/// <inheritdoc/>
protected internal override void Initialize()
{
D6Joint joint = (D6Joint)InspectedObject;
BuildGUI(joint, true);
drawer.AddDefault(joint, typeof(D6Joint));
drawer.BeginCategory("Motion constraints");
for (int i = 0; i < (int)D6JointAxis.Count; i++)
{
D6JointAxis axis = (D6JointAxis)i;
string entryName = Enum.GetName(typeof(D6JointAxis), axis);
drawer.AddField(entryName, () => joint.GetMotion(axis), x => joint.SetMotion(axis, x));
}
drawer.BeginCategory("Drive");
drawer.AddField("Drive position", () => joint.DrivePosition, x => joint.SetDriveTransform(x, joint.DriveRotation));
drawer.AddField("Drive rotation", () => joint.DriveRotation.ToEuler(), x => joint.SetDriveTransform(joint.DrivePosition, Quaternion.FromEuler(x)));
drawer.AddField("Drive linear velocity", () => joint.DriveLinearVelocity, x => joint.SetDriveVelocity(x, joint.DriveAngularVelocity));
drawer.AddField("Drive angular velocity", () => joint.DriveAngularVelocity, x => joint.SetDriveVelocity(joint.DriveLinearVelocity, x));
for (int i = 0; i < (int)D6JointDriveType.Count; i++)
{
D6JointDriveType type = (D6JointDriveType)i;
string entryName = Enum.GetName(typeof(D6JointDriveType), type);
drawer.AddField(entryName, () => joint.GetDrive(type), x => joint.SetDrive(type, x));
}
drawer.EndCategory();
}
/// <inheritdoc/>
protected internal override void Initialize()
{
D6Joint joint = InspectedObject as D6Joint;
if (joint != null)
{
BuildGUI(joint);
}
}
private static void DrawD6Joint(D6Joint joint)
{
Vector3 anchorA = GetAnchor(joint, JointBody.Target);
Vector3 anchorB = GetAnchor(joint, JointBody.Anchor);
Gizmos.Color = Color.White;
Gizmos.DrawSphere(anchorA, 0.05f);
Gizmos.DrawSphere(anchorB, 0.05f);
}
private static void DrawD6Joint(D6Joint joint)
{
Vector3 anchorA = GetAnchor(joint, JointBody.Target);
Vector3 anchorB = GetAnchor(joint, JointBody.Anchor);
Gizmos.Color = Color.White;
Gizmos.DrawSphere(anchorA, 0.05f);
Gizmos.DrawSphere(anchorB, 0.05f);
}
/// <inheritdoc/>
protected internal override InspectableState Refresh()
{
D6Joint joint = InspectedObject as D6Joint;
if (joint == null)
{
return(InspectableState.NotModified);
}
Refresh(joint);
InspectableState oldState = modifyState;
if (modifyState.HasFlag(InspectableState.Modified))
{
modifyState = InspectableState.NotModified;
}
return(oldState);
}
public void ReleaseJoint()
{
using (CreateCoreAndScene())
{
Actor actorA, actorB;
{
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription(20),
Shapes = { new BoxShapeDescription(5, 6, 7) }
};
actorA = this.Scene.CreateActor(actorDesc);
}
{
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription(20),
Shapes = { new BoxShapeDescription(2, 5, 7) }
};
actorB = this.Scene.CreateActor(actorDesc);
}
D6JointDescription d6JointDesc = new D6JointDescription()
{
Actor1 = actorA,
Actor2 = actorB
};
d6JointDesc.SetGlobalAnchor(new Vector3(5, 6, 7));
d6JointDesc.SetGlobalAxis(new Vector3(0, 0, 1));
D6Joint d6 = this.Scene.CreateJoint(d6JointDesc) as D6Joint;
d6.Dispose();
}
}
/// <summary>
/// Updates all GUI elements from current values in the joint.
