You've already forked LuckyWorld
2207cfbba0
+ This feature was missing from the plugin while being necessary for robots to work + e.g. SO100 requires the main body and the first arm to have contact exclusion, I guess the piece are too tight in the model? + This is not clean, but making it right requires to have a better understanding of how the MuJoCo actor works - problem for future self
53 lines
2.5 KiB
C++
53 lines
2.5 KiB
C++
#pragma once
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#include "CoreMinimal.h"
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#include "Misc/MujocoOptions.h"
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#include "tinyxml2.h"
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class UMujocoGeomComponent;
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class UMujocoJointComponent;
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class UMujocoSiteComponent;
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class UMujocoActuatorComponent;
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class UMujocoEqualityComponent;
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class UMujocoTendonComponent;
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class UCameraComponent;
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class USpringArmComponent;
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class UMujocoBodyComponent;
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class USCS_Node;
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class UStaticMesh;
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class UBlueprint;
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class LUCKYMUJOCO_API FMujocoXmlGenerator
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{
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bool VisitGeomComponent(USCS_Node* SCSNode, UMujocoGeomComponent* GeomComponent, tinyxml2::XMLElement* Element);
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bool VisitJointComponent(USCS_Node* SCSNode, UMujocoJointComponent* JointComponent, tinyxml2::XMLElement* Element);
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bool VisitSiteComponent(USCS_Node* SCSNode, UMujocoSiteComponent* SiteComponent, tinyxml2::XMLElement* Element);
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bool VisitActuatorComponent(USCS_Node* SCSNode, UMujocoActuatorComponent* ActuatorComponent, tinyxml2::XMLElement* Element);
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bool VisitEqualityComponent(USCS_Node* SCSNode, UMujocoEqualityComponent* EqualityComponent, tinyxml2::XMLElement* Element);
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bool VisitTendonComponent(USCS_Node* SCSNode, UMujocoTendonComponent* TendonComponent, tinyxml2::XMLElement* Element);
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bool VisitCameraComponent(USCS_Node* SCSNode, UCameraComponent* CameraComponent, tinyxml2::XMLElement* Element, USpringArmComponent* SpringArmComponent = nullptr);
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bool VisitSpringArm(USCS_Node* SCSNode, USpringArmComponent* SpringArmComponent, tinyxml2::XMLElement* Element);
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bool VisitBodyComponent(USCS_Node* SCSNode, UMujocoBodyComponent* BodyComponent, tinyxml2::XMLElement* Element);
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bool ParseExportOptions(UMujocoExportOptions* Data, tinyxml2::XMLElement* Element);
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bool ParseBlueprintAsset(UBlueprint* BlueprintAsset, tinyxml2::XMLElement* Root);
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bool ParseActorAsset(AActor* Actor, tinyxml2::XMLElement* Root);
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TMap<FString, TSoftObjectPtr<UObject>> ObjectMap;
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public:
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/**
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* Generate the XML file used by the MuJoCo headless scene representing the physics simulation
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* @param ExportOptions TODO - What they can be?
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* @param Objects Actors and Components to be added to the scene
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* @param ExportFilename pretty much that
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* @param ContactExclusion a list of pairs that should be patched in the xml file for contact exclusion (no friction, no collision)
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* TODO ContactExclusion should be stored as a property of MujocoActor and not passed in the scene init
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*/
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TUniquePtr<tinyxml2::XMLDocument> GenerateMujocoXml(
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const TObjectPtr<UMujocoExportOptions>& ExportOptions,
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const TArray<UObject*>& Objects,
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const FString& ExportFilename,
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TMap<FString, FString> ContactExclusion);
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}; |