static void GenerateMeshMjcf(Mesh mesh, XmlElement mjcf) {
var vertexPositionsStr = new StringBuilder();
foreach (var unityVertex in mesh.vertices) {
var mjVertex = MjEngineTool.MjVector3(unityVertex);
vertexPositionsStr.Append(MjEngineTool.Vector3ToMjcf(mjVertex));
vertexPositionsStr.Append(" ");
}
mjcf.SetAttribute("vertex", vertexPositionsStr.ToString());
}
}
}
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