private void OnGUI()
{
//Styles definitions
GUIStyle titleStyle = new GUIStyle(EditorStyles.boldLabel)
{
alignment = TextAnchor.MiddleLeft,
fontSize = 13
};
GUIStyle buttonStyle = new GUIStyle(EditorStyles.miniButtonRight)
{
fixedWidth = 75
};
//Window title
GUILayout.Space(10);
GUILayout.Label("Select Axis Type", titleStyle);
//Select the original up axis of the imported mesh
GUILayout.Space(5);
EditorGUILayout.BeginHorizontal();
settings.choosenAxis = (ImportSettings.axisType)EditorGUILayout.EnumPopup(
"Select Axis Type", settings.choosenAxis);
EditorGUILayout.EndHorizontal();
//Window title
GUILayout.Space(10);
GUILayout.Label("Select Convex Decomposer", titleStyle);
//Select the mesh decomposer
GUILayout.Space(5);
EditorGUILayout.BeginHorizontal();
settings.convexMethod = (ImportSettings.convexDecomposer)EditorGUILayout.EnumPopup(
"Mesh Decomposer", settings.convexMethod);
EditorGUILayout.EndHorizontal();
//Import Robot button
GUILayout.Space(10);
if (GUILayout.Button("Import URDF"))
{
if (urdfFile != "")
{
showLoadBar = true;
EditorCoroutineUtility.StartCoroutine(UrdfRobotExtensions.Create(urdfFile, settings, showLoadBar), this);
}
}
if (showLoadBar)
{
float progress = (settings.totalLinks == 0) ? 0 : ((float)settings.linksLoaded / (float)settings.totalLinks);
EditorGUI.ProgressBar(new Rect(3, 400, position.width - 6, 20), progress, String.Format("{0}/{1} Links Loaded", settings.linksLoaded, settings.totalLinks));
if (progress == 1)
{
Close();
}
}
}
private static void CreateUrdfObject()
{
string urdfFile = EditorUtility.OpenFilePanel(
"Import local URDF",
Path.Combine(Path.GetDirectoryName(Application.dataPath), "Assets"),
"urdf");
if (urdfFile != "")
{
UrdfRobotExtensions.Create(urdfFile);
}
}
private static void CreateUrdfObject()
{
//Get path to asset, check if it's a urdf file
string assetPath = AssetDatabase.GetAssetPath(Selection.activeObject);
if (Path.GetExtension(assetPath)?.ToLower() == ".urdf")
{
UrdfRobotExtensions.Create(UrdfAssetPathHandler.GetFullAssetPath(assetPath));
}
else
{
EditorUtility.DisplayDialog("URDF Import",
"The file you selected was not a URDF file. A robot can only be imported from a valid URDF file.", "Ok");
}
}
private void OnGUI()
{
//Styles definitions
GUIStyle titleStyle = new GUIStyle(EditorStyles.boldLabel)
{
alignment = TextAnchor.MiddleLeft,
fontSize = 13
};
GUIStyle buttonStyle = new GUIStyle(EditorStyles.miniButtonRight)
{
fixedWidth = 75
};
//Window title
GUILayout.Space(10);
GUILayout.Label("Select Axis Type", titleStyle);
//Select the original up axis of the imported mesh
GUILayout.Space(5);
EditorGUILayout.BeginHorizontal();
settings.choosenAxis = (ImportSettings.axisType)EditorGUILayout.EnumPopup(
"Select Axis Type", settings.choosenAxis);
EditorGUILayout.EndHorizontal();
//Window title
GUILayout.Space(10);
GUILayout.Label("Select Convex Decomposer", titleStyle);
//Select the mesh decomposer
GUILayout.Space(5);
EditorGUILayout.BeginHorizontal();
settings.convexMethod = (ImportSettings.convexDecomposer)EditorGUILayout.EnumPopup(
"Mesh Decomposer", settings.convexMethod);
EditorGUILayout.EndHorizontal();
//Import Robot button
GUILayout.Space(10);
if (GUILayout.Button("Import URDF"))
{
if (urdfFile != "")
{
UrdfRobotExtensions.Create(urdfFile, settings);
}
Close();
}
}
private static void CreateUrdfObject()
{
UrdfRobotExtensions.Create();
}
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();
}
public override void OnInspectorGUI()
{
if (buttonStyle == null)
{
buttonStyle = new GUIStyle(EditorStyles.miniButtonRight)
{
fixedWidth = 75
}
}
;
urdfRobot = (UrdfRobot)target;
GUILayout.Space(5);
GUILayout.Label("All Rigidbodies", EditorStyles.boldLabel);
DisplaySettingsToggle(new GUIContent("Use Gravity"), urdfRobot.SetRigidbodiesUseGravity);
DisplaySettingsToggle(new GUIContent("Use Inertia from URDF", "If disabled, Unity will generate new inertia tensor values automatically."),
urdfRobot.SetUseUrdfInertiaData);
DisplaySettingsToggle(new GUIContent("Default Space"), urdfRobot.ChangeToCorrectedSpace);
GUILayout.Space(5);
GUILayout.Label("All Colliders", EditorStyles.boldLabel);
DisplaySettingsToggle(new GUIContent("Convex"), urdfRobot.SetCollidersConvex);
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"));
serializedObject.ApplyModifiedProperties();
UrdfRobotExtensions.CorrectAxis(urdfRobot.gameObject, urdfRobot.choosenAxis);
GUILayout.Label("Helper Scripts", EditorStyles.boldLabel);
DisplaySettingsToggle(new GUIContent("Controller Script"), urdfRobot.AddController);
DisplaySettingsToggle(new GUIContent("Forward Kinematics Script"), urdfRobot.AddFkRobot);
GUILayout.Space(5);
if (GUILayout.Button("Export robot to URDF file"))
{
// Get existing open window or if none, make a new one:
UrdfExportEditorWindow window = (UrdfExportEditorWindow)EditorWindow.GetWindow(typeof(UrdfExportEditorWindow));
window.urdfRobot = urdfRobot;
window.minSize = new Vector2(500, 200);
window.GetEditorPrefs();
window.Show();
}
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();
}
}
