private static void DrawUrdfJointData <T>(AGXUnity.IO.URDF.UJoint parent,
MemberInfo member,
T jointData)
where T : struct
{
var fieldsAndProperties = InvokeWrapper.FindFieldsAndProperties(typeof(T));
var enabledFieldOrProperty = fieldsAndProperties.FirstOrDefault(wrapper => wrapper.Member.Name == "Enabled");
if (enabledFieldOrProperty == null)
{
return;
}
var enabled = enabledFieldOrProperty.Get <bool>(jointData);
using (new GUI.EnabledBlock(enabled)) {
if (!InspectorGUI.Foldout(GetEditorData(parent, member.Name), InspectorGUI.MakeLabel(member)))
{
return;
}
using (InspectorGUI.IndentScope.Single) {
foreach (var wrapper in fieldsAndProperties)
{
if (wrapper == enabledFieldOrProperty)
{
continue;
}
var drawer = GetDrawerMethod(wrapper.GetContainingType());
drawer.Drawer?.Invoke(null, new object[] { new object[] { jointData }, wrapper });
}
}
}
}
/// <summary>
/// Draw supported member GUI for given targets. This method supports
/// non-UnityEngine.Object instances, such as pure Serializable classes,
/// that are part of <paramref name="targets"/>. <paramref name="getChildCallback"/>
/// is called to access these serializable objects. If <paramref name="getChildCallback"/>
/// is null, targets will be rendered.
/// </summary>
/// <param name="targets">Target UnityEngine.Object instances (used for Undo and SetDirty).</param>
/// <param name="getChildCallback">Null and targets will be rendered, otherwise the returned
/// instance from this callback.</param>
public static void DrawMembersGUI(Object[] targets,
Func <Object, object> getChildCallback = null,
SerializedObject fallback = null)
{
targets = targets.Where(obj => obj != null).ToArray();
if (targets.Length == 0)
{
return;
}
var objects = targets.Select(target => getChildCallback == null ?
target :
getChildCallback(target))
.Where(obj => obj != null).ToArray();
if (objects.Length == 0)
{
return;
}
Undo.RecordObjects(targets, "Inspector");
var hasChanges = false;
InvokeWrapper[] fieldsAndProperties = InvokeWrapper.FindFieldsAndProperties(objects[0].GetType());
var group = InspectorGroupHandler.Create();
foreach (var wrapper in fieldsAndProperties)
{
if (!ShouldBeShownInInspector(wrapper.Member))
{
continue;
}
group.Update(wrapper, objects[0]);
if (group.IsHidden)
{
continue;
}
var runtimeDisabled = EditorApplication.isPlayingOrWillChangePlaymode &&
wrapper.Member.IsDefined(typeof(DisableInRuntimeInspectorAttribute), true);
using (new GUI.EnabledBlock(UnityEngine.GUI.enabled && !runtimeDisabled))
hasChanges = HandleType(wrapper, objects, fallback) || hasChanges;
}
group.Dispose();
if (hasChanges)
{
foreach (var obj in targets)
{
EditorUtility.SetDirty(obj);
}
}
}
/// <summary>
/// Draw supported member GUI for given targets. This method supports
/// non-UnityEngine.Object instances, such as pure Serializable classes,
/// that are part of <paramref name="targets"/>. <paramref name="getChildCallback"/>
/// is called to access these serializable objects. If <paramref name="getChildCallback"/>
/// is null, targets will be rendered.
/// </summary>
/// <param name="targets">Target UnityEngine.Object instances (used for Undo and SetDirty).</param>
/// <param name="getChildCallback">Null and targets will be rendered, otherwise the returned
/// instance from this callback.</param>
public static void DrawMembersGUI(Object[] targets,
Func <Object, object> getChildCallback = null,
SerializedObject fallback = null)
{
targets = targets.Where(obj => obj != null).ToArray();
if (targets.Length == 0)
{
return;
}
var objects = targets.Select(target => getChildCallback == null ?
