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Keep Unity slide spring references in linear units #3516

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Keep Unity slide spring references in linear units #3516

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13 changes: 8 additions & 5 deletions unity/Runtime/Components/Joints/MjJointSettings.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -34,9 +34,9 @@ public struct MjJointSettings {
Solver = SolverSettings.Default,
};

public void FromMjcf(XmlElement mjcf) {
public void FromMjcf(XmlElement mjcf, bool springReferenceIsAngular = true) {
Armature = mjcf.GetFloatAttribute("armature", 0.0f);
Spring.FromMjcf(mjcf);
Spring.FromMjcf(mjcf, springReferenceIsAngular);
Solver.FromMjcf(mjcf);
}

Expand Down Expand Up @@ -68,11 +68,14 @@ public void ToMjcf(XmlElement mjcf) {
mjcf.SetAttribute("stiffness", MjEngineTool.MakeLocaleInvariant($"{Stiffness}"));
}

public void FromMjcf(XmlElement mjcf) {
public void FromMjcf(XmlElement mjcf, bool referenceIsAngular = true) {
var springDamper = mjcf.GetVector2Attribute("springdamper", Vector2.zero);
TimeConstant = springDamper.x;
DampingRatio = springDamper.y;
EquilibriumPose = MjSceneImportSettings.AnglesInDegrees? mjcf.GetFloatAttribute("springref", 0.0f) : mjcf.GetFloatAttribute("springref", 0.0f) * Mathf.Rad2Deg;
EquilibriumPose = mjcf.GetFloatAttribute("springref", 0.0f);
if (referenceIsAngular && !MjSceneImportSettings.AnglesInDegrees) {
EquilibriumPose *= Mathf.Rad2Deg;
}
Damping = mjcf.GetFloatAttribute("damping", 0.0f);
Stiffness = mjcf.GetFloatAttribute("stiffness", 0.0f);
}
Expand Down Expand Up @@ -169,4 +172,4 @@ public void FromMjcf(XmlElement mjcf) {
Margin = mjcf.GetFloatAttribute("margin", defaultValue: 0.0f);
}
}
}
}
4 changes: 2 additions & 2 deletions unity/Runtime/Components/Joints/MjSlideJoint.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -69,7 +69,7 @@ protected override void OnParseMjcf(XmlElement mjcf) {

Configuration = mjcf.GetFloatAttribute("ref", 0.0f);

Settings.FromMjcf(mjcf);
Settings.FromMjcf(mjcf, springReferenceIsAngular: false);
}

protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
Expand All @@ -88,4 +88,4 @@ protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
return mjcf;
}
}
}
}
16 changes: 15 additions & 1 deletion unity/Tests/Editor/Components/Joints/MjSlideJointTests.cs
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Expand Up @@ -98,5 +98,19 @@ public void ParsingJointLimitRangeSettings(
Assert.That(_joint.RangeLower, Is.EqualTo(expectedLow));
Assert.That(_joint.RangeUpper, Is.EqualTo(expectedHigh));
}

[Test]
public void ParsingSpringReferenceKeepsLinearUnitsInRadianModels() {
var previous = MjSceneImportSettings.AnglesInDegrees;
MjSceneImportSettings.AnglesInDegrees = false;
try {
var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
jointElement.SetAttribute("springref", "0.25");
_joint.ParseMjcf(jointElement);
Assert.That(_joint.Settings.Spring.EquilibriumPose, Is.EqualTo(0.25f).Within(1e-6f));
} finally {
MjSceneImportSettings.AnglesInDegrees = previous;
}
}
}
}
}