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#if UNITY_2020_1_OR_NEWER
using System.Collections.Generic;
using UnityEngine;
namespace Unity.MLAgents.Extensions.Sensors
{
/// <summary>
/// Utility class to track a hierarchy of ArticulationBodies.
/// </summary>
public class ArticulationBodyPoseExtractor : PoseExtractor
{
ArticulationBody[] m_Bodies;
public ArticulationBodyPoseExtractor(ArticulationBody rootBody)
{
if (rootBody == null)
{
return;
}
if (!rootBody.isRoot)
{
Debug.Log("Must pass ArticulationBody.isRoot");
return;
}
var bodies = rootBody.GetComponentsInChildren<ArticulationBody>();
if (bodies[0] != rootBody)
{
Debug.Log("Expected root body at index 0");
return;
}
var numBodies = bodies.Length;
m_Bodies = bodies;
int[] parentIndices = new int[numBodies];
parentIndices[0] = -1;
var bodyToIndex = new Dictionary<ArticulationBody, int>();
for (var i = 0; i < numBodies; i++)
{
bodyToIndex[m_Bodies[i]] = i;
}
for (var i = 1; i < numBodies; i++)
{
var currentArticBody = m_Bodies[i];
// Component.GetComponentInParent will consider the provided object as well.
// So start looking from the parent.
var currentGameObject = currentArticBody.gameObject;
var parentGameObject = currentGameObject.transform.parent;
var parentArticBody = parentGameObject.GetComponentInParent<ArticulationBody>();
parentIndices[i] = bodyToIndex[parentArticBody];
}
Setup(parentIndices);
}
/// <inheritdoc/>
protected internal override Vector3 GetLinearVelocityAt(int index)
{
return m_Bodies[index].velocity;
}
/// <inheritdoc/>
protected internal override Pose GetPoseAt(int index)
{
var body = m_Bodies[index];
var go = body.gameObject;
var t = go.transform;
return new Pose { rotation = t.rotation, position = t.position };
}
/// <inheritdoc/>
protected internal override Object GetObjectAt(int index)
{
return m_Bodies[index];
}
internal ArticulationBody[] Bodies => m_Bodies;
internal IEnumerable<ArticulationBody> GetEnabledArticulationBodies()
{
if (m_Bodies == null)
{
yield break;
}
for (var i = 0; i < m_Bodies.Length; i++)
{
var articBody = m_Bodies[i];
if (articBody == null)
{
// Ignore a virtual root.
continue;
}
if (IsPoseEnabled(i))
{
yield return articBody;
}
}
}
}
}
#endif // UNITY_2020_1_OR_NEWER
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