public override void OnInspectorGUI() { if (buttonStyle == null) { buttonStyle = new GUIStyle(EditorStyles.miniButtonRight) { fixedWidth = 75 } } ; urdfRobot = (UrdfRobot)target; GUILayout.Space(5); GUILayout.Label("All Rigidbodies", EditorStyles.boldLabel); DisplaySettingsToggle(new GUIContent("Is Kinematic"), urdfRobot.SetRigidbodiesIsKinematic); DisplaySettingsToggle(new GUIContent("Use Gravity"), urdfRobot.SetRigidbodiesUseGravity); DisplaySettingsToggle(new GUIContent("Use Inertia from URDF", "If disabled, Unity will generate new inertia tensor values automatically."), urdfRobot.SetUseUrdfInertiaData); GUILayout.Space(5); GUILayout.Label("All Colliders", EditorStyles.boldLabel); DisplaySettingsToggle(new GUIContent("Convex"), urdfRobot.SetCollidersConvex); GUILayout.Space(5); GUILayout.Label("All Joints", EditorStyles.boldLabel); EditorGUILayout.BeginHorizontal(); EditorGUILayout.PrefixLabel("Generate Unique Joint Names"); if (GUILayout.Button("Generate", new GUIStyle(EditorStyles.miniButton) { fixedWidth = 155 })) { urdfRobot.GenerateUniqueJointNames(); } EditorGUILayout.EndHorizontal(); GUILayout.Space(5); if (GUILayout.Button("Export robot to URDF file")) { // Get existing open window or if none, make a new one: UrdfExportEditorWindow window = (UrdfExportEditorWindow)EditorWindow.GetWindow(typeof(UrdfExportEditorWindow)); window.urdfRobot = urdfRobot; window.minSize = new Vector2(500, 200); window.GetEditorPrefs(); window.Show(); } }
private static void CreateUrdfObject() { UrdfRobot.Create(); }