public override void OnInspectorGUI()
{
serializedObject.Update();
ArticulationBody body = (ArticulationBody)target;
if (!body.isRoot)
{
using (new EditorGUI.DisabledScope(body.gameObject.activeInHierarchy == false))
{
EditorGUILayout.EditorToolbarForTarget(EditorGUIUtility.TrTempContent("Edit Joints"), target);
}
}
EditorGUILayout.Space(5);
EditorGUILayout.PropertyField(m_Mass, Styles.mass);
EditorGUILayout.PropertyField(m_UseGravity, Styles.useGravity);
if (body.isRoot)
{
EditorGUILayout.PropertyField(m_Immovable, Styles.immovable);
if (!m_Immovable.boolValue)
{
EditorGUILayout.PropertyField(m_LinearDamping, Styles.linearDamping);
EditorGUILayout.PropertyField(m_AngularDamping, Styles.angularDamping);
}
EditorGUILayout.PropertyField(m_CollisionDetectionMode, Styles.collisionDetectionMode);
EditorGUILayout.HelpBox("This is the root body of the articulation.", MessageType.Info);
}
else
{
EditorGUILayout.PropertyField(m_LinearDamping, Styles.linearDamping);
EditorGUILayout.PropertyField(m_AngularDamping, Styles.angularDamping);
EditorGUILayout.PropertyField(m_JointFriction, Styles.jointFriction);
EditorGUILayout.PropertyField(m_CollisionDetectionMode, Styles.collisionDetectionMode);
EditorGUILayout.PropertyField(m_MatchAnchors, Styles.matchAnchors);
// Show anchor edit fields and set to joint if changed
// The reason we have change checks here is because in AwakeFromLoad we won't overwrite anchors
// If we were to do that, simulation would drift caused by anchors reset relative to current poses
EditorGUI.BeginChangeCheck();
EditorGUILayout.PropertyField(m_AnchorPosition, Styles.anchorPosition);
EditorGUILayout.PropertyField(m_AnchorRotation, Styles.anchorRotation);
if (EditorGUI.EndChangeCheck())
{
Undo.RecordObject(target, "Changing Articulation body anchor position/rotation");
body.anchorPosition = m_AnchorPosition.vector3Value;
body.anchorRotation = m_AnchorRotation.quaternionValue;
if (m_MatchAnchors.boolValue)
{
// setting child anchors in this mode will also change the parent ones
// lets fetch them back otherwise ApplyModifiedProperties overwrites them
m_ParentAnchorPosition.vector3Value = body.parentAnchorPosition;
m_ParentAnchorRotation.quaternionValue = body.parentAnchorRotation;
}
}
// parent anchors
if (!m_MatchAnchors.boolValue)
{
EditorGUI.BeginChangeCheck();
EditorGUILayout.PropertyField(m_ParentAnchorPosition, Styles.parentAnchorPosition);
EditorGUILayout.PropertyField(m_ParentAnchorRotation, Styles.parentAnchorRotation);
if (EditorGUI.EndChangeCheck())
{
Undo.RecordObject(target, "Changing Articulation body parent anchor position/rotation");
body.parentAnchorPosition = m_ParentAnchorPosition.vector3Value;
body.parentAnchorRotation = m_ParentAnchorRotation.quaternionValue;
}
}
if (GUILayout.Button("Snap anchor to closest contact"))
{
Undo.RecordObject(body, "Changing anchor position/rotation to match closest contact.");
body.SnapAnchorToClosestContact();
}
EditorGUILayout.PropertyField(m_ArticulationJointType); // the tooltip for this is still in the header
switch (body.jointType)
{
case ArticulationJointType.FixedJoint:
break;
case ArticulationJointType.PrismaticJoint:
// work out joint settings
LinearDof linearDof = LinearDof.X; // x by default
ArticulationDofLock dofLockSetting = ArticulationDofLock.FreeMotion;
if (body.linearLockX != ArticulationDofLock.LockedMotion)
{
linearDof = LinearDof.X;
dofLockSetting = body.linearLockX;
}
else if (body.linearLockY != ArticulationDofLock.LockedMotion)
{
linearDof = LinearDof.Y;
dofLockSetting = body.linearLockY;
}
else if (body.linearLockZ != ArticulationDofLock.LockedMotion)
{
linearDof = LinearDof.Z;
dofLockSetting = body.linearLockZ;
}
int dofCount = 0;
if (body.linearLockX != ArticulationDofLock.LockedMotion)
{
dofCount++;
}
if (body.linearLockY != ArticulationDofLock.LockedMotion)
{
dofCount++;
}
if (body.linearLockZ != ArticulationDofLock.LockedMotion)
{
dofCount++;