/// </summary>
/// <param name="joint">Joint to update the GUI from.</param>
protected void Refresh(D6Joint joint)
{
for (int i = 0; i < (int)D6JointAxis.Count; i++)
{
motionFields[i].Value = (ulong)joint.GetMotion((D6JointAxis)i);
}
limitLinearGUI.Limit = joint.LimitLinear;
limitTwistGUI.Limit = joint.LimitTwist;
limitSwingGUI.Limit = joint.LimitSwing;
for (int i = 0; i < (int)D6JointDriveType.Count; i++)
{
drivesGUI[i].Drive = joint.GetDrive((D6JointDriveType)i);
}
drivePositionField.Value = joint.DrivePosition;
driveRotationField.Value = joint.DriveRotation.ToEuler();
driveLinVelocityField.Value = joint.DriveLinearVelocity;
driveAngVelocityField.Value = joint.DriveAngularVelocity;
base.Refresh(joint);
}
/// <summary>
/// Creates GUI elements for fields specific to the spherical joint.
/// </summary>
protected void BuildGUI(D6Joint joint)
{
for (int i = 0; i < (int)D6JointAxis.Count; i++)
{
D6JointAxis axis = (D6JointAxis)i;
string entryName = Enum.GetName(typeof(D6JointAxis), axis);
motionFields[i] = new GUIEnumField(typeof(D6JointMotion), new LocEdString(entryName));
motionFields[i].OnSelectionChanged += x =>
{
joint.SetMotion(axis, (D6JointMotion)x);
MarkAsModified();
ConfirmModify();
};
}
linearLimitFoldout.AcceptsKeyFocus = false;
linearLimitFoldout.OnToggled += x =>
{
linearLimitLayout.Active = x;
Persistent.SetBool("linearLimit_Expanded", x);
};
twistLimitFoldout.AcceptsKeyFocus = false;
twistLimitFoldout.OnToggled += x =>
{
twistLimitLayout.Active = x;
Persistent.SetBool("twistLimit_Expanded", x);
};
swingLimitFoldout.AcceptsKeyFocus = false;
swingLimitFoldout.OnToggled += x =>
{
swingLimitLayout.Active = x;
Persistent.SetBool("swingLimit_Expanded", x);
};
driveFoldout.AcceptsKeyFocus = false;
driveFoldout.OnToggled += x =>
{
driveLayout.Active = x;
Persistent.SetBool("drive_Expanded", x);
};
drivePositionField.OnChanged += x => { joint.SetDriveTransform(x, joint.DriveRotation); MarkAsModified(); };
drivePositionField.OnFocusLost += ConfirmModify;
drivePositionField.OnConfirmed += ConfirmModify;
driveRotationField.OnChanged += x => { joint.SetDriveTransform(joint.DrivePosition, Quaternion.FromEuler(x)); MarkAsModified(); };
driveRotationField.OnFocusLost += ConfirmModify;
driveRotationField.OnConfirmed += ConfirmModify;
driveLinVelocityField.OnChanged += x => { joint.SetDriveVelocity(x, joint.DriveAngularVelocity); MarkAsModified(); };
driveLinVelocityField.OnFocusLost += ConfirmModify;
driveLinVelocityField.OnConfirmed += ConfirmModify;
driveAngVelocityField.OnChanged += x => { joint.SetDriveVelocity(joint.DriveLinearVelocity, x); MarkAsModified(); };
driveAngVelocityField.OnFocusLost += ConfirmModify;
driveAngVelocityField.OnConfirmed += ConfirmModify;
for (int i = 0; i < (int)D6JointAxis.Count; i++)
{
Layout.AddElement(motionFields[i]);
}
Layout.AddElement(linearLimitFoldout);
linearLimitLayout = Layout.AddLayoutX();
{
linearLimitLayout.AddSpace(10);
GUILayoutY linearLimitContentsLayout = linearLimitLayout.AddLayoutY();