target :
getChildCallback(target))
.Where(obj => obj != null).ToArray();
if (objects.Length == 0)
{
return;
}
Undo.RecordObjects(targets, "Inspector");
var hasChanges = false;
InvokeWrapper[] fieldsAndProperties = InvokeWrapper.FindFieldsAndProperties(objects[0].GetType());
var group = InspectorGroupHandler.Create();
foreach (var wrapper in fieldsAndProperties)
{
if (!ShouldBeShownInInspector(wrapper.Member))
{
continue;
}
group.Update(wrapper, objects[0]);
if (group.IsHidden)
{
continue;
}
hasChanges = HandleType(wrapper, objects, fallback) || hasChanges;
}
group.Dispose();
if (hasChanges)
{
foreach (var obj in targets)
{
EditorUtility.SetDirty(obj);
}
}
}
public void ConstraintRowsGUI(GUISkin skin)
{
try {
ConstraintUtils.ConstraintRowParser constraintRowParser = ConstraintUtils.ConstraintRowParser.Create(Constraint);
InvokeWrapper[] memberWrappers = InvokeWrapper.FindFieldsAndProperties(null, typeof(ElementaryConstraintRowData));
if (constraintRowParser.HasTranslationalRows)
{
if (GUI.Foldout(Selected(SelectedFoldout.OrdinaryElementaryTranslational), GUI.MakeLabel("Translational properties </b>(along constraint axis)<b>", true), skin, OnFoldoutStateChange))
{
using (new GUI.Indent(12))
HandleConstraintRowsGUI(constraintRowParser.TranslationalRows, memberWrappers, skin);
}
}
if (constraintRowParser.HasRotationalRows)
{
GUI.Separator();
if (GUI.Foldout(Selected(SelectedFoldout.OrdinaryElementaryRotational), GUI.MakeLabel("Rotational properties </b>(about constraint axis)<b>", true), skin, OnFoldoutStateChange))
{
using (new GUI.Indent(12))
HandleConstraintRowsGUI(constraintRowParser.RotationalRows, memberWrappers, skin);
}
}
ElementaryConstraintController[] controllers = Constraint.GetElementaryConstraintControllers();
if (controllers.Length > 0)
{
if (!constraintRowParser.Empty)
{
GUI.Separator();
}
if (GUI.Foldout(Selected(SelectedFoldout.Controllers), GUI.MakeLabel("Controllers", true), skin, OnFoldoutStateChange))
{
using (new GUI.Indent(12)) {
GUI.Separator();
foreach (var controller in controllers)
{
HandleConstraintControllerGUI(controller, skin);
GUI.Separator();
}
}
}
}
}
catch (AgXUnity.Exception e) {
GUILayout.Label(GUI.MakeLabel("Unable to parse constraint rows", true), skin.label);
GUILayout.Label(GUI.MakeLabel(" - " + e.Message, Color.red), skin.label);
}
}
private static bool DrawMembersGUI(object obj, T target, GUISkin skin)
{
if (obj == null)
{
return(false);
}
if (obj == target)
{
Utils.GUI.PreTargetMembers(target, skin);
}
bool changed = false;
InvokeWrapper[] fieldsAndProperties = InvokeWrapper.FindFieldsAndProperties(obj);
foreach (InvokeWrapper wrapper in fieldsAndProperties)
{
if (ShouldBeShownInInspector(wrapper.Member))
{
changed = HandleType(wrapper, target, skin) || changed;
}
}
var methods = from methodInfo in obj.GetType().GetMethods(BindingFlags.Public | BindingFlags.Instance | BindingFlags.Static)
where
ShouldBeShownInInspector(methodInfo)
select methodInfo;
methods.ToList().ForEach(methodInfo => changed = HandleMethod(methodInfo, target, skin) || changed);
if (obj == target)
{
Utils.GUI.PostTargetMembers(target, skin);
}
return(changed);
}
public override void OnPreTargetMembersGUI()
{
var skin = InspectorEditor.Skin;
var constraints = GetTargets <Constraint>().ToArray();
var refConstraint = constraints[0];
var differentTypes = false;
var anyUnknownType = constraints.Any(c => c.Type == ConstraintType.Unknown);
for (int i = 1; i < constraints.Length; ++i)
{
differentTypes = differentTypes || refConstraint.Type != constraints[i].Type;
}
// Render AttachmentPair GUI.
