private static EditorDataEntry GetEditorData(AGXUnity.IO.URDF.Element element, string name)
{
return(EditorData.Instance.GetData(element, name, entry => entry.Bool = false));
}
public static void DrawUrdfElement(AGXUnity.IO.URDF.Element element,
int elementArrayIndex = -1)
{
if (element == null)
{
return;
}
var dropDownName = string.IsNullOrEmpty(element.Name) ?
elementArrayIndex >= 0 ?
$"{element.GetType().Name}[{elementArrayIndex}]" :
element.GetType().Name :
element.Name;
if (!InspectorGUI.Foldout(GetEditorData(element, dropDownName),
GUI.MakeLabel(InspectorGUISkin.Instance.TagTypename($"Urdf.{element.GetType().Name}") +
' ' +
dropDownName)))
{
return;
}
using (InspectorGUI.IndentScope.Single) {
var ignoreName = element is AGXUnity.IO.URDF.Inertial;
if (!ignoreName)
{
var nameRect = EditorGUILayout.GetControlRect();
EditorGUI.PrefixLabel(nameRect, GUI.MakeLabel("Name"), InspectorEditor.Skin.Label);
var orgXMax = nameRect.xMax;
nameRect.x += EditorGUIUtility.labelWidth - 14.0f * InspectorGUI.IndentScope.Level;
nameRect.xMax = orgXMax;
EditorGUI.SelectableLabel(nameRect, element.Name, InspectorEditor.Skin.TextField);
}
if (element is AGXUnity.IO.URDF.Pose)
{
DrawUrdfPose(element as AGXUnity.IO.URDF.Pose);
}
else if (element is AGXUnity.IO.URDF.Material)
{
DrawUrdfMaterial(element as AGXUnity.IO.URDF.Material);
return;
}
var properties = GetOrFindProperties(element.GetType());
var elementArg = new object[] { element };
var geometry = element as AGXUnity.IO.URDF.Geometry;
foreach (var property in properties)
{
// Ignoring Unity specific properties such as "name" and "hideFlags".
if (!char.IsUpper(property.Member.Name[0]))
{
continue;
}
if (!InspectorEditor.ShouldBeShownInInspector(property.Member))
{
continue;
}
var containingType = property.GetContainingType();
if (containingType.IsArray)
{
if (typeof(AGXUnity.IO.URDF.Element).IsAssignableFrom(containingType.GetElementType()))
{
var array = property.Get <System.Collections.ICollection>(element);
if (!InspectorGUI.Foldout(GetEditorData(element, property.Member.Name),
InspectorGUI.MakeLabel(property.Member,
$" [{array.Count}]")))
{
continue;
}
using (InspectorGUI.IndentScope.Single) {
var arrayIndex = 0;
foreach (var arrayItem in array)
{
DrawUrdfElement(arrayItem as AGXUnity.IO.URDF.Element, arrayIndex++);
}
}
}
}
else if (typeof(AGXUnity.IO.URDF.Element).IsAssignableFrom(containingType))
{
DrawUrdfElement(property.Get <AGXUnity.IO.URDF.Element>(element), -1);
}
else if (geometry == null || IsValidGeometryProperty(geometry, property))
{
var drawerMethod = GetDrawerMethod(containingType);
drawerMethod.Drawer?.Invoke(null, new object[] { elementArg, property });
}
}
}
}