private void ShowSphericalLimits(JointAngularLimitHandle handle, ArticulationBody body, Matrix4x4 parentAnchorSpace)
{
using (new Handles.DrawingScope(parentAnchorSpace))
{
handle.xMin = body.xDrive.lowerLimit;
handle.xMax = body.xDrive.upperLimit;
handle.yMin = body.yDrive.lowerLimit;
handle.yMax = body.yDrive.upperLimit;
handle.zMin = body.zDrive.lowerLimit;
handle.zMax = body.zDrive.upperLimit;
EditorGUI.BeginChangeCheck();
handle.radius = HandleUtility.GetHandleSize(Vector3.zero);
handle.DrawHandle(true);
if (EditorGUI.EndChangeCheck())
{
Undo.RecordObject(target, "Changing Articulation body parent anchor rotation limits");
body.xDrive = SetDriveLimits(body.xDrive, handle.xMin, handle.xMax);
body.yDrive = SetDriveLimits(body.yDrive, handle.yMin, handle.yMax);
body.zDrive = SetDriveLimits(body.zDrive, handle.zMin, handle.zMax);
}
}
}
public static void EditLimits(RigidTransform worldFromA, RigidTransform worldFromB, float3 pivotA, float3 axisA, float3 axisB, float3 perpendicularA, float3 perpendicularB,
ref float minLimit, ref float maxLimit, JointAngularLimitHandle limitHandle, Object target)
{
// Transform to world space
float3 pivotAinW = math.transform(worldFromA, pivotA);
float3 axisAinW = math.rotate(worldFromA, axisA);
float3 perpendicularAinW = math.rotate(worldFromA, perpendicularA);
float3 axisBinW = math.rotate(worldFromA, axisB);
float3 perpendicularBinW = math.rotate(worldFromB, perpendicularB);
// Get rotations from joint space
// JointAngularLimitHandle uses axis = (1, 0, 0) with angle = 0 at (0, 0, 1), so choose the rotations to point those in the directions of our axis and perpendicular
float3x3 worldFromJointA = new float3x3(axisAinW, -math.cross(axisAinW, perpendicularAinW), perpendicularAinW);
float3x3 worldFromJointB = new float3x3(axisBinW, -math.cross(axisBinW, perpendicularBinW), perpendicularBinW);
float3x3 jointBFromA = math.mul(math.transpose(worldFromJointB), worldFromJointA);
// Set orientation for the angular limit control
float angle = CalculateTwistAngle(new quaternion(jointBFromA), 0); // index = 0 because axis is the first column in worldFromJoint
quaternion limitOrientation = math.mul(quaternion.AxisAngle(axisAinW, angle), new quaternion(worldFromJointA));
Matrix4x4 handleMatrix = Matrix4x4.TRS(pivotAinW, limitOrientation, Vector3.one);
float size = HandleUtility.GetHandleSize(pivotAinW) * 0.75f;
limitHandle.xMin = -maxLimit;
limitHandle.xMax = -minLimit;
limitHandle.xMotion = ConfigurableJointMotion.Limited;
limitHandle.yMotion = ConfigurableJointMotion.Locked;
limitHandle.zMotion = ConfigurableJointMotion.Locked;
limitHandle.yHandleColor = new Color(0, 0, 0, 0);
limitHandle.zHandleColor = new Color(0, 0, 0, 0);
limitHandle.radius = size;
using (new Handles.DrawingScope(handleMatrix))
{
// Draw the reference axis
float3 z = new float3(0, 0, 1); // ArrowHandleCap() draws an arrow pointing in (0, 0, 1)
Handles.ArrowHandleCap(0, float3.zero, Quaternion.FromToRotation(z, new float3(1, 0, 0)), size, Event.current.type);
// Draw the limit editor handle
EditorGUI.BeginChangeCheck();
limitHandle.DrawHandle();
if (EditorGUI.EndChangeCheck())
{
// Record the target object before setting new limits so changes can be undone/redone
Undo.RecordObject(target, "Edit joint angular limits");
minLimit = -limitHandle.xMax;
maxLimit = -limitHandle.xMin;
}
}
}