public override void OnInspectorGUI()
{
urdfJoint = (UrdfJoint)target;
GUILayout.Space(5);
UrdfJoint.JointTypes newJointType = urdfJoint.JointType;
EditorGUILayout.BeginVertical("HelpBox");
newJointType = (UrdfJoint.JointTypes)EditorGUILayout.EnumPopup(
"Type of joint", newJointType);
if (newJointType != urdfJoint.JointType)
{
if (EditorUtility.DisplayDialog("Confirm joint type change",
"Are you sure you want to change the joint type? This will erase all information currently stored in the joint.",
"Continue", "Cancel"))
{
UrdfJoint.ChangeJointType(urdfJoint.gameObject, newJointType);
}
}
EditorGUILayout.EndVertical();
showDetails = EditorGUILayout.Foldout(showDetails, "Joint URDF Configuration", true);
if (showDetails)
{
urdfJoint.jointName = EditorGUILayout.TextField("Name", urdfJoint.jointName);
if (urdfJoint.JointType != UrdfJoint.JointTypes.Fixed)
{
GUILayout.BeginVertical("HelpBox");
}
switch (urdfJoint.JointType)
{
case UrdfJoint.JointTypes.Fixed:
break;
case UrdfJoint.JointTypes.Continuous:
DisplayDynamicsMessage("HingeJoint > Spring > Damper (for damping) and Spring (for friction)");
DisplayAxisMessage("HingeJoint > Axis");
break;
case UrdfJoint.JointTypes.Revolute:
DisplayDynamicsMessage("HingeJoint > Spring > Damper (for damping) and Spring (for friction)");
DisplayAxisMessage("HingeJoint > Axis");
DisplayRequiredLimitMessage("Hinge Joint Limits Manager > Large Angle Limit / Max");
break;
case UrdfJoint.JointTypes.Floating:
DisplayDynamicsMessage("ConfigurableJoint > xDrive > Position Damper (for Damping) and Position Spring (for friction)");
break;
case UrdfJoint.JointTypes.Prismatic:
DisplayDynamicsMessage("ConfigurableJoint > xDrive > Position Damper (for Damping) and Position Spring (for friction)");
DisplayAxisMessage("ConfigurableJoint > Axis");
DisplayRequiredLimitMessage("Prismatic Joint Limits Manager > Position Limit Min / Max");
break;
case UrdfJoint.JointTypes.Planar:
DisplayDynamicsMessage("ConfigurableJoint > xDrive > Position Damper (for Damping) and Position Spring (for friction)");
DisplayAxisMessage("ConfigurableJoint > Axis and Secondary Axis");
DisplayRequiredLimitMessage("ConfigurableJoint > Linear Limit > Limit");
break;
}
if (urdfJoint.JointType != UrdfJoint.JointTypes.Fixed)
{
GUILayout.EndVertical();
}
}
}
