void OnSceneGUI()
{
UnityJoint joint = target as UnityJoint;
if (joint.transform.childCount == 0)
{
return;
}
Transform child = joint.transform.GetChild(0);
Vector3 forward = (child.position - joint.transform.position).normalized;
float radius = Vector3.Distance(child.position, joint.transform.position);
Quaternion rot = Quaternion.Euler(0, -Mathf.Abs(joint.MaxAngleCCW), 0);
SolidArc t = new SolidArc();
t.from = rot * forward;
t.angle = joint.MaxAngleCW + joint.MaxAngleCCW;
if (joint.YAxisRotation == UnityJoint.AxisRotState_Enum.Constrained)
{
Handles.color = new Color(0, 1, 0, 0.2f);
Vector3 from = Quaternion.Euler(0, -joint.YMinAngle, 0) * forward;
float angle = joint.YMinAngle + joint.YMaxAngle;
Handles.DrawSolidArc(joint.transform.position,
Vector3.up, from, angle, radius);
}
if (joint.XAxisRotation == UnityJoint.AxisRotState_Enum.Constrained)
{
Handles.color = new Color(1, 0, 0, 0.2f);
Vector3 from = Quaternion.Euler(-joint.XMinAngle, 0, 0) * Vector3.up;
float angle = joint.XMinAngle + joint.XMaxAngle;
Handles.DrawSolidArc(joint.transform.position,
Vector3.right, from, angle, radius);
}
if (joint.ZAxisRotation == UnityJoint.AxisRotState_Enum.Constrained)
{
Handles.color = new Color(0, 0, 1, 0.2f);
Vector3 from = Quaternion.Euler(0, 0, -joint.ZMinAngle) * forward;
float angle = joint.ZMinAngle + joint.ZMaxAngle;
Handles.DrawSolidArc(joint.transform.position,
Vector3.forward, from, angle, radius);
}
Handles.color = Color.magenta;
Handles.DrawAAPolyLine(5, new Vector3[] { joint.transform.position, child.position });
Handles.color = Color.white;
}
private static void AddJoints(Transform parent, IList <UnityJoint> jointsList)
{
UnityJoint jointComponent = parent.GetComponent <UnityJoint>();
if (jointComponent != null && jointComponent.enabled)
{
jointsList.Add(jointComponent);
}
foreach (Transform child in parent)
{
AddJoints(child, jointsList);
break; // Only 1 child per joint allowed for now!!
}
}
public static void ApplyJointTransforms(Transform root, IList <Joint> joints, int i = 0)
{
UnityJoint jointComponent = root.GetComponent <UnityJoint>();
if (jointComponent != null && jointComponent.enabled)
{
jointComponent.transform.position = joints[i].Position;
jointComponent.transform.rotation = joints[i].Orientation;
i++;
}
foreach (Transform child in root)
{
ApplyJointTransforms(child, joints, i);
break; // Only 1 child per joint allowed for now!!
}
}
public Joint(UnityJoint unityJoint)
{
this.unityJoint = unityJoint.transform;
//position = unityJoint.transform.position;
//orientation = unityJoint.transform.rotation;
restPosition = Position;
restOrientation = Orientation;
if (unityJoint.joint != null)
{
restPosition = unityJoint.joint.restPosition;
restOrientation = unityJoint.joint.restOrientation;
}
HasConstraint = unityJoint.HasConstraint;
UpAxis = unityJoint.UpAxis;
MaxAngleCW = unityJoint.MaxAngleCW;
MaxAngleCCW = unityJoint.MaxAngleCCW;
}
