public virtual void OnSceneGUI()
{
//Draw Kinematic Chain
IKBody body = SearchIKBody();
if (body != null)
{
DrawKinematicChain(new Chain(body.transform, Target.transform));
}
//Draw Objective
if (Target.Objective != null)
{
if (Target.Objective.Type == ObjectiveType.Position)
{
Handles.SphereCap(0, Target.transform.position, Quaternion.identity, Target.Objective.MaximumPositionError);
}
if (Target.Objective.Type == ObjectiveType.Orientation)
{
//Visualized by Unity's Transform
}
if (Target.Objective.Type == ObjectiveType.Pose)
{
Handles.SphereCap(0, Target.transform.position, Quaternion.identity, Target.Objective.MaximumPositionError);
}
if (Target.Objective.Type == ObjectiveType.LookAt)
{
Handles.ArrowCap(0, Target.transform.position, Target.transform.rotation * Quaternion.LookRotation(Target.Objective.Direction), 0.05f);
}
}
}
public Model(IKBody body)
{
Body = body;
AddNode(Body.transform);
BuildModel();
UpdateState();
}
void OnDestroy()
{
IKBody body = SearchIKBody();
if (body != null)
{
body.Rebuild();
}
}
void OnDisable()
{
IKBody body = SearchIKBody();
if (body != null)
{
body.Rebuild();
}
}
void Awake()
{
UpdateState();
IKBody body = SearchIKBody();
if (body != null)
{
body.Rebuild();
}
}
public override void OnInspectorGUI()
{
Undo.RecordObject(Target, Target.name);
using (var scope = new EditorGUILayout.VerticalScope("Button")) {
EditorGUILayout.HelpBox("Settings", MessageType.None);
Target.Target = (Transform)EditorGUILayout.ObjectField("Target", Target.Target, typeof(Transform), true);
Target.Objective.Type = (ObjectiveType)EditorGUILayout.EnumPopup("Objective", Target.Objective.Type);
using (var error = new EditorGUILayout.VerticalScope("Box")) {
EditorGUILayout.LabelField("Maximum Error");
if (Target.Objective.Type == ObjectiveType.Position)
{
Target.Objective.MaximumPositionError = EditorGUILayout.FloatField("Position", Target.Objective.MaximumPositionError);
}
if (Target.Objective.Type == ObjectiveType.Orientation)
{
Target.Objective.MaximumOrientationError = EditorGUILayout.FloatField("Orientation", Target.Objective.MaximumOrientationError);
}
if (Target.Objective.Type == ObjectiveType.Pose)
{
Target.Objective.MaximumPositionError = EditorGUILayout.FloatField("Position", Target.Objective.MaximumPositionError);
Target.Objective.MaximumOrientationError = EditorGUILayout.FloatField("Orientation", Target.Objective.MaximumOrientationError);
}
if (Target.Objective.Type == ObjectiveType.LookAt)
{
Target.Objective.Direction = EditorGUILayout.Vector3Field("Direction", Target.Objective.Direction);
Target.Objective.MaximumDirectionError = EditorGUILayout.FloatField("Error", Target.Objective.MaximumDirectionError);
}
}
using (var degreeoffreedom = new EditorGUILayout.VerticalScope("Button")) {
IKBody body = SearchIKBody();
if (body != null)
{
Chain chain = new Chain(body.transform, Target.transform);
EditorGUILayout.LabelField("Length: " + chain.Length);
EditorGUILayout.LabelField("Degree of Freedom: " + chain.DoF);
}
else
{
EditorGUILayout.HelpBox("Could not find a connected IK Body. Make sure to add a 'IKBody' component to your model from where the IK problem shall be solved.", MessageType.Warning);
}
}
}
EditorUtility.SetDirty(Target);
}
private IKBody SearchIKBody()
{
Transform t = Target.transform;
while (true)
{
IKBody body = t.GetComponent <IKBody>();
if (body != null)
{
return(body);
}
else if (t != t.root)
{
t = t.parent;
}
else
{
return(null);
}
}
}
void Awake()
{
Target = (IKBody)target;
}
