313 lines
13 KiB
C#
313 lines
13 KiB
C#
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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using UnityEditor;
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[CustomEditor(typeof(HybridInverseKinematicsNode))]
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public class HybridIKNodeInspector : Editor
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{
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private HybridInverseKinematicsNode hybridIKNode { get { return target as HybridInverseKinematicsNode; } }
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List<string> boneHierarchy = new List<string>();
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private int selectedIKNodeIndex = -1;
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private int selectedIKKeyframe = -1;
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public void DeletePoseKeyframe(int selectedPose)
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{
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foreach (HybridIKConstraint c in hybridIKNode.constraints)
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{
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if (c.positionKeys.Count > 0)
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{
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c.positionKeys.RemoveAt(selectedPose);
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}
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}
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foreach (HybridIKJoint node in hybridIKNode.nodes)
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{
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node.keyedPositions.RemoveAt(selectedPose);
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node.keyedLocalPositions.RemoveAt(selectedPose);
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node.keyedRotations.RemoveAt(selectedPose);
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}
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selectedIKKeyframe = -1;
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hybridIKNode.ResetToZeroPose();
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}
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public override void OnInspectorGUI()
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{
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if (selectedIKKeyframe >= 0)
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{
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if (GUILayout.Button("Select Full Chain"))
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{
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selectedIKKeyframe = -1;
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}
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if (selectedIKKeyframe >= 0)
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{
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GUILayout.Label("IK Keyframe " + selectedIKKeyframe.ToString() + " selected");
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if (GUILayout.Button("Delete Pose Keyframe"))
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{
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DeletePoseKeyframe(selectedIKKeyframe);
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}
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return;
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}
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}
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if (selectedIKNodeIndex >= 0)
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{
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HybridIKJoint selectedNode = hybridIKNode.nodes[selectedIKNodeIndex];
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GUILayout.BeginHorizontal();
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if (selectedNode.jointTransform != null)
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{
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if (GUILayout.Button("Select Joint GameObject"))
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{
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Selection.activeGameObject = selectedNode.jointTransform.gameObject;
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}
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}
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if (GUILayout.Button("Select Full Chain"))
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{
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selectedIKNodeIndex = -1;
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}
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GUILayout.EndHorizontal();
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if (selectedIKNodeIndex >= 0)
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{
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GUILayout.Label("IK Node " + selectedIKNodeIndex.ToString() + " selected");
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selectedNode.jointRadius = EditorGUILayout.FloatField("Node Radius", selectedNode.jointRadius);
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var oldColor = GUI.backgroundColor;
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GUILayout.Label("CONSTRAINTS MODE");
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GUILayout.BeginHorizontal();
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if (selectedNode.enableKeyframeConstraints && !selectedNode.overrideConstraint) GUI.backgroundColor = Color.green;
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if (GUILayout.Button("KEYFRAMED"))
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{
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selectedNode.enableKeyframeConstraints = true;
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selectedNode.overrideConstraint = false;
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hybridIKNode.ReprocessJoints();
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}
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GUI.backgroundColor = oldColor;
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if (selectedNode.overrideConstraint) GUI.backgroundColor = Color.green;
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if (GUILayout.Button("MANUAL CONSTRAINT"))
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{
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selectedNode.enableKeyframeConstraints = false;
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selectedNode.overrideConstraint = true;
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hybridIKNode.ReprocessJoints();
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}
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GUI.backgroundColor = oldColor;
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if (!selectedNode.enableKeyframeConstraints && !selectedNode.overrideConstraint) GUI.backgroundColor = Color.green;
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if (GUILayout.Button("NONE"))
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{
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selectedNode.enableKeyframeConstraints = false;
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selectedNode.overrideConstraint = false;
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hybridIKNode.ReprocessJoints();
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}
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GUILayout.EndHorizontal();
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GUI.backgroundColor = oldColor;
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if (selectedNode.overrideConstraint)
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{
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//n.position = EditorGUILayout.Vector3Field("Target Position", node.position);
