Add ultimate xr

Assets/UltimateXR/Editor/Animation/IK/UxrCcdIKSolverEditor.cs

@@ -0,0 +1,138 @@
+// --------------------------------------------------------------------------------------------------------------------
+// <copyright file="UxrCcdIKSolverEditor.cs" company="VRMADA">
+//   Copyright (c) VRMADA, All rights reserved.
+// </copyright>
+// --------------------------------------------------------------------------------------------------------------------
+using UltimateXR.Animation.IK;
+using UnityEditor;
+using UnityEngine;
+
+namespace UltimateXR.Editor.Animation.IK
+{
+    /// <summary>
+    ///     Custom inspector for <see cref="UxrCcdIKSolver" />. Also draws handles in the scene window.
+    /// </summary>
+    [CustomEditor(typeof(UxrCcdIKSolver))]
+    public class UxrCcdIKSolverEditor : UnityEditor.Editor
+    {
+        #region Unity
+
+        /// <summary>
+        ///     Initializes the link count variable and hooks the Update() method to monitor changes on the component's link count.
+        /// </summary>
+        private void OnEnable()
+        {
+            _linkCount               =  ((UxrCcdIKSolver)serializedObject.targetObject).Links.Count;
+            EditorApplication.update += EditorApplication_Updated;
+        }
+
+        /// <summary>
+        ///     Removes the Update hook.
+        /// </summary>
+        private void OnDisable()
+        {
+            EditorApplication.update -= EditorApplication_Updated;
+        }
+
+        /// <summary>
+        ///     Draws the IK scene handles.
+        /// </summary>
+        private void OnSceneGUI()
+        {
+            UxrCcdIKSolver solverCcd = target as UxrCcdIKSolver;
+
+            if (solverCcd == null || solverCcd.Links == null)
+            {
+                return;
+            }
+
+            if (Application.isPlaying == false)
+            {
+                solverCcd.ComputeLinkData();
+            }
+
+            int index = 0;
+
+            foreach (UxrCcdLink link in solverCcd.Links)
+            {
+                if (link.Bone == null)
+                {
+                    continue;
+                }
+
+                Vector3 normal = link.Bone.TransformDirection(link.RotationAxis1);
+                Handles.color = new Color(Mathf.Abs(link.RotationAxis1.x), Mathf.Abs(link.RotationAxis1.y), Mathf.Abs(link.RotationAxis1.z), 0.3f);
+
+                float angle1Min = link.Axis1HasLimits ? link.Axis1AngleMin : -180.0f;
+                float angle1Max = link.Axis1HasLimits ? link.Axis1AngleMax : 180.0f;
+
+                Handles.DrawSolidArc(link.Bone.position,
+                                     normal,
+                                     Quaternion.AngleAxis(angle1Min - link.Angle1, normal) * link.Bone.TransformDirection(link.LocalSpaceAxis1ZeroAngleVector),
+                                     angle1Max - angle1Min,
+                                     link.LinkLength * 0.5f);
+                Handles.color = new Color(Mathf.Abs(link.RotationAxis1.x), Mathf.Abs(link.RotationAxis1.y), Mathf.Abs(link.RotationAxis1.z), 1.0f);
+                Handles.DrawLine(link.Bone.position, link.Bone.position + 0.6f * link.LinkLength * link.Bone.TransformDirection(link.LocalSpaceAxis1ZeroAngleVector));
+
+                if (link.Constraint == UxrCcdConstraintType.TwoAxes)
+                {
+                    float angle2Min = link.Axis2HasLimits ? link.Axis2AngleMin : -180.0f;
+                    float angle2Max = link.Axis2HasLimits ? link.Axis2AngleMax : 180.0f;
+
+                    normal        = link.Bone.TransformDirection(link.RotationAxis2);
+                    Handles.color = new Color(Mathf.Abs(link.RotationAxis2.x), Mathf.Abs(link.RotationAxis2.y), Mathf.Abs(link.RotationAxis2.z), 0.3f);
+                    Handles.DrawSolidArc(link.Bone.position,
+                                         normal,
+                                         Quaternion.AngleAxis(angle2Min + link.Angle2, normal) * link.Bone.TransformDirection(link.LocalSpaceAxis2ZeroAngleVector),
+                                         angle2Max - angle2Min,
+                                         link.LinkLength * 0.5f);
+                    Handles.color = new Color(Mathf.Abs(link.RotationAxis2.x), Mathf.Abs(link.RotationAxis2.y), Mathf.Abs(link.RotationAxis2.z), 1.0f);
+                    Handles.DrawLine(link.Bone.position, link.Bone.position + 0.6f * link.LinkLength * link.Bone.TransformDirection(link.LocalSpaceAxis2ZeroAngleVector));
+                }
+
+                if (index == 0 && link.Bone != null && solverCcd.EndEffector != null && solverCcd.Goal != null)
+                {
+                    Handles.color = Color.magenta;
+                    Handles.DrawLine(link.Bone.position,             solverCcd.EndEffector.position);
+                    Handles.DrawLine(solverCcd.EndEffector.position, solverCcd.Goal.position);
+                }
+
+                index++;
+            }
+        }
+
+        #endregion
+
+        #region Event Handling Methods
+
+        /// <summary>
+        ///     Monitors for changes in the link count so that if new ones are added they are assigned default parameters.
+        ///     Unity does not support assigning default values to new elements added. This is the reason we need to do this.
+        /// </summary>
+        private void EditorApplication_Updated()
+        {
+            UxrCcdIKSolver solverCcd = target as UxrCcdIKSolver;
+
+            if (solverCcd != null && solverCcd.Links.Count != _linkCount)
+            {
+                if (solverCcd.Links.Count > _linkCount)
+                {
+                    for (int i = _linkCount; i < solverCcd.Links.Count; ++i)
+                    {
+                        solverCcd.SetLinkDefaultValues(i);
+                    }
+                }
+
+                _linkCount = solverCcd.Links.Count;
+            }
+        }
+
+        #endregion
+
+        #region Private Types & Data
+
+        private int _linkCount;
+
+        #endregion
+    }
+}