private void InspectJoint(BioJoint joint)
{
Undo.RecordObject(joint, joint.name);
SetGUIColor(Color13);
using (new EditorGUILayout.VerticalScope("Box")) {
SetGUIColor(Color5);
GUILayout.BeginHorizontal();
GUILayout.FlexibleSpace();
EditorGUILayout.HelpBox(" Joint ", MessageType.None);
GUILayout.FlexibleSpace();
GUILayout.EndHorizontal();
SetGUIColor(Color1);
joint.enabled = EditorGUILayout.Toggle("Enabled", joint.enabled);
SetGUIColor(Color4);
EditorGUILayout.HelpBox("Geometry", MessageType.None);
SetGUIColor(Color1);
joint.JointType = (JointType)EditorGUILayout.EnumPopup("Joint Type", joint.JointType);
SetGUIColor(Color1);
joint.SetAnchor(EditorGUILayout.Vector3Field("Anchor", joint.GetAnchor()));
SetGUIColor(Color1);
joint.SetOrientation(EditorGUILayout.Vector3Field("Orientation", joint.GetOrientation()));
SetGUIColor(Color4);
EditorGUILayout.HelpBox("Default Frame", MessageType.None);
SetGUIColor(Color1);
Vector3 defaultPosition = EditorGUILayout.Vector3Field("Position", joint.GetDefaultPosition());
SetGUIColor(Color1);
Quaternion defaultRotation = Quaternion.Euler(EditorGUILayout.Vector3Field("Rotation", joint.GetDefaultRotation().eulerAngles));
joint.SetDefaultFrame(defaultPosition, defaultRotation);
InspectMotion(joint.X, " X Motion ");
InspectMotion(joint.Y, " Y Motion ");
InspectMotion(joint.Z, " Z Motion ");
GUI.skin.button.alignment = TextAnchor.MiddleCenter;
SetGUIColor(Color7);
GUILayout.BeginHorizontal();
GUILayout.FlexibleSpace();
if (GUILayout.Button("Remove", GUILayout.Width(100f)))
{
joint.Remove();
}
GUILayout.FlexibleSpace();
GUILayout.EndHorizontal();
}
if (joint != null)
{
joint.PrecaptureAnimation();
joint.PostcaptureAnimation();
joint.UpdateData();
joint.ProcessMotion();
EditorUtility.SetDirty(joint);
}
}
private void DrawJoint(BioJoint joint, bool final)
{
if (!final)
{
DoF += joint.GetDoF();
}
//DrawDottedLine(joint.Segment.Transform.position, joint.GetAnchorInWorldSpace(), 5f, Color.magenta);
DrawCube(joint.GetAnchorInWorldSpace(), joint.Segment.Transform.rotation * Quaternion.Euler(joint.GetOrientation()), 0.025f, Color.magenta);
DrawMotion(joint.X, Color.red, final);
DrawMotion(joint.Y, Color.green, final);
DrawMotion(joint.Z, Color.blue, final);
}
public BioJoint AddJoint()
{
if (Joint != null)
{
Debug.Log("The segment already has a joint.");
}
else
{
Joint = Utility.AddBioJoint(this);
Character.Refresh();
}
return(Joint);
}
public bool[] ObjectiveImpacts; //Boolean values to represent which objective indices in the whole kinematic tree are affected (TODO: Refactor this)
//Setup for the node
public Node(Model model, Node parent, BioSegment segment)
{
Model = model;
Parent = parent;
if (Parent != null)
{
Parent.AddChild(this);
}
Transform = segment.Transform;
Joint = segment.Joint;
List <Transform> reverseChain = new List <Transform>();
reverseChain.Add(Transform);
Node p = parent;
while (p != null)
{
reverseChain.Add(p.Transform);
p = p.Parent;
}
reverseChain.Reverse();
Chain = reverseChain.ToArray();
}
public Motion(BioJoint joint, Vector3 axis)
{
Joint = joint;
Axis = axis;
}