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selectedNode.constraint.jointTransform = selectedNode.jointTransform;
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selectedNode.constraint.targetTransform = EditorGUILayout.ObjectField("Target Transform", selectedNode.constraint.targetTransform, typeof(Transform), true) as Transform;
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selectedNode.constraint.constrainPosition = EditorGUILayout.Toggle("Constrain Position", selectedNode.constraint.constrainPosition);
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selectedNode.constraint.constrainRotation = EditorGUILayout.Toggle("Constrain Orientation", selectedNode.constraint.constrainRotation);
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}
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selectedNode.enableStretch = EditorGUILayout.Toggle("Enable Stretch", selectedNode.enableStretch);
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if (selectedNode.enableStretch)
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{
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if (selectedNode.stretchLimits == null)
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{
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selectedNode.stretchLimits = new HybridIKNodeStretchLimits();
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}
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selectedNode.stretchLimits.targetSpace = EditorGUILayout.ObjectField("Target Transform", selectedNode.stretchLimits.targetSpace, typeof(Transform), true) as Transform;
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selectedNode.stretchLimits.minStretchLimits = EditorGUILayout.Vector3Field("Min Stretch Limits", selectedNode.stretchLimits.minStretchLimits);
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selectedNode.stretchLimits.maxStretchLimits = EditorGUILayout.Vector3Field("Max Stretch Limits", selectedNode.stretchLimits.maxStretchLimits);
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}
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if (GUI.changed) EditorUtility.SetDirty(hybridIKNode);
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return;
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}
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}
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if (GUILayout.Button("Process IK Joint Chain"))
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{
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hybridIKNode.ResetAll();
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hybridIKNode.ProcessChain();
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}
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if (hybridIKNode.nodes != null)
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{
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if (GUILayout.Button("Set Zero Rotations to Current Pose"))
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{
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foreach (HybridIKJoint node in hybridIKNode.nodes)
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{
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node.zeroRotation = node.jointTransform.localRotation;
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node.zeroPosition = node.jointTransform.localPosition;
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}
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}
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}
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base.OnInspectorGUI();
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if (hybridIKNode.nodes == null) return;
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if (hybridIKNode.constraints == null || hybridIKNode.constraints.Count == 0)
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{
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hybridIKNode.constraints = new List<HybridIKConstraint>();
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foreach (HybridIKJoint node in hybridIKNode.nodes)
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{
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node.keyedLocalPositions = new List<Vector3>();
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node.keyedPositions = new List<Vector3>();
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node.keyedRotations = new List<Quaternion>();
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}
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}
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if (hybridIKNode.constraints != null)// && hybridIKNode.constraints.Count > 0)
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{
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//EditorGUILayout.LabelField("Keyframe Constraints", EditorStyles.boldLabel);
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if (GUILayout.Button("Add Joints Pose Keyframe"))
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{
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List<int> keyframeState = new List<int>();
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foreach(HybridIKJoint j in hybridIKNode.nodes)
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{
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keyframeState.Add(j.enableKeyframeConstraints ? 0 : j.overrideConstraint ? 1 : 2);
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j.enableKeyframeConstraints = true; j.overrideConstraint = false;
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}
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hybridIKNode.ReprocessJoints();
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HybridIKJoint root = hybridIKNode.nodes[0];
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Transform parent = root.jointTransform.parent;
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foreach (HybridIKJoint node in hybridIKNode.nodes)
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{
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// encode rotation
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if (node.keyedRotations == null)
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node.keyedRotations = new List<Quaternion>();
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node.keyedRotations.Add(node.jointTransform.localRotation);
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//encode local positions used for stretch
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if (node.keyedLocalPositions == null)
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node.keyedLocalPositions = new List<Vector3>();
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node.keyedLocalPositions.Add(node.jointTransform.localPosition);
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// encode position in parent space
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if (node.keyedPositions == null)
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node.keyedPositions = new List<Vector3>();
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node.keyedPositions.Add(parent != null ? parent.InverseTransformPoint(node.GetCurrentPositionWorld()) : node.GetCurrentPositionWorld());
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HybridIKConstraint constraint = hybridIKNode.constraints.Find(c => c.jointTransform == node.jointTransform);
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if (constraint == null)
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{
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constraint = new HybridIKConstraint();
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constraint.jointTransform = node.jointTransform;
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constraint.constrainPosition = true;
