mujoco

// 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.Linq;
using System.Xml;
using UnityEngine;

namespace Mujoco {

  public abstract class MjBaseConstraint : MjComponent {
    public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_EQUALITY;

    protected abstract string _constraintName { get; }

    public SolverImpedance SolverImpedanceSettings = SolverImpedance.Default;
    public SolverReference SolverReferenceSettings = SolverReference.Default;

    protected abstract void ToMjcf(XmlElement mjcf);
    protected abstract void FromMjcf(XmlElement mjcf);

    protected override void OnParseMjcf(XmlElement mjcf) {
      FromMjcf(mjcf);
      SolverReferenceSettings.FromMjcf(mjcf, "solref");
      SolverImpedanceSettings.FromMjcf(mjcf, "solimp");
    }

    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
      var mjcf = (XmlElement)doc.CreateElement(_constraintName);
      ToMjcf(mjcf);
      SolverReferenceSettings.ToMjcf(mjcf, "solref");
      SolverImpedanceSettings.ToMjcf(mjcf, "solimp");
      return mjcf;
    }
  }
}