Tom Erez
59 lines
2.2 KiB
C#
59 lines
2.2 KiB
C#
// Copyright 2019 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using UnityEditor;
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using UnityEditor.AnimatedValues;
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using UnityEngine;
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namespace Mujoco {
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public static class MjHandles {
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// Renders a visualization of an axis, anchored at the specified world space origin.
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//
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// Args:
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// origin: World space coordinates of the anchoring point for the visualization.
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// direction: Axis direction.
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public static void Axis(Vector3 origin, Vector3 direction) {
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var size = HandleUtility.GetHandleSize(origin) * 0.3f;
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var axisEnd = origin + direction * size;
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var capRotation = Quaternion.LookRotation(direction);
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Handles.DrawLine(origin, axisEnd);
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Handles.ConeHandleCap(0, axisEnd, capRotation, size, EventType.Repaint);
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}
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// Renders a visualization of linear (translational) limits, anchored at the specified world
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// space origin.
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//
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// Args:
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// origin: World space coordinates of the anchoring point for the visualization.
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// lower: Distance from the origin below, where the limit expires.
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// upper: Distance from the origin above, where the limit expires.
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// axis: Axis along which the limit works.
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public static void LinearLimits(Vector3 origin, float lower, float upper, Vector3 axis) {
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if (upper > lower) {
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var discRadius = HandleUtility.GetHandleSize(origin) * 0.7f;
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var startPosition = origin + axis * lower;
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var endPosition = origin + axis * upper;
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Handles.DrawSolidDisc(startPosition, axis, discRadius);
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Handles.DrawSolidDisc(endPosition, axis, discRadius);
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Handles.DrawLine(origin, endPosition);
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}
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}
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}
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}
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