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hybridIKNode.constraints.Add(constraint);
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}
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}
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foreach (HybridIKConstraint c in hybridIKNode.constraints)
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{
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ConstraintPositionKey key = new ConstraintPositionKey();
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if (c.positionKeys == null) c.positionKeys = new List<ConstraintPositionKey>();
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key.constraintPositionValue = c.jointTransform.position;
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Vector3 endPos = parent != null ? parent.InverseTransformPoint(hybridIKNode.endNode.position) : hybridIKNode.endNode.position;
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key.SetEndTargetPosition(hybridIKNode.endNode.position, parent);
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c.positionKeys.Add(key);
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}
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hybridIKNode.ResetToZeroPose();
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}
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if (hybridIKNode.nodes != null && hybridIKNode.nodes.Count > 0 && hybridIKNode.nodes[0] != null && hybridIKNode.nodes[0].keyedPositions != null)
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{
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for (int p = 0; p < hybridIKNode.nodes[0].keyedPositions.Count; ++p)
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{
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GUILayout.BeginHorizontal();
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GUILayout.Label("Key Pose " + (p + 1).ToString());
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if (GUILayout.Button("Select"))
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{
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//selectedIKKeyframe = p;
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hybridIKNode.PoseToKeyframe(p);
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Repaint();
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}
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if (GUILayout.Button("Delete Key"))
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{
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DeletePoseKeyframe(p);
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}
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GUILayout.EndHorizontal();
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}
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}
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}
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if (GUI.changed) EditorUtility.SetDirty(hybridIKNode);
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}
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private void OnDestroy()
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{
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if (!Application.isPlaying)
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hybridIKNode.ResetToZeroPose();
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}
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public void OnSceneGUI()
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{
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if (hybridIKNode.nodes == null || hybridIKNode.nodes.Count == 0) return;
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Color originalColor = Handles.color;
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if (hybridIKNode.IsInitialized())
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{
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for (int i = 0; i < hybridIKNode.nodes.Count; ++i)
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//foreach (SweepIKNode n in hybridIKNode.nodes)
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{
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HybridIKJoint n = hybridIKNode.nodes[i];
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Color c = n.enableKeyframeConstraints ? Color.blue : n.overrideConstraint ? Color.cyan : originalColor;
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Handles.color = selectedIKNodeIndex == i ? Color.green : c;
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float nRadius = Mathf.Max(n.jointRadius, 0.05f, n.jointRadius);
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if (Handles.Button(n.GetCurrentPositionWorld(), Quaternion.identity, nRadius, nRadius,Handles.SphereHandleCap))
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{
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selectedIKNodeIndex = i;
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selectedIKKeyframe = -1;
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if (!Application.isPlaying)
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hybridIKNode.ResetToZeroPose();
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Repaint();
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}
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}
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HybridIKJoint root = hybridIKNode.GetRootIKNode();
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HybridIKJoint endIKNode = hybridIKNode.GetEndIKNode();
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Transform parentSpace = root.jointTransform.parent;
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foreach (HybridIKConstraint c in hybridIKNode.constraints)
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{
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if (c.positionKeys.Count > 0)
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{
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for (int i = 0; i < c.positionKeys.Count; ++i)
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{
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ConstraintPositionKey k = c.positionKeys[i];
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Handles.color = selectedIKKeyframe == i ? Color.green : originalColor;
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if (i % 4 == 0) Handles.color = Color.green;
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if (i % 4 == 1) Handles.color = Color.blue;
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if (i % 4 == 2) Handles.color = Color.yellow;
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if (i % 4 == 3) Handles.color = Color.magenta;
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Vector3 buttonPos = k.GetEndTargetPosition(endIKNode.targetIKSpace != null ? endIKNode.targetIKSpace : parentSpace);
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if (Handles.Button(buttonPos, Quaternion.identity, endIKNode.jointRadius, endIKNode.jointRadius, Handles.SphereHandleCap))
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{
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selectedIKKeyframe = i;
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selectedIKNodeIndex = -1;
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hybridIKNode.PoseToKeyframe(selectedIKKeyframe);
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Repaint();
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}
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}
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}
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}
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}
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Handles.color = originalColor;
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}
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}
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