}
bool overrideDof = (dofCount != 1);
EditorGUI.BeginChangeCheck();
EditorGUILayout.Space();
linearDof = (LinearDof)EditorGUILayout.EnumPopup(Styles.prismaticAxis, linearDof);
NonLockedMotion motion = (dofLockSetting == ArticulationDofLock.FreeMotion) ? NonLockedMotion.Free : NonLockedMotion.Limited;
motion = (NonLockedMotion)EditorGUILayout.EnumPopup(Styles.unlockedMotionType, motion);
if (EditorGUI.EndChangeCheck() || overrideDof)
{
m_LinearX.enumValueIndex = (linearDof == LinearDof.X) ? (int)motion : 0;
m_LinearY.enumValueIndex = (linearDof == LinearDof.Y) ? (int)motion : 0;
m_LinearZ.enumValueIndex = (linearDof == LinearDof.Z) ? (int)motion : 0;
}
EditorGUILayout.Space();
DoDriveInspector(m_YDrive, (ArticulationDofLock)m_LinearY.enumValueIndex);
DoDriveInspector(m_ZDrive, (ArticulationDofLock)m_LinearZ.enumValueIndex);
DoDriveInspector(m_XDrive, (ArticulationDofLock)m_LinearX.enumValueIndex);
break;
case ArticulationJointType.RevoluteJoint:
ArticulationDofLock serialisedDofLock = (ArticulationDofLock)m_Twist.enumValueIndex;
NonLockedMotion revoluteMotion = serialisedDofLock == ArticulationDofLock.LimitedMotion
? NonLockedMotion.Limited
: NonLockedMotion.Free;
EditorGUILayout.Space();
motion = (NonLockedMotion)EditorGUILayout.EnumPopup(Styles.unlockedMotionType, revoluteMotion);
ArticulationDofLock newDofLock = (ArticulationDofLock)motion;
if (newDofLock != serialisedDofLock)
{
m_Twist.enumValueIndex = (int)newDofLock;
}
EditorGUILayout.Space();
DoDriveInspector(m_XDrive, newDofLock);
break;
case ArticulationJointType.SphericalJoint:
EditorGUILayout.Space();
// here we just need to make sure we disable getting into an invalid configuration
SphericalJointMotionSetting(m_SwingY);
SphericalJointMotionSetting(m_SwingZ);
SphericalJointMotionSetting(m_Twist);
EditorGUILayout.Space();
DoDriveInspector(m_YDrive, body.swingYLock);
DoDriveInspector(m_ZDrive, body.swingZLock);
DoDriveInspector(m_XDrive, body.twistLock);
break;
}
}
ClampDriveLimits(m_YDrive, body.yDrive);
ClampDriveLimits(m_ZDrive, body.zDrive);
ClampDriveLimits(m_XDrive, body.xDrive);
serializedObject.ApplyModifiedProperties();
}
public override void OnInspectorGUI()
{
serializedObject.Update();
ArticulationBody body = (ArticulationBody)target;
ArticulationBody parentBody = FindParentBody(body);
EditorGUILayout.PropertyField(m_Mass);
if (body.isRoot)
{
EditorGUILayout.PropertyField(m_Immovable);
EditorGUILayout.PropertyField(m_UseGravity);
EditorGUILayout.HelpBox("This is the root body of the articulation.", MessageType.Info);
}
else
{
EditorGUILayout.PropertyField(m_UseGravity);
EditorGUILayout.PropertyField(m_ComputeParentAnchor);
// Render anchor handle display button only if editor scene view has Move, Rotate or Transform tool mode selected
if (IsEditToolModeForAnchorDisplay())
{
if (m_DisplayParentAnchor)
{
m_DisplayParentAnchor = !GUILayout.Button("Show anchor handle");
}
else
{
m_DisplayParentAnchor = GUILayout.Button("Show parent anchor handle");
}
}
// Show anchor edit fields and set to joint if changed
// The reason we have change checks here is because in AwakeFromLoad we won't overwrite anchors
// If we were to do that, simulation would drift caused by anchors reset relative to current poses
EditorGUI.BeginChangeCheck();
EditorGUILayout.PropertyField(m_AnchorPosition);
QuaternionAsEulerAnglesPropertyField("Anchor Rotation", m_AnchorRotation, body.anchorRotation);
if (EditorGUI.EndChangeCheck())
{
body.anchorPosition = m_AnchorPosition.vector3Value;
body.anchorRotation = m_AnchorRotation.quaternionValue;
if (m_ComputeParentAnchor.boolValue)
{
// setting child anchors in this mode will also change the parent ones
// lets fetch them back otherwise ApplyModifiedProperties overwrites them
m_ParentAnchorPosition.vector3Value = body.parentAnchorPosition;
m_ParentAnchorRotation.quaternionValue = body.parentAnchorRotation;
}
}
// parent anchors
if (!m_ComputeParentAnchor.boolValue)