limitLinearGUI = new LimitLinearGUI(joint.LimitLinear, linearLimitContentsLayout, Persistent);
limitLinearGUI.OnChanged += (x, y) =>
{
joint.LimitLinear = x;
joint.LimitLinear.SetBase(y);
MarkAsModified();
};
limitLinearGUI.OnConfirmed += ConfirmModify;
}
Layout.AddElement(twistLimitFoldout);
twistLimitLayout = Layout.AddLayoutX();
{
twistLimitLayout.AddSpace(10);
GUILayoutY twistLimitContentsLayout = twistLimitLayout.AddLayoutY();
limitTwistGUI = new LimitAngularRangeGUI(joint.LimitTwist, twistLimitContentsLayout, Persistent);
limitTwistGUI.OnChanged += (x, y) =>
{
joint.LimitTwist = x;
joint.LimitTwist.SetBase(y);
MarkAsModified();
};
limitTwistGUI.OnConfirmed += ConfirmModify;
}
Layout.AddElement(swingLimitFoldout);
swingLimitLayout = Layout.AddLayoutX();
{
swingLimitLayout.AddSpace(10);
GUILayoutY swingLimitContentsLayout = swingLimitLayout.AddLayoutY();
limitSwingGUI = new LimitConeRangeGUI(joint.LimitSwing, swingLimitContentsLayout, Persistent);
limitSwingGUI.OnChanged += (x, y) =>
{
joint.LimitSwing = x;
joint.LimitSwing.SetBase(y);
MarkAsModified();
};
limitSwingGUI.OnConfirmed += ConfirmModify;
}
Layout.AddElement(driveFoldout);
driveLayout = Layout.AddLayoutX();
{
driveLayout.AddSpace(10);
GUILayoutY driveContentsLayout = driveLayout.AddLayoutY();
for (int i = 0; i < (int)D6JointDriveType.Count; i++)
{
D6JointDriveType type = (D6JointDriveType)i;
drivesGUI[i] = new D6JointDriveGUI(joint.GetDrive(type), driveContentsLayout);
drivesGUI[i].OnChanged += x => { joint.SetDrive(type, x); MarkAsModified(); };
drivesGUI[i].OnConfirmed += ConfirmModify;
}
driveContentsLayout.AddElement(drivePositionField);
driveContentsLayout.AddElement(driveRotationField);
driveContentsLayout.AddElement(driveLinVelocityField);
driveContentsLayout.AddElement(driveAngVelocityField);
}
linearLimitLayout.Active = Persistent.GetBool("linearLimit_Expanded");
twistLimitLayout.Active = Persistent.GetBool("twistLimit_Expanded");
swingLimitLayout.Active = Persistent.GetBool("swingLimit_Expanded");
driveLayout.Active = Persistent.GetBool("drive_Expanded");
base.BuildGUI(joint, true);
}
/// <summary>
/// Updates all GUI elements from current values in the joint.
/// </summary>
/// <param name="joint">Joint to update the GUI from.</param>
protected void Refresh(D6Joint joint)
{
for (int i = 0; i < (int) D6JointAxis.Count; i++)
motionFields[i].Value = (ulong)joint.GetMotion((D6JointAxis) i);
limitLinearGUI.Limit = joint.LimitLinear;
limitTwistGUI.Limit = joint.LimitTwist;
limitSwingGUI.Limit = joint.LimitSwing;
for (int i = 0; i < (int) D6JointDriveType.Count; i++)
drivesGUI[i].Drive = joint.GetDrive((D6JointDriveType) i);
drivePositionField.Value = joint.DrivePosition;
driveRotationField.Value = joint.DriveRotation.ToEuler();
driveLinVelocityField.Value = joint.DriveLinearVelocity;
driveAngVelocityField.Value = joint.DriveAngularVelocity;
base.Refresh(joint);
}
/// <summary>
/// Creates GUI elements for fields specific to the spherical joint.
