Datasets:

introvoyz041
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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 class MjExclude : MjComponent {

  [Tooltip("A body whose contacts with other body are ignored")]
  public MjBody Body1;
  [Tooltip("Other body whose contacts with first body are ignored")]
  public MjBody Body2;

  public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_EXCLUDE;

  protected override void OnParseMjcf(XmlElement mjcf) {
    var body1Name = mjcf.GetStringAttribute("body1", defaultValue: string.Empty);
    if (!string.IsNullOrEmpty(body1Name)) {
      Body1 = MjHierarchyTool.FindComponentOfTypeAndName<MjBody>(body1Name);
    }
    var body2Name = mjcf.GetStringAttribute("body2", defaultValue: string.Empty);
    if (!string.IsNullOrEmpty(body2Name)) {
      Body2 = MjHierarchyTool.FindComponentOfTypeAndName<MjBody>(body2Name);
    }
  }

  // Generate implementation specific XML element.
  protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
    if (Body1 == null || Body2 == null) {
      throw new NullReferenceException($"Both bodies in {name} must be assigned.");
    }

    var mjcf = (XmlElement)doc.CreateElement("exclude");
    mjcf.SetAttribute("body1", Body1.MujocoName);
    mjcf.SetAttribute("body2", Body2.MujocoName);
    return mjcf;
  }
}
}

	// 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 class MjExclude : MjComponent {

	[Tooltip("A body whose contacts with other body are ignored")]
	public MjBody Body1;
	[Tooltip("Other body whose contacts with first body are ignored")]
	public MjBody Body2;

	public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_EXCLUDE;

	protected override void OnParseMjcf(XmlElement mjcf) {
	var body1Name = mjcf.GetStringAttribute("body1", defaultValue: string.Empty);
	if (!string.IsNullOrEmpty(body1Name)) {
	Body1 = MjHierarchyTool.FindComponentOfTypeAndName<MjBody>(body1Name);
	}
	var body2Name = mjcf.GetStringAttribute("body2", defaultValue: string.Empty);
	if (!string.IsNullOrEmpty(body2Name)) {
	Body2 = MjHierarchyTool.FindComponentOfTypeAndName<MjBody>(body2Name);
	}
	}

	// Generate implementation specific XML element.
	protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
	if (Body1 == null \|\| Body2 == null) {
	throw new NullReferenceException($"Both bodies in {name} must be assigned.");
	}

	var mjcf = (XmlElement)doc.CreateElement("exclude");
	mjcf.SetAttribute("body1", Body1.MujocoName);
	mjcf.SetAttribute("body2", Body2.MujocoName);
	return mjcf;
	}
	}
	}