{
EditorGUI.BeginChangeCheck();
EditorGUILayout.PropertyField(m_ParentAnchorPosition);
QuaternionAsEulerAnglesPropertyField("Parent Anchor Rotation", m_ParentAnchorRotation,
body.parentAnchorRotation);
if (EditorGUI.EndChangeCheck())
{
body.parentAnchorPosition = m_ParentAnchorPosition.vector3Value;
body.parentAnchorRotation = m_ParentAnchorRotation.quaternionValue;
}
}
if (GUILayout.Button("Snap anchor to closest contact"))
{
Undo.RecordObject(body, "Changing anchor position/rotation to match closest contact.");
Vector3 com = parentBody.centerOfMass;
Vector3 closestOnSurface = body.GetClosestPoint(com);
body.anchorPosition = body.transform.InverseTransformPoint(closestOnSurface);
body.anchorRotation = Quaternion.FromToRotation(Vector3.right,
body.transform.InverseTransformDirection(com - closestOnSurface).normalized);
}
EditorGUILayout.PropertyField(m_ArticulationJointType);
EditorGUILayout.PropertyField(m_LinearDamping);
EditorGUILayout.PropertyField(m_AngularDamping);
EditorGUILayout.PropertyField(m_JointFriction);
switch (body.jointType)
{
case ArticulationJointType.FixedJoint:
break;
case ArticulationJointType.PrismaticJoint:
// work out joint settings
LinearDof linearDof = LinearDof.X; // x by default
ArticulationDofLock dofLockSetting = ArticulationDofLock.FreeMotion;
if (body.linearLockX != ArticulationDofLock.LockedMotion)
{
linearDof = LinearDof.X;
dofLockSetting = body.linearLockX;
}
else if (body.linearLockY != ArticulationDofLock.LockedMotion)
{
linearDof = LinearDof.Y;
dofLockSetting = body.linearLockY;
}
else if (body.linearLockZ != ArticulationDofLock.LockedMotion)
{
linearDof = LinearDof.Z;
dofLockSetting = body.linearLockZ;
}
int dofCount = 0;
if (body.linearLockX != ArticulationDofLock.LockedMotion)
{
dofCount++;
}
if (body.linearLockY != ArticulationDofLock.LockedMotion)
{
dofCount++;
}
if (body.linearLockZ != ArticulationDofLock.LockedMotion)
{
dofCount++;
}
bool overrideDof = (dofCount != 1);
EditorGUI.BeginChangeCheck();
EditorGUILayout.Space();
linearDof = (LinearDof)EditorGUILayout.EnumPopup("Axis", linearDof);
NonLockedMotion motion = (dofLockSetting == ArticulationDofLock.FreeMotion) ? NonLockedMotion.Free : NonLockedMotion.Limited;
motion = (NonLockedMotion)EditorGUILayout.EnumPopup("Motion", motion);
if (EditorGUI.EndChangeCheck() || overrideDof)
{
m_LinearX.enumValueIndex = (linearDof == LinearDof.X) ? (int)motion : 0;
m_LinearY.enumValueIndex = (linearDof == LinearDof.Y) ? (int)motion : 0;
m_LinearZ.enumValueIndex = (linearDof == LinearDof.Z) ? (int)motion : 0;
}
EditorGUILayout.Space();
DoDriveInspector(m_YDrive, (ArticulationDofLock)m_LinearY.enumValueIndex);
DoDriveInspector(m_ZDrive, (ArticulationDofLock)m_LinearZ.enumValueIndex);
DoDriveInspector(m_XDrive, (ArticulationDofLock)m_LinearX.enumValueIndex);
break;
case ArticulationJointType.RevoluteJoint:
ArticulationDofLock serialisedDofLock = (ArticulationDofLock)m_Twist.enumValueIndex;
NonLockedMotion revoluteMotion = serialisedDofLock == ArticulationDofLock.LimitedMotion
? NonLockedMotion.Limited
: NonLockedMotion.Free;
EditorGUILayout.Space();
motion = (NonLockedMotion)EditorGUILayout.EnumPopup("Motion", revoluteMotion);
ArticulationDofLock newDofLock = (ArticulationDofLock)motion;
if (newDofLock != serialisedDofLock)
{
m_Twist.enumValueIndex = (int)newDofLock;
}
EditorGUILayout.Space();
DoDriveInspector(m_XDrive, newDofLock);
break;
case ArticulationJointType.SphericalJoint:
EditorGUILayout.Space();
// here we just need to make sure we disable getting into an invalid configuration
SphericalJointMotionSetting(m_SwingY);
SphericalJointMotionSetting(m_SwingZ);
SphericalJointMotionSetting(m_Twist);
EditorGUILayout.Space();
DoDriveInspector(m_YDrive, body.swingYLock);
DoDriveInspector(m_ZDrive, body.swingZLock);
DoDriveInspector(m_XDrive, body.twistLock);
break;
}
}
serializedObject.ApplyModifiedProperties();
ShowBodyInfoProperties();
}
