public void OnSceneGUI()
{
if (Application.isPlaying)
{
return;
}
Transform withStepper = MoveenStep2Editor.withStepper(component.transform);
if (withStepper == null)
{
return;
}
MoveenSkelWithBones skel = component.transform.GetComponent <MoveenSkelWithBones>();
if (skel == null || component.step.detachedComfortPosRel)
{
Vector3 oldAbs = withStepper.TransformPoint(component.step.comfortPosRel);
// Vector3 oldAbs = component.transform.parent.TransformPoint(component.step.bestTargetRel);
Handles.Label(oldAbs, "comfort position");
Undo.RecordObject(component, "Moveen target position");
component.step.comfortPosRel = withStepper.InverseTransformPoint(Handles.PositionHandle(oldAbs, Quaternion.identity));
//Undo.FlushUndoRecordObjects();seems like done automatically
}
if (skel != null && !component.step.detachedComfortPosRel)
{
Vector3 tipAbs = skel.transform.TransformPoint(skel.targetPosRel);
component.step.comfortPosRel = withStepper.rotation.conjug().rotate(tipAbs - withStepper.position);//can't use Inverse, because in the enine - only rotation and translation is used
component.step.reset(withStepper.position, withStepper.rotation);
}
if (GUI.changed) //to react on comfort position handler (when detached)
{
component.step.reset(withStepper.position, withStepper.rotation);
}
}
public override void OnInspectorGUI()
{
int legsCount = component.calcActualLegsCount();
if (component.engine.collectSteppingHistory)
{
EditorGUILayout.HelpBox("Don't forget to turn off \"collectSteppingHistory\" as it eats RUNTIME performance and memory", MessageType.Warning);
}
if (component.body == null && component.GetComponent <Rigidbody>() == null)
{
EditorGUILayout.HelpBox("Add Rigidbody component, or connect this->Body with it", MessageType.Warning);
}
if (component.body != null && component.body.GetComponent <Rigidbody>() == null)
{
EditorGUILayout.HelpBox("this->Body is connected, but it has no RigidBody component", MessageType.Warning);
}
if (component.body != null && component.GetComponent <Rigidbody>() != null && component.body.GetComponent <Rigidbody>())
{
EditorGUILayout.HelpBox("Two RigidBody is connected (in this-> and in this->Body->). There can be only one", MessageType.Warning);
}
if (legsCount < 2)
{
EditorGUILayout.HelpBox("Add legs! Leg is described by GameObjects with LegSkel component on it", MessageType.Warning);
}
else
{
if (component.engine.leadingLegLeft < 0 || component.engine.leadingLegLeft >= legsCount)
{
EditorGUILayout.HelpBox("Wrong index for Engine -> Leading Leg Left", MessageType.Warning);
}
if (component.engine.leadingLegRight < 0 || component.engine.leadingLegRight >= legsCount)
{
EditorGUILayout.HelpBox("Wrong index for Engine -> Leading Leg Right", MessageType.Warning);
}
}
EditorGUILayout.HelpBox("Legs count: " + legsCount, MessageType.None);
if (component.transform.parent == null)
{
EditorGUILayout.HelpBox("Place this game object as a child of another", MessageType.Warning);
}
else
{
if (GUILayout.Button("Update ProtoModel"))
{
updateProtoModel(component.transform);
}
if (GUILayout.Button("Fill ProtoModel"))
{
fillProtoModel(component.transform);
}
}
// if (GUILayout.Button("Create from skeleton")) {
// createDebugGeometry(t);
// for (int i = 0; i < t.childCount; i++) {
// MoveenLegBase structureDesc = t.GetChild(i).GetComponent<MoveenLegBase>();
// if (structureDesc != null) {
// for (int b = 0; b < structureDesc.bonesDeltaPos.Count; b++) {
// structureDesc.bonesDeltaPos[b] = new Vector3(structureDesc.legSkel.bones[b].r / 2, 0, 0);
// structureDesc.bonesDeltaRot[b] = Quaternion.identity;
// }
// structureDesc.updateData(); //to copy new deltas
// }
// }
//
//// component.copyTransforms();//чтобы пересчитать transform
// }
if (GUILayout.Button("Reread layout"))
{
component.needsUpdate = true;
}
DrawDefaultInspector();
MoveenStepper5.showInstrumentalInfo = EditorGUILayout.Foldout(MoveenStepper5.showInstrumentalInfo, "instrumental info", true);
if (MoveenStepper5.showInstrumentalInfo)
{
int maxPerformance = 0;
int performance = 0;
addPerformance(ref performance, ref maxPerformance, 50, component.hip != null, "hip connected");
addPerformance(ref performance, ref maxPerformance, 5 * legsCount, true, legsCount + " legs");
addPerformance(ref performance, ref maxPerformance, 20, component.engine.forceBipedalEarlyStep, "forceBipedalEaryStep");
addPerformance(ref performance, ref maxPerformance, 10, component.engine.bipedalForbidPlacement, "bipedalForbidPlacement");
addPerformance(ref performance, ref maxPerformance, 5, component.engine.protectBodyFromFallthrough, "protectBodyFromFallthrough");
addPerformance(ref performance, ref maxPerformance, 10, component.engine.bodyLenHelp != 0f, "bodyLenHelp");
// addPerformance(ref performance, ref maxPerformance, 2, !component.engine.legsCanPull, "legsCanPull");
//TODO measure numbers
//TODO...
