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BUGFIX: when parsing a unity scene with mujoco element,s the mujoco p… #2893

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BUGFIX: when parsing a unity scene with mujoco element,s the mujoco p… #2893

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cfd487c
BUGFIX: when parsing a unity scene with mujoco element,s the mujoco p…
joanllobera Oct 8, 2025
655b961
redid the global settings according to suggested guidelines
joanllobera Oct 13, 2025
0001fe2
Revert "redid the global settings according to suggested guidelines"
joanllobera Oct 17, 2025
92cb306
removed Passive, added Damper and Spring objects
joanllobera Oct 17, 2025
36bb957
cut extra long line to make sure it passes the syntax checks
joanllobera Oct 17, 2025
1a94697
small syntax fixes
joanllobera Oct 21, 2025
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20 changes: 11 additions & 9 deletions unity/Runtime/Components/MjGlobalSettings.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,8 @@ public struct MjcfOptionFlag {
public EnableDisableFlag FrictionLoss;
public EnableDisableFlag Limit;
public EnableDisableFlag Contact;
public EnableDisableFlag Passive;
public EnableDisableFlag Spring;
public EnableDisableFlag Damper;
public EnableDisableFlag Gravity;
public EnableDisableFlag ClampCtrl;
public EnableDisableFlag WarmStart;
Expand All @@ -80,7 +81,8 @@ public struct MjcfOptionFlag {
FrictionLoss = EnableDisableFlag.enable,
Limit = EnableDisableFlag.enable,
Contact = EnableDisableFlag.enable,
Passive = EnableDisableFlag.enable,
Spring = EnableDisableFlag.enable,
Damper = EnableDisableFlag.enable,
Gravity = EnableDisableFlag.enable,
ClampCtrl = EnableDisableFlag.enable,
WarmStart = EnableDisableFlag.enable,
Expand All @@ -101,7 +103,8 @@ public void FromMjcf(XmlElement mjcf) {
localDefault.FrictionLoss);
Limit = mjcf.GetEnumAttribute<EnableDisableFlag>("limit", localDefault.Limit);
Contact = mjcf.GetEnumAttribute<EnableDisableFlag>("contact", localDefault.Contact);
Passive = mjcf.GetEnumAttribute<EnableDisableFlag>("passive", localDefault.Passive);
Spring = mjcf.GetEnumAttribute<EnableDisableFlag>("spring", localDefault.Spring);
Damper = mjcf.GetEnumAttribute<EnableDisableFlag>("damper", localDefault.Damper);
Gravity = mjcf.GetEnumAttribute<EnableDisableFlag>("gravity", localDefault.Gravity);
ClampCtrl = mjcf.GetEnumAttribute<EnableDisableFlag>("clampctrl", localDefault.ClampCtrl);
WarmStart = mjcf.GetEnumAttribute<EnableDisableFlag>("warmstart", localDefault.WarmStart);
Expand All @@ -121,7 +124,8 @@ public void ToMjcf(XmlElement mjcf) {
mjcf.SetAttribute("frictionloss", FrictionLoss.ToString());
mjcf.SetAttribute("limit", Limit.ToString());
mjcf.SetAttribute("contact", Contact.ToString());
mjcf.SetAttribute("passive", Passive.ToString());
mjcf.SetAttribute("spring", Spring.ToString());
mjcf.SetAttribute("damper", Damper.ToString());
mjcf.SetAttribute("gravity", Gravity.ToString());
mjcf.SetAttribute("clampctrl", ClampCtrl.ToString());
mjcf.SetAttribute("warmstart", WarmStart.ToString());
Expand Down Expand Up @@ -271,10 +275,9 @@ public void ParseMjcf(XmlElement mjcf) {

public XmlElement ToMjcf(XmlElement mjcf) {
mjcf.SetAttribute("impratio", MjEngineTool.MakeLocaleInvariant($"{ImpRatio}"));

mjcf.SetAttribute("magnetic", MjEngineTool.MakeLocaleInvariant($"{Magnetic.x} {Magnetic.y} {Magnetic.z}"));
mjcf.SetAttribute("magnetic",
MjEngineTool.MakeLocaleInvariant($"{Magnetic.x} {Magnetic.y} {Magnetic.z}"));
mjcf.SetAttribute("wind", MjEngineTool.MakeLocaleInvariant($"{Wind.x} {Wind.y} {Wind.z}"));

mjcf.SetAttribute("density", MjEngineTool.MakeLocaleInvariant($"{Density}"));
mjcf.SetAttribute("viscosity", MjEngineTool.MakeLocaleInvariant($"{Viscosity}"));
mjcf.SetAttribute("o_margin", MjEngineTool.MakeLocaleInvariant($"{OverrideMargin}"));
Expand All @@ -286,7 +289,6 @@ public XmlElement ToMjcf(XmlElement mjcf) {
mjcf.SetAttribute("cone", Cone.ToString());
mjcf.SetAttribute("jacobian", Jacobian.ToString());
mjcf.SetAttribute("solver", Solver.ToString());

mjcf.SetAttribute("iterations", MjEngineTool.MakeLocaleInvariant($"{Iterations}"));
mjcf.SetAttribute("tolerance", MjEngineTool.MakeLocaleInvariant($"{Tolerance}"));
mjcf.SetAttribute("noslip_iterations", MjEngineTool.MakeLocaleInvariant($"{NoSlipIterations}"));
Expand Down Expand Up @@ -328,7 +330,7 @@ public class MjGlobalSettings : MonoBehaviour {
public static MjGlobalSettings Instance {
get {
if (_instance == null) {
var instances = FindObjectsOfType<MjGlobalSettings>();
var instances = FindObjectsByType<MjGlobalSettings>(FindObjectsSortMode.None);
if (instances.Length > 1) {
throw new InvalidOperationException(
"Only one MjGlobalSettings instance is allowed - please resolve manually.");
Expand Down