private void InspectMotion(BioJoint.Motion motion, string name)
{
SetGUIColor(Color8);
using (new EditorGUILayout.VerticalScope("Box")) {
SetGUIColor(Color5);
GUILayout.BeginHorizontal();
GUILayout.FlexibleSpace();
EditorGUILayout.HelpBox(name, MessageType.None);
GUILayout.FlexibleSpace();
GUILayout.EndHorizontal();
if (motion.IsEnabled())
{
SetGUIColor(Color1);
motion.Constrained = EditorGUILayout.Toggle("Constrained", motion.Constrained);
if (motion.Constrained)
{
SetGUIColor(Color1);
motion.SetLowerLimit(EditorGUILayout.DoubleField("Lower Limit", motion.GetLowerLimit()));
SetGUIColor(Color1);
motion.SetUpperLimit(EditorGUILayout.DoubleField("Upper Limit", motion.GetUpperLimit()));
SetGUIColor(Color1);
motion.SetTargetValue(EditorGUILayout.Slider("Target Value", (float)motion.GetTargetValue(), (float)motion.GetLowerLimit(), (float)motion.GetUpperLimit()));
}
else
{
SetGUIColor(Color1);
motion.SetTargetValue(EditorGUILayout.DoubleField("Target Value", motion.GetTargetValue()));
}
GUI.skin.button.alignment = TextAnchor.MiddleCenter;
SetGUIColor(Color1);
GUILayout.BeginHorizontal();
GUILayout.FlexibleSpace();
if (GUILayout.Button("Disable", GUILayout.Width(250f), GUILayout.Height(20f)))
{
motion.SetEnabled(false);
}
GUILayout.FlexibleSpace();
GUILayout.EndHorizontal();
}
else
{
GUI.skin.button.alignment = TextAnchor.MiddleCenter;
SetGUIColor(Color1);
GUILayout.BeginHorizontal();
GUILayout.FlexibleSpace();
if (GUILayout.Button("Enable", GUILayout.Width(250f), GUILayout.Height(20f)))
{
motion.SetEnabled(true);
}
GUILayout.FlexibleSpace();
GUILayout.EndHorizontal();
}
}
}
void LateUpdate()
{
PostcaptureAnimation(Root);
UpdateData(Root);
for (int i = 0; i < Solution.Length; i++)
{
Solution[i] = Evolution.GetModel().MotionPtrs[i].Motion.GetTargetValue(true);
}
Solution = Evolution.Optimise(Generations, Solution);
for (int i = 0; i < Solution.Length; i++)
{
BioJoint.Motion motion = Evolution.GetModel().MotionPtrs[i].Motion;
motion.SetTargetValue(Solution[i], true);
/*
* if(motion.Joint.GetJointType() == JointType.Revolute) {
* motion.SetTargetValue((float)Solution[i]);
* } else if(motion.Joint.GetJointType() == JointType.Continuous) {
* motion.SetTargetValue(motion.GetTargetValue() + Mathf.Deg2Rad*Mathf.DeltaAngle(Mathf.Rad2Deg*motion.GetTargetValue(), Mathf.Rad2Deg*(float)Solution[i]));
* } else if(motion.Joint.GetJointType() == JointType.Prismatic) {
* motion.SetTargetValue((float)Solution[i]);
* } else if(motion.Joint.GetJointType() == JointType.Floating) {
* motion.SetTargetValue((float)Solution[i]);
* }
*/
}
ProcessMotion(Root);
}