ConstraintAttachmentFrameTool.OnPreTargetMembersGUI();
Undo.RecordObjects(constraints, "ConstraintTool");
UnityEngine.GUI.changed = false;
// The constraint type is Unknown when, e.g., go.AddComponent<Constraint>()
// or when the constraint has been reset. If any of the selected constraints
// is of type Unknown, we exit the GUI here.
if (!ConstraintTypeGUI(constraints, differentTypes))
{
return;
}
EditorGUI.showMixedValue = constraints.Any(constraint => refConstraint.CollisionsState != constraint.CollisionsState);
var collisionsState = ConstraintCollisionsStateGUI(refConstraint.CollisionsState);
EditorGUI.showMixedValue = false;
if (UnityEngine.GUI.changed)
{
foreach (var constraint in constraints)
{
constraint.CollisionsState = collisionsState;
}
UnityEngine.GUI.changed = false;
}
EditorGUI.showMixedValue = constraints.Any(constraint => refConstraint.SolveType != constraint.SolveType);
var solveType = ConstraintSolveTypeGUI(refConstraint.SolveType);
EditorGUI.showMixedValue = false;
if (UnityEngine.GUI.changed)
{
foreach (var constraint in constraints)
{
constraint.SolveType = solveType;
}
UnityEngine.GUI.changed = false;
}
EditorGUI.showMixedValue = constraints.Any(constraint => refConstraint.ConnectedFrameNativeSyncEnabled != constraint.ConnectedFrameNativeSyncEnabled);
var frameNativeSync = ConstraintConnectedFrameSyncGUI(refConstraint.ConnectedFrameNativeSyncEnabled);
EditorGUI.showMixedValue = false;
if (UnityEngine.GUI.changed)
{
foreach (var constraint in constraints)
{
constraint.ConnectedFrameNativeSyncEnabled = frameNativeSync;
}
UnityEngine.GUI.changed = false;
}
if (differentTypes)
{
InspectorGUI.WarningLabel("Constraints are of different types.\nRow data editing not supported.");
return;
}
Func <string, EditorDataEntry> selected = (id) =>
{
return(EditorData.Instance.GetData(refConstraint, id, entry => entry.Bool = false));
};
var constraintsParser = (from constraint
in constraints
select ConstraintUtils.ConstraintRowParser.Create(constraint)).ToArray();
var allElementaryConstraints = constraints.SelectMany(constraint => constraint.GetOrdinaryElementaryConstraints()).ToArray();
Undo.RecordObjects(allElementaryConstraints, "ConstraintTool");
var ecRowDataWrappers = InvokeWrapper.FindFieldsAndProperties <ElementaryConstraintRowData>();
foreach (ConstraintUtils.ConstraintRowParser.RowType rowType in Enum.GetValues(typeof(ConstraintUtils.ConstraintRowParser.RowType)))
{
if (!InspectorGUI.Foldout(selected("ec_" + rowType.ToString()),
GUI.MakeLabel(rowType.ToString() + " properties", true)))
{
continue;
}
using (InspectorGUI.IndentScope.Single) {
var refTransOrRotRowData = constraintsParser[0][rowType];
foreach (var wrapper in ecRowDataWrappers)
{
if (!InspectorEditor.ShouldBeShownInInspector(wrapper.Member))
{
continue;
}
for (int i = 0; i < 3; ++i)
{
var rowDataInstances = (from constraintParser
in constraintsParser
where constraintParser[rowType][i] != null
select constraintParser[rowType][i].RowData).ToArray();
using (new GUI.EnabledBlock(refTransOrRotRowData[i] != null)) {
var labelContent = i == 0 ? InspectorGUI.MakeLabel(wrapper.Member) : null;
var fieldContent = GUI.MakeLabel(RowLabels[i], RowColors[i]);
if (wrapper.IsType <float>())
{
EditorGUI.showMixedValue = !wrapper.AreValuesEqual(rowDataInstances);
var value = InspectorGUI.CustomFloatField(labelContent,
fieldContent,
