public override void OnInspectorGUI()
{
base.OnInspectorGUI();
hingeJointLimitsManager = (HingeJointLimitsManager)target;
//if (EditorGUILayout.Foldout(true, "Angles"))
EditorGUILayout.BeginHorizontal();
EditorGUILayout.LabelField("Actual Angle:", hingeJointLimitsManager.AngleActual.ToString());
EditorGUILayout.LabelField("Actual Rotation No.:", hingeJointLimitsManager.RotationNumberActual.ToString());
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
EditorGUILayout.LabelField("Min Angle:", hingeJointLimitsManager.AngleLimitMin.ToString());
EditorGUILayout.LabelField("Min. No. of Rotations:", hingeJointLimitsManager.RotationNumberMin.ToString());
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
EditorGUILayout.LabelField("Max Angle:", hingeJointLimitsManager.AngleLimitMax.ToString());
EditorGUILayout.LabelField("Max. No. of Rotations:", hingeJointLimitsManager.RotationNumberMax.ToString());
EditorGUILayout.EndHorizontal();
if (180 - hingeJointLimitsManager.AngleLimitMin < toleranceThreshold)
{
EditorGUILayout.HelpBox("Min. Angle is close to +180° where this fix will not work properly. Please increase tolerance.", MessageType.Warning);
}
if (180 - hingeJointLimitsManager.AngleLimitMax < toleranceThreshold)
{
EditorGUILayout.HelpBox("Max. Angle is close to -180° where this fix will not work properly. Please increase tolerance.", MessageType.Warning);
}
}
protected virtual void OnEnable()
{
obj = (HingeJointLimitsManager)serializedObject.targetObject;
pLargeAngleLimitMin = serializedObject.FindProperty("LargeAngleLimitMin");
pLargeAngleLimitMax = serializedObject.FindProperty("LargeAngleLimitMax");
pTolerance = serializedObject.FindProperty("Tolerance");
}
private void Start()
{
jointStateWriter = GetComponent <JointStateWriter>();
urdfJoint = GetComponent <UrdfJoint>();
hingeJointLimitsManager = GetComponent <HingeJointLimitsManager>();
prismaticJointLimitsManager = GetComponent <PrismaticJointLimitsManager>();
useLimits = (hingeJointLimitsManager != null || prismaticJointLimitsManager != null);
}
protected override Joint.Limit ExportLimitData()
{
HingeJointLimitsManager hingeJointLimits = GetComponent <HingeJointLimitsManager>();
return(new Joint.Limit(
Math.Round(hingeJointLimits.LargeAngleLimitMin * Mathf.Deg2Rad, RoundDigits),
Math.Round(hingeJointLimits.LargeAngleLimitMax * Mathf.Deg2Rad, RoundDigits),
EffortLimit,
VelocityLimit));
}
public override bool AreLimitsCorrect()
{
#if UNITY_2020_1_OR_NEWER
ArticulationBody drive = GetComponent <ArticulationBody>();
return(drive.linearLockX == ArticulationDofLock.LimitedMotion && drive.xDrive.lowerLimit < drive.xDrive.upperLimit);
#else
HingeJointLimitsManager limits = GetComponent <HingeJointLimitsManager>();
return(limits != null && limits.LargeAngleLimitMin < limits.LargeAngleLimitMax);
#endif
}
protected override Joint.Limit ExportLimitData()
{
#if UNITY_2020_1_OR_NEWER
ArticulationDrive drive = unityJoint.xDrive;
return(new Joint.Limit(drive.lowerLimit * Mathf.Deg2Rad, drive.upperLimit * Mathf.Deg2Rad, drive.forceLimit, unityJoint.maxAngularVelocity));
#else
HingeJointLimitsManager hingeJointLimits = GetComponent <HingeJointLimitsManager>();
return(new Joint.Limit(
Math.Round(hingeJointLimits.LargeAngleLimitMin * Mathf.Deg2Rad, RoundDigits),
Math.Round(hingeJointLimits.LargeAngleLimitMax * Mathf.Deg2Rad, RoundDigits),
EffortLimit,
VelocityLimit));
#endif
}
public override bool AreLimitsCorrect()
{
HingeJointLimitsManager limits = GetComponent <HingeJointLimitsManager>();
return(limits != null && limits.LargeAngleLimitMin < limits.LargeAngleLimitMax);
}