/// </summary>
protected void BuildGUI(D6Joint joint)
{
for (int i = 0; i < (int) D6JointAxis.Count; i++)
{
D6JointAxis axis = (D6JointAxis) i;
string entryName = Enum.GetName(typeof (D6JointAxis), axis);
motionFields[i] = new GUIEnumField(typeof (D6JointMotion), new LocEdString(entryName));
motionFields[i].OnSelectionChanged += x =>
{
joint.SetMotion(axis, (D6JointMotion)x);
MarkAsModified();
ConfirmModify();
};
}
linearLimitFoldout.OnToggled += x =>
{
linearLimitLayout.Active = x;
Persistent.SetBool("linearLimit_Expanded", x);
};
twistLimitFoldout.OnToggled += x =>
{
twistLimitLayout.Active = x;
Persistent.SetBool("twistLimit_Expanded", x);
};
swingLimitFoldout.OnToggled += x =>
{
swingLimitLayout.Active = x;
Persistent.SetBool("swingLimit_Expanded", x);
};
driveFoldout.OnToggled += x =>
{
driveLayout.Active = x;
Persistent.SetBool("drive_Expanded", x);
};
drivePositionField.OnChanged += x => { joint.DrivePosition = x; MarkAsModified(); };
drivePositionField.OnFocusLost += ConfirmModify;
drivePositionField.OnConfirmed += ConfirmModify;
driveRotationField.OnChanged += x => { joint.DriveRotation = Quaternion.FromEuler(x); MarkAsModified(); };
driveRotationField.OnFocusLost += ConfirmModify;
driveRotationField.OnConfirmed += ConfirmModify;
driveLinVelocityField.OnChanged += x => { joint.DriveLinearVelocity = x; MarkAsModified(); };
driveLinVelocityField.OnFocusLost += ConfirmModify;
driveLinVelocityField.OnConfirmed += ConfirmModify;
driveAngVelocityField.OnChanged += x => { joint.DriveAngularVelocity = x; MarkAsModified(); };
driveAngVelocityField.OnFocusLost += ConfirmModify;
driveAngVelocityField.OnConfirmed += ConfirmModify;
for (int i = 0; i < (int) D6JointAxis.Count; i++)
Layout.AddElement(motionFields[i]);
Layout.AddElement(linearLimitFoldout);
linearLimitLayout = Layout.AddLayoutX();
{
linearLimitLayout.AddSpace(10);
GUILayoutY linearLimitContentsLayout = linearLimitLayout.AddLayoutY();
limitLinearGUI = new LimitLinearGUI(joint.LimitLinear, linearLimitContentsLayout, Persistent);
limitLinearGUI.OnChanged += (x, y) =>
{
joint.LimitLinear = new LimitLinear(x, y);
MarkAsModified();
};
limitLinearGUI.OnConfirmed += ConfirmModify;
}
Layout.AddElement(twistLimitFoldout);
twistLimitLayout = Layout.AddLayoutX();
{
twistLimitLayout.AddSpace(10);
GUILayoutY twistLimitContentsLayout = twistLimitLayout.AddLayoutY();
limitTwistGUI = new LimitAngularRangeGUI(joint.LimitTwist, twistLimitContentsLayout, Persistent);
limitTwistGUI.OnChanged += (x, y) =>
{
joint.LimitTwist = new LimitAngularRange(x, y);
MarkAsModified();
};
limitTwistGUI.OnConfirmed += ConfirmModify;
}
Layout.AddElement(swingLimitFoldout);
swingLimitLayout = Layout.AddLayoutX();
{
swingLimitLayout.AddSpace(10);
GUILayoutY swingLimitContentsLayout = swingLimitLayout.AddLayoutY();
limitSwingGUI = new LimitConeRangeGUI(joint.LimitSwing, swingLimitContentsLayout, Persistent);
limitSwingGUI.OnChanged += (x, y) =>
{
joint.LimitSwing = new LimitConeRange(x, y);
MarkAsModified();
};
limitSwingGUI.OnConfirmed += ConfirmModify;
}
Layout.AddElement(driveFoldout);
driveLayout = Layout.AddLayoutX();
{
driveLayout.AddSpace(10);
GUILayoutY driveContentsLayout = driveLayout.AddLayoutY();
for (int i = 0; i < (int) D6JointDriveType.Count; i++)
{
D6JointDriveType type = (D6JointDriveType)i;
drivesGUI[i] = new D6JointDriveGUI(joint.GetDrive(type), driveContentsLayout);
drivesGUI[i].OnChanged += x => { joint.SetDrive(type, new D6JointDrive(x)); MarkAsModified(); };
drivesGUI[i].OnConfirmed += ConfirmModify;
}
driveContentsLayout.AddElement(drivePositionField);
driveContentsLayout.AddElement(driveRotationField);
driveContentsLayout.AddElement(driveLinVelocityField);
driveContentsLayout.AddElement(driveAngVelocityField);
}
linearLimitLayout.Active = Persistent.GetBool("linearLimit_Expanded");
twistLimitLayout.Active = Persistent.GetBool("twistLimit_Expanded");
swingLimitLayout.Active = Persistent.GetBool("swingLimit_Expanded");
driveLayout.Active = Persistent.GetBool("drive_Expanded");
base.BuildGUI(joint, true);
}