wrapper.Get <float>(refTransOrRotRowData[i]?.RowData));
if (UnityEngine.GUI.changed)
{
foreach (var constraintParser in constraintsParser)
{
wrapper.ConditionalSet(constraintParser[rowType][i]?.RowData, value);
}
}
}
else if (wrapper.IsType <RangeReal>())
{
EditorGUI.showMixedValue = rowDataInstances.Any(rowData => !Equals(wrapper.Get <RangeReal>(refTransOrRotRowData[i]?.RowData).Min,
wrapper.Get <RangeReal>(rowData).Min)) ||
rowDataInstances.Any(rowData => !Equals(wrapper.Get <RangeReal>(refTransOrRotRowData[i]?.RowData).Max,
wrapper.Get <RangeReal>(rowData).Max));
var rangeChangeData = InspectorGUI.RangeRealField(labelContent,
wrapper.Get <RangeReal>(refTransOrRotRowData[i]?.RowData),
GUI.MakeLabel(RowLabels[i], RowColors[i]));
if (rangeChangeData.MinChanged || rangeChangeData.MaxChanged)
{
foreach (var constraintParser in constraintsParser)
{
var range = wrapper.Get <RangeReal>(constraintParser[rowType][i].RowData);
if (rangeChangeData.MinChanged)
{
range.Min = rangeChangeData.Min;
}
if (rangeChangeData.MaxChanged)
{
range.Max = rangeChangeData.Max;
}
// Validation of Min > Max has to go somewhere else because if e.g.,
// Min = 50 and the user wants to type Max = 200 we're receiving
// Max = 2 as the user types.
wrapper.ConditionalSet(constraintParser[rowType][i].RowData, range);
}
}
}
}
UnityEngine.GUI.changed = false;
EditorGUI.showMixedValue = false;
}
} // For type wrappers.
} // Indentation.
} // For Translational, Rotational.
var ecControllers = refConstraint.GetElementaryConstraintControllers();
if (ecControllers.Length > 0 &&
InspectorGUI.Foldout(selected("controllers"),
GUI.MakeLabel("Controllers", true)))
{
using (InspectorGUI.IndentScope.Single) {
foreach (var refController in ecControllers)
{
var controllerType = refController.GetControllerType();
var controllerTypeTag = controllerType.ToString()[0].ToString();
var controllerName = ConstraintUtils.FindName(refController);
if (controllerName.EndsWith(" Controller"))
{
controllerName = controllerName.Remove(controllerName.LastIndexOf(" Controller"));
}
var controllerLabel = GUI.MakeLabel((controllerType == Constraint.ControllerType.Rotational ?
GUI.Symbols.CircleArrowAcw.ToString() + " " :
GUI.Symbols.ArrowRight.ToString() + " ") + controllerName, true);
if (!InspectorGUI.Foldout(selected(controllerTypeTag + controllerName),
controllerLabel))
{
continue;
}
var controllers = (from constraint
in constraints
from controller
in constraint.GetElementaryConstraintControllers()
where controller.GetType() == refController.GetType() &&
controller.GetControllerType() == refController.GetControllerType()
select controller).ToArray();
using (InspectorGUI.IndentScope.Single) {
InspectorEditor.DrawMembersGUI(controllers);
InspectorEditor.DrawMembersGUI(controllers, controller => (controller as ElementaryConstraint).RowData[0]);
}
}
}
}
}
public override void OnPreTargetMembersGUI()
{
var skin = InspectorEditor.Skin;
var constraints = GetTargets <Constraint>().ToArray();
var refConstraint = constraints[0];
var differentTypes = false;
for (int i = 1; i < constraints.Length; ++i)
{
differentTypes = differentTypes || refConstraint.Type != constraints[i].Type;
}
GUILayout.Label(GUI.MakeLabel((differentTypes ?
"Constraints" :
refConstraint.Type.ToString() + (IsMultiSelect ? "s" : string.Empty)),
24,
true),
GUI.Align(skin.label, TextAnchor.MiddleCenter));
GUI.Separator();
// Render AttachmentPair GUI.
