public override void OnInspectorGUI()
{
#if !MLA_UNITY_PHYSICS_MODULE
EditorGUILayout.HelpBox("The Physics Module is not currently present. " +
"Please add it to your project in order to use the GridSensor APIs in the " +
$"{nameof(GridSensorComponent)}", MessageType.Warning);
#endif
var so = serializedObject;
so.Update();
// Drawing the GridSensorComponent
EditorGUI.BeginChangeCheck();
EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties());
{
// These fields affect the sensor order or observation size,
// So can't be changed at runtime.
EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_SensorName)), true);
EditorGUILayout.LabelField("Grid Settings", EditorStyles.boldLabel);
EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_CellScale)), true);
// We only supports 2D GridSensor now so lock gridSize.y to 1
var gridSize = so.FindProperty(nameof(GridSensorComponent.m_GridSize));
var gridSize2d = new Vector3Int(gridSize.vector3IntValue.x, 1, gridSize.vector3IntValue.z);
var newGridSize = EditorGUILayout.Vector3IntField("Grid Size", gridSize2d);
gridSize.vector3IntValue = new Vector3Int(newGridSize.x, 1, newGridSize.z);
}
EditorGUI.EndDisabledGroup();
EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_RotateWithAgent)), true);
EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties());
{
// detectable tags
var detectableTags = so.FindProperty(nameof(GridSensorComponent.m_DetectableTags));
var newSize = EditorGUILayout.IntField("Detectable Tags", detectableTags.arraySize);
if (newSize != detectableTags.arraySize)
{
detectableTags.arraySize = newSize;
}
EditorGUI.indentLevel++;
for (var i = 0; i < detectableTags.arraySize; i++)
{
var objectTag = detectableTags.GetArrayElementAtIndex(i);
EditorGUILayout.PropertyField(objectTag, new GUIContent("Tag " + i), true);
}
EditorGUI.indentLevel--;
}
EditorGUI.EndDisabledGroup();
EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_ColliderMask)), true);
EditorGUILayout.LabelField("Sensor Settings", EditorStyles.boldLabel);
EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_ObservationStacks)), true);
EditorGUI.EndDisabledGroup();
EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_CompressionType)), true);
EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties());
{
EditorGUILayout.LabelField("Collider and Buffer", EditorStyles.boldLabel);
EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_InitialColliderBufferSize)), true);
EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_MaxColliderBufferSize)), true);
}
EditorGUI.EndDisabledGroup();
EditorGUILayout.LabelField("Debug Gizmo", EditorStyles.boldLabel);
EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_ShowGizmos)), true);
EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_GizmoYOffset)), true);
// detectable objects
var debugColors = so.FindProperty(nameof(GridSensorComponent.m_DebugColors));
var detectableObjectSize = so.FindProperty(nameof(GridSensorComponent.m_DetectableTags)).arraySize;
if (detectableObjectSize != debugColors.arraySize)
{
debugColors.arraySize = detectableObjectSize;
}
EditorGUILayout.LabelField("Debug Colors");
EditorGUI.indentLevel++;
for (var i = 0; i < debugColors.arraySize; i++)
{
var debugColor = debugColors.GetArrayElementAtIndex(i);
EditorGUILayout.PropertyField(debugColor, new GUIContent("Tag " + i + " Color"), true);
}
EditorGUI.indentLevel--;
var requireSensorUpdate = EditorGUI.EndChangeCheck();
so.ApplyModifiedProperties();
if (requireSensorUpdate)
{
UpdateSensor();
}
}
protected void OnRayPerceptionInspectorGUI(bool is3d)
{
#if !MLA_UNITY_PHYSICS_MODULE
if (is3d)
{
EditorGUILayout.HelpBox("The Physics Module is not currently present. " +
"Please add it to your project in order to use the Ray Perception APIs in the " +
$"{nameof(RayPerceptionSensorComponent3D)}", MessageType.Warning);
}
#endif
#if !MLA_UNITY_PHYSICS2D_MODULE
if (!is3d)
{
EditorGUILayout.HelpBox("The Physics2D Module is not currently present. " +
"Please add it to your project in order to use the Ray Perception APIs in the " +
$"{nameof(RayPerceptionSensorComponent3D)}", MessageType.Warning);
}
#endif
var so = serializedObject;
so.Update();
// Drawing the RayPerceptionSensorComponent
EditorGUI.BeginChangeCheck();
EditorGUI.indentLevel++;
// Don't allow certain fields to be modified during play mode.
// * SensorName affects the ordering of the Agent's observations
// * The number of tags and rays affects the size of the observations.
EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties());
{
EditorGUILayout.PropertyField(so.FindProperty("m_SensorName"), true);
EditorGUILayout.PropertyField(so.FindProperty("m_DetectableTags"), true);
EditorGUILayout.PropertyField(so.FindProperty("m_RaysPerDirection"), true);
}
EditorGUI.EndDisabledGroup();
EditorGUILayout.PropertyField(so.FindProperty("m_MaxRayDegrees"), true);
EditorGUILayout.PropertyField(so.FindProperty("m_SphereCastRadius"), true);
EditorGUILayout.PropertyField(so.FindProperty("m_RayLength"), true);
EditorGUILayout.PropertyField(so.FindProperty("m_RayLayerMask"), true);
// Because the number of observation stacks affects the observation shape,
// it is not editable during play mode.
EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties());
{
EditorGUILayout.PropertyField(so.FindProperty("m_ObservationStacks"), new GUIContent("Stacked Raycasts"), true);
}
EditorGUI.EndDisabledGroup();
if (is3d)
{
EditorGUILayout.PropertyField(so.FindProperty("m_StartVerticalOffset"), true);
EditorGUILayout.PropertyField(so.FindProperty("m_EndVerticalOffset"), true);
}
EditorGUILayout.PropertyField(so.FindProperty("rayHitColor"), true);
EditorGUILayout.PropertyField(so.FindProperty("rayMissColor"), true);
EditorGUI.indentLevel--;
if (EditorGUI.EndChangeCheck())
{
m_RequireSensorUpdate = true;
}
so.ApplyModifiedProperties();
UpdateSensorIfDirty();
}
