private void DisplayJointLimits(ArticulationBody body)
{
ArticulationBody parentBody = ArticulationBodyEditorCommon.FindEnabledParentArticulationBody(body);
// Consider that the anchors are only actually matched when in play mode.
// So, if it's not play mode, we need to do that manually for the gizmos to be placed correctly.
Vector3 anchorPosition;
Quaternion anchorRotation;
if (body.matchAnchors & !EditorApplication.isPlaying)
{
anchorPosition = body.transform.TransformPoint(body.anchorPosition);
anchorRotation = body.transform.rotation * body.anchorRotation;
}
else
{
anchorPosition = parentBody.transform.TransformPoint(body.parentAnchorPosition);
anchorRotation = parentBody.transform.rotation * body.parentAnchorRotation;
}
Matrix4x4 parentAnchorSpace = Matrix4x4.TRS(anchorPosition, anchorRotation, Vector3.one);
// Show locked gizmo when root body or Fixed joint body
if (body.isRoot || body.jointType == ArticulationJointType.FixedJoint)
{
m_angularLimitHandle.xMotion = (ConfigurableJointMotion)ArticulationDofLock.LockedMotion;
m_angularLimitHandle.yMotion = (ConfigurableJointMotion)ArticulationDofLock.LockedMotion;
m_angularLimitHandle.zMotion = (ConfigurableJointMotion)ArticulationDofLock.LockedMotion;
ShowSphericalLimits(m_angularLimitHandle, body, parentAnchorSpace);
return;
}
if (body.jointType == ArticulationJointType.PrismaticJoint)
{
ShowPrismaticLimits(body, parentAnchorSpace, anchorPosition, anchorRotation);
return;
}
if (body.jointType == ArticulationJointType.RevoluteJoint)
{
// For the purposes of drawing Revolute limits, treat Z and Y motion as locked
m_angularLimitHandle.xMotion = (ConfigurableJointMotion)body.twistLock;
m_angularLimitHandle.yMotion = (ConfigurableJointMotion)ArticulationDofLock.LockedMotion;
m_angularLimitHandle.zMotion = (ConfigurableJointMotion)ArticulationDofLock.LockedMotion;
ShowRevoluteLimits(m_angularLimitHandle, body, parentAnchorSpace);
return;
}
if (body.jointType == ArticulationJointType.SphericalJoint)
{
m_angularLimitHandle.xMotion = (ConfigurableJointMotion)body.twistLock;
m_angularLimitHandle.yMotion = (ConfigurableJointMotion)body.swingYLock;
m_angularLimitHandle.zMotion = (ConfigurableJointMotion)body.swingZLock;
ShowSphericalLimits(m_angularLimitHandle, body, parentAnchorSpace);
}
}
public override void OnToolGUI(EditorWindow window)
{
foreach (var obj in targets)
{
ArticulationBody body = obj as ArticulationBody;
if (body == null || body.isRoot)
{
continue;
}
ArticulationBody parentBody = ArticulationBodyEditorCommon.FindEnabledParentArticulationBody(body);
{
Vector3 localAnchorT = body.anchorPosition;
Quaternion localAnchorR = body.anchorRotation;
EditorGUI.BeginChangeCheck();
DisplayProperAnchorHandle(body, ref localAnchorT, ref localAnchorR);
if (EditorGUI.EndChangeCheck())
{
Undo.RecordObject(target, "Changing Articulation body anchor position/rotation");
body.anchorPosition = localAnchorT;
body.anchorRotation = localAnchorR;
}
}
if (!body.matchAnchors)
{
Vector3 localAnchorT = body.parentAnchorPosition;
Quaternion localAnchorR = body.parentAnchorRotation;
EditorGUI.BeginChangeCheck();
DisplayProperAnchorHandle(parentBody, ref localAnchorT, ref localAnchorR);
if (EditorGUI.EndChangeCheck())
{
Undo.RecordObject(target, "Changing Articulation body parent anchor position/rotation");
body.parentAnchorPosition = localAnchorT;
body.parentAnchorRotation = localAnchorR;
}
}
}
}