ConstraintAttachmentFrameTool.OnPreTargetMembersGUI();
Undo.RecordObjects(constraints, "ConstraintTool");
UnityEngine.GUI.changed = false;
EditorGUI.showMixedValue = constraints.Any(constraint => refConstraint.CollisionsState != constraint.CollisionsState);
var collisionsState = ConstraintCollisionsStateGUI(refConstraint.CollisionsState, skin);
EditorGUI.showMixedValue = false;
if (UnityEngine.GUI.changed)
{
foreach (var constraint in constraints)
{
constraint.CollisionsState = collisionsState;
}
UnityEngine.GUI.changed = false;
}
EditorGUI.showMixedValue = constraints.Any(constraint => refConstraint.SolveType != constraint.SolveType);
var solveType = ConstraintSolveTypeGUI(refConstraint.SolveType, skin);
EditorGUI.showMixedValue = false;
if (UnityEngine.GUI.changed)
{
foreach (var constraint in constraints)
{
constraint.SolveType = solveType;
}
UnityEngine.GUI.changed = false;
}
GUI.Separator();
EditorGUI.showMixedValue = constraints.Any(constraint => refConstraint.ConnectedFrameNativeSyncEnabled != constraint.ConnectedFrameNativeSyncEnabled);
var frameNativeSync = ConstraintConnectedFrameSyncGUI(refConstraint.ConnectedFrameNativeSyncEnabled, skin);
EditorGUI.showMixedValue = false;
if (UnityEngine.GUI.changed)
{
foreach (var constraint in constraints)
{
constraint.ConnectedFrameNativeSyncEnabled = frameNativeSync;
}
UnityEngine.GUI.changed = false;
}
if (differentTypes)
{
GUI.WarningLabel("Constraints are of different types.\nRow data editing not supported.", skin);
return;
}
Func <string, EditorDataEntry> selected = (id) =>
{
return(EditorData.Instance.GetData(refConstraint, id, entry => entry.Bool = false));
};
var constraintsParser = (from constraint
in constraints
select ConstraintUtils.ConstraintRowParser.Create(constraint)).ToArray();
var allElementaryConstraints = constraints.SelectMany(constraint => constraint.GetOrdinaryElementaryConstraints()).ToArray();
Undo.RecordObjects(allElementaryConstraints, "ConstraintTool");
var ecRowDataWrappers = InvokeWrapper.FindFieldsAndProperties <ElementaryConstraintRowData>();
GUI.Separator();
foreach (ConstraintUtils.ConstraintRowParser.RowType rowType in Enum.GetValues(typeof(ConstraintUtils.ConstraintRowParser.RowType)))
{
if (!GUI.Foldout(selected("ec_" + rowType.ToString()),
GUI.MakeLabel(rowType.ToString() + " properties", true),
skin))
{
GUI.Separator();
continue;
}
using (new GUI.Indent(12)) {
var refTransOrRotRowData = constraintsParser[0][rowType];
foreach (var wrapper in ecRowDataWrappers)
{
if (!InspectorEditor.ShouldBeShownInInspector(wrapper.Member))
{
continue;
}
using (new GUILayout.HorizontalScope()) {
GUILayout.Label(InspectorGUI.MakeLabel(wrapper.Member), skin.label);
GUILayout.FlexibleSpace();
using (new GUILayout.VerticalScope()) {
for (int i = 0; i < 3; ++i)
{
var rowDataInstances = (from constraintParser
in constraintsParser
where constraintParser[rowType][i] != null
select constraintParser[rowType][i].RowData).ToArray();
// TODO: This could probably be replaced by using InspectorEditor.HandleType
// with a tweak. We use wrapper.Get<type>( foo.RowData ) while our
// drawers uses wrapper.Get<type>().
// UPDATE: Probably not worth it because we have to override all labels
// written by our default drawers.
// ****************************************************************************
//var objects = ( from constraintParser
// in constraintsParser
// where constraintParser[ rowType ][ i ] != null
// select constraintParser[ rowType ][ i ].RowData ).ToArray();
//using ( new GUILayout.HorizontalScope() )
//using ( new GUI.EnabledBlock( refTransOrRotRowData[ i ] != null ) ) {
// RowLabel( i, skin );
// InspectorEditor.HandleType( wrapper, objects );
//}
// ****************************************************************************
using (new GUILayout.HorizontalScope())
using (new GUI.EnabledBlock(refTransOrRotRowData[i] != null)) {
RowLabel(i, skin);
// Handling type float, e.g., compliance and damping.
if (wrapper.IsType <float>())
{
EditorGUI.showMixedValue = !wrapper.AreValuesEqual(rowDataInstances);
var value = EditorGUILayout.FloatField(wrapper.Get <float>(refTransOrRotRowData[i]?.RowData));
if (UnityEngine.GUI.changed)
{
foreach (var constraintParser in constraintsParser)
{
wrapper.ConditionalSet(constraintParser[rowType][i].RowData, value);
}
UnityEngine.GUI.changed = false;
}
EditorGUI.showMixedValue = false;
}
// Handling type RangeReal, e.g., force range.