EditorGUI.ProgressBar(EditorGUILayout.GetControlRect(), (float)performance / maxPerformance, "CPU use " + performance + " / " + maxPerformance);
EditorGUILayout.HelpBox("CPU use: " + performance + " / " + maxPerformance + " (lower number - fewer features, more performance)", MessageType.Info);
MoveenStep2Editor.drawInstrumentalProperties(component.engine);
}
}
private static void Gizmo(MoveenStep2 component, GizmoType gizmoType)
{
if (!component.isActiveAndEnabled)
{
return;
}
Step2 step = component.step;
if (step.thisTransform == null)
{
return; //if not updated first time yet
}
Transform withStepper = MoveenStep2Editor.withStepper(component.transform);
Gizmos.color = new Color(0.5f, 0.5f, 0.5f);
UnityEditorUtils.circle3d(step.bestTargetConservativeAbs, Quaternion.AngleAxis(0, Vector3.up), step.comfortRadius, 20);
if (!Application.isPlaying)
{
if (step.showTrajectory)
{
Gizmos.color = new Color(0, 1, 0);
Gizmos.DrawRay(step.posAbs, new Vector3(0, 1, 0) * step.undockTime * step.undockInitialStrength);
Vector3 far = step.posAbs + withStepper.rotation.rotate(new Vector3(1, 0, 0)) * step.comfortRadius;
Gizmos.color = new Color(1, 0, 0);
Gizmos.DrawRay(far, new Vector3(0, 1, 0) * step.targetDockR);
Step2 example = new Step2();
example.posAbs = step.posAbs;
example.oldPosAbs = step.posAbs;
// example.legPosFromStruct = example.legPosAbs;
example.undockPause = step.undockPause;
example.targetDockR = step.targetDockR;
example.undockInitialStrength = step.undockInitialStrength;
example.undockTime = step.undockTime;
// example.targetUnderground = step.targetUnderground;
example.bestTargetProgressiveAbs = far;
example.bestTargetConservativeAbs = step.posAbs;
example.bestTargetConservativeUnprojAbs = step.posAbs;
example.legSpeed = step.stepSpeedMin;
example.maxAcceleration = step.maxAcceleration;
example.basisAbs = step.thisTransform.position;
example.maxLen = step.maxLen;
example.beginStep(1);
example.isExample = true;
example.undockHDif = 1;
Vector3 lastPos = step.posAbs;
for (int j = 0; j < 1000; j++)
{
example.tick(1f / 50);
Gizmos.color = new Color(0, 0, 1);
Gizmos.DrawLine(lastPos, example.posAbs);
lastPos = example.posAbs;
if (example.posAbs.dist(far) < example.targetDockR * 0.3f)
{
break;
}
}
Gizmos.color = new Color(0, 1, 0);
Gizmos.DrawLine(lastPos, far);
}
}
if (Application.isPlaying)
{
Gizmos.color = new Color(0, 1, 0);
Gizmos.DrawWireSphere(step.bestTargetConservativeAbs, 0.03f);
Gizmos.color = new Color(1, 1, 0);
Gizmos.DrawWireSphere(step.bestTargetConservativeUnprojAbs2, 0.08f);
Gizmos.color = new Color(0, 1, 1);
Gizmos.DrawWireSphere(step.airTarget, 0.08f);
Gizmos.color = new Color(1, 0, 0);
Gizmos.DrawWireSphere(step.bestTargetProgressiveAbs, 0.03f);
Gizmos.color = new Color(1, 1, 1);
Gizmos.DrawWireSphere(step.curTarget, 0.05f);
Gizmos.color = Color.green;
if (step.wasTooLong)
{
Gizmos.color = Color.red;
Gizmos.DrawWireSphere(step.posAbs, 0.2f);
}
if (step.dockedState)
{
Gizmos.color = Color.green;
Gizmos.DrawWireSphere(step.posAbs, 0.15f);
}
}
}