Jesper Smith
82 lines
3.1 KiB
C#
82 lines
3.1 KiB
C#
// Copyright 2019 DeepMind Technologies Limited
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
using UnityEditor;
|
|
using UnityEngine;
|
|
|
|
namespace Mujoco {
|
|
|
|
[CustomEditor(typeof(MjGeom), true)]
|
|
[CanEditMultipleObjects]
|
|
public class MjGeomEditor : MjShapeComponentEditor {
|
|
public override void OnInspectorGUI() {
|
|
serializedObject.Update();
|
|
EditorGUILayout.PropertyField(serializedObject.FindProperty("Mass"));
|
|
EditorGUILayout.PropertyField(serializedObject.FindProperty("Density"));
|
|
EditorGUILayout.PropertyField(serializedObject.FindProperty("Settings"));
|
|
serializedObject.ApplyModifiedProperties();
|
|
base.OnInspectorGUI();
|
|
}
|
|
|
|
[MenuItem("CONTEXT/MjGeom/Add mesh renderer")]
|
|
private static void AddMeshComponents(MenuCommand menuCommand) {
|
|
var geom = menuCommand.context as MjGeom;
|
|
geom.gameObject.AddComponent<MjMeshFilter>();
|
|
geom.gameObject.AddComponent<MeshRenderer>().material = new Material(Shader.Find("Diffuse"));
|
|
}
|
|
|
|
[MenuItem("CONTEXT/MjGeom/Convert to free object")]
|
|
private static void ConvertToFreeObject(MenuCommand menuCommand) {
|
|
var geom = menuCommand.context as MjGeom;
|
|
if (geom.GetComponentInParent<MjBody>()) {
|
|
Debug.LogError("This geom already has a Body parent.", geom.GetComponentInParent<MjBody>());
|
|
return;
|
|
}
|
|
var parent = new GameObject(geom.gameObject.name + " Body").AddComponent<MjBody>().transform;
|
|
parent.position = geom.transform.position;
|
|
geom.transform.parent = parent;
|
|
|
|
var root = geom.transform.root;
|
|
if (root != geom.transform) {
|
|
parent.parent = geom.transform.parent;
|
|
}
|
|
|
|
var joint = new GameObject("Free Joint").AddComponent<MjFreeJoint>().transform;
|
|
joint.position = geom.transform.position;
|
|
joint.parent = parent;
|
|
}
|
|
|
|
[MenuItem("CONTEXT/Collider/Add a matching MuJoCo geom")]
|
|
private static void AddMatchingGeom(MenuCommand menuCommand) {
|
|
var collider = menuCommand.context as Collider;
|
|
collider.enabled = false;
|
|
var geom = collider.gameObject.AddComponent<MjGeom>();
|
|
if (collider as BoxCollider) {
|
|
geom.ShapeType = MjShapeComponent.ShapeTypes.Box;
|
|
} else if (collider as SphereCollider) {
|
|
geom.ShapeType = MjShapeComponent.ShapeTypes.Sphere;
|
|
} else if (collider as CapsuleCollider) {
|
|
geom.ShapeType = MjShapeComponent.ShapeTypes.Capsule;
|
|
} else if (collider as MeshCollider) {
|
|
geom.ShapeType = MjShapeComponent.ShapeTypes.Mesh;
|
|
((MjMeshShape)geom.Shape).Mesh = ((MeshCollider)collider).sharedMesh;
|
|
} else {
|
|
Debug.LogError("Collider type not supported yet.", collider);
|
|
collider.enabled = true;
|
|
GameObject.DestroyImmediate(geom);
|
|
}
|
|
}
|
|
}
|
|
}
|