// Note: During multi-selection we don't want to write, e.g., Min from
// reference row data when value for Max is changed.
else if (wrapper.IsType <RangeReal>())
{
EditorGUI.showMixedValue = rowDataInstances.Any(rowData => !Equals(wrapper.Get <RangeReal>(refTransOrRotRowData[i]?.RowData).Min,
wrapper.Get <RangeReal>(rowData).Min));
var forceRangeMin = EditorGUILayout.FloatField(wrapper.Get <RangeReal>(refTransOrRotRowData[i]?.RowData).Min,
GUILayout.MaxWidth(128));
var forceRangeMinChanged = UnityEngine.GUI.changed;
EditorGUI.showMixedValue = false;
UnityEngine.GUI.changed = false;
EditorGUI.showMixedValue = rowDataInstances.Any(rowData => !Equals(wrapper.Get <RangeReal>(refTransOrRotRowData[i]?.RowData).Max,
wrapper.Get <RangeReal>(rowData).Max));
var forceRangeMax = EditorGUILayout.FloatField(wrapper.Get <RangeReal>(refTransOrRotRowData[i]?.RowData).Max,
GUILayout.MaxWidth(128));
if (forceRangeMinChanged || UnityEngine.GUI.changed)
{
foreach (var constraintParser in constraintsParser)
{
var range = wrapper.Get <RangeReal>(constraintParser[rowType][i].RowData);
if (forceRangeMinChanged)
{
range.Min = forceRangeMin;
}
if (UnityEngine.GUI.changed)
{
range.Max = forceRangeMax;
}
// Validation of Min > Max has to go somewhere else because if e.g.,
// Min = 50 and the user wants to type Max = 200 we're receiving
// Max = 2 as the user types.
wrapper.ConditionalSet(constraintParser[rowType][i].RowData, range);
}
UnityEngine.GUI.changed = false;
EditorGUI.showMixedValue = false;
}
} // IsType RangeReal.
}// Horizontal and GUI Enabled blocks.
} // For U, V, N.
} // Right align vertical scope.
} // Horizontal with flexible space for alignment.
GUI.Separator();
} // For type wrappers.
} // Indentation.
GUI.Separator();
} // For Translational, Rotational.
if (GUI.Foldout(selected("controllers"),
GUI.MakeLabel("Controllers", true),
skin))
{
GUI.Separator();
using (new GUI.Indent(12)) {
foreach (var refController in refConstraint.GetElementaryConstraintControllers())
{
var controllerType = refController.GetControllerType();
var controllerTypeTag = controllerType.ToString()[0].ToString();
var controllerName = ConstraintUtils.FindName(refController);
string dimString = "[" + GUI.AddColorTag(controllerTypeTag,
controllerType == Constraint.ControllerType.Rotational ?
Color.Lerp(UnityEngine.GUI.color, Color.red, 0.75f) :
Color.Lerp(UnityEngine.GUI.color, Color.green, 0.75f)) + "] ";
if (!GUI.Foldout(selected(controllerTypeTag + controllerName),
GUI.MakeLabel(dimString + controllerName, true),
skin))
{
GUI.Separator();
continue;
}
var controllers = (from constraint
in constraints
from controller
in constraint.GetElementaryConstraintControllers()
where controller.GetType() == refController.GetType()
select controller).ToArray();
using (new GUI.Indent(12)) {
InspectorEditor.DrawMembersGUI(controllers);
GUI.Separator();
InspectorEditor.DrawMembersGUI(controllers, controller => (controller as ElementaryConstraint).RowData[0]);
}
GUI.Separator();
}
}
}
}
