private void OnGUI()
{
//Styles definitions
GUIStyle titleStyle = new GUIStyle(EditorStyles.boldLabel)
{
alignment = TextAnchor.MiddleCenter,
fontSize = 13
};
GUIStyle buttonStyle = new GUIStyle(EditorStyles.miniButtonRight)
{
fixedWidth = 75
};
//Window title
GUILayout.Space(10);
GUILayout.Label("Export " + urdfRobot.gameObject.name + " to URDF", titleStyle);
//Select export root folder
GUILayout.Space(5);
EditorGUILayout.BeginHorizontal("HelpBox");
exportRoot = EditorGUILayout.TextField(
new GUIContent("Export root folder", "Corresponds to ROS package root folder."),
exportRoot);
if (GUILayout.Button("Select", buttonStyle))
{
exportRoot = EditorUtility.OpenFolderPanel("Select export root folder", exportRoot, "");
}
EditorGUILayout.EndHorizontal();
//Select subfolder
GUILayout.Space(5);
selectedSubfolder =
GUILayout.SelectionGrid(selectedSubfolder, subfolderOptions, 1, EditorStyles.radioButton);
EditorGUI.BeginDisabledGroup(selectedSubfolder != 1);
EditorGUILayout.BeginHorizontal();
GUILayout.Space(30);
EditorGUILayout.BeginHorizontal("HelpBox");
subfolder = EditorGUILayout.TextField(
new GUIContent("Subfolder", "Corresponds to URDF subfolder in ROS package."),
subfolder);
if (GUILayout.Button("Select", buttonStyle))
{
string subfolderPath = EditorUtility.OpenFolderPanel(
"Select export destination for robot asset files (such as meshes, images, etc)",
exportRoot,
"");
subfolder = subfolderPath.Contains(exportRoot) ? subfolderPath.Substring(exportRoot.Length) : "";
}
EditorGUILayout.EndHorizontal();
EditorGUILayout.EndHorizontal();
EditorGUI.EndDisabledGroup();
//Choose STL export type
GUILayout.Space(10);
EditorGUILayout.BeginHorizontal();
StlWriter.fileType =
(StlWriter.FileType)EditorGUILayout.EnumPopup("Export new meshes to", StlWriter.fileType);
EditorGUILayout.LabelField(" STL files");
EditorGUILayout.EndHorizontal();
//Export Robot button
GUILayout.Space(10);
if (GUILayout.Button("Export Robot"))
{
if (exportRoot == "" || !Directory.Exists(exportRoot))
{
EditorUtility.DisplayDialog("Export Error",
"Export root folder must be defined and folder must exist.", "Ok");
}
else
{
if (selectedSubfolder == 0)
{
subfolder = "";
}
else
{
subfolder = subfolder.TrimStart(Path.DirectorySeparatorChar)
.TrimStart(Path.AltDirectorySeparatorChar);
}
urdfRobot.ExportRobotToUrdf(exportRoot, subfolder);
SetEditorPrefs();
Close();
}
}
}
public override void OnInspectorGUI()
{
if (buttonStyle == null)
{
buttonStyle = new GUIStyle(EditorStyles.miniButtonRight)
{
fixedWidth = 75
}
}
;
urdfRobot = (UrdfRobot)target;
EditorGUILayout.PropertyField(axisType, new GUIContent("Axis Type"));
serializedObject.ApplyModifiedProperties();
UrdfRobotExtensions.CorrectAxis(urdfRobot.gameObject);
GUILayout.Space(5);
GUILayout.Label("All Rigidbodies", EditorStyles.boldLabel);
DisplaySettingsToggle(new GUIContent("Use Gravity", "If disabled, robot is not affected by gravity."), urdfRobot.SetRigidbodiesUseGravity, UrdfRobot.useGravity);
DisplaySettingsToggle(new GUIContent("Use Inertia from URDF", "If disabled, Unity will generate new inertia tensor values automatically."), urdfRobot.SetUseUrdfInertiaData,
UrdfRobot.useUrdfInertiaData);
DisplaySettingsToggle(new GUIContent("Default Space"), urdfRobot.ChangeToCorrectedSpace, UrdfRobot.changetoCorrectedSpace);
GUILayout.Space(5);
GUILayout.Label("All Colliders", EditorStyles.boldLabel);
DisplaySettingsToggle(new GUIContent("Convex"), urdfRobot.SetCollidersConvex, UrdfRobot.collidersConvex);
GUILayout.Space(5);
GUILayout.Label("All Joints", EditorStyles.boldLabel);
EditorGUILayout.BeginHorizontal();
EditorGUILayout.PrefixLabel("Generate Unique Joint Names");
if (GUILayout.Button("Generate", new GUIStyle(EditorStyles.miniButton)
{
fixedWidth = 155
}))
{
urdfRobot.GenerateUniqueJointNames();
}
EditorGUILayout.EndHorizontal();
GUILayout.Space(5);
EditorGUILayout.PropertyField(axisType, new GUIContent("Axis Type", "Adjust this if the models that make up your robot are facing the wrong direction."));
serializedObject.ApplyModifiedProperties();
UrdfRobotExtensions.CorrectAxis(urdfRobot.gameObject);
if (urdfRobot.GetComponent <RosSharp.Control.Controller>() == null || urdfRobot.GetComponent <RosSharp.Control.FKRobot>() == null)
{
GUILayout.Label("Components", EditorStyles.boldLabel);
GUILayout.BeginHorizontal();
if (GUILayout.Button(urdfRobot.GetComponent <RosSharp.Control.Controller>() == null? "Add Controller": "Remove Controller"))
{
urdfRobot.AddController();
}
if (urdfRobot.GetComponent <RosSharp.Control.FKRobot>() == null)
{
if (GUILayout.Button("Add Forward Kinematics"))
{
urdfRobot.gameObject.AddComponent <RosSharp.Control.FKRobot>();
}
}
GUILayout.EndHorizontal();
}
GUILayout.Space(5);
GUILayout.Label("URDF Files", EditorStyles.boldLabel);
GUILayout.BeginHorizontal();
if (GUILayout.Button("Export robot to URDF"))
{
exportRoot = EditorUtility.OpenFolderPanel("Select export directory", exportRoot, "");
if (exportRoot.Length == 0)
{
return;
}
else if (!Directory.Exists(exportRoot))
{
EditorUtility.DisplayDialog("Export Error", "Export root folder must be defined and folder must exist.", "Ok");
}
else
{
urdfRobot.ExportRobotToUrdf(exportRoot);
SetEditorPrefs();
}
}
GUILayout.Space(5);
if (GUILayout.Button("Compare URDF Files"))
{
CompareURDF window = (CompareURDF)EditorWindow.GetWindow(typeof(CompareURDF));
window.minSize = new Vector2(500, 200);
window.GetEditorPrefs();
window.Show();
}
GUILayout.EndHorizontal();
}
