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// 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(MjActuator))]
[CanEditMultipleObjects]
public class MjActuatorEditor : Editor {
private bool _showCustomParams = false;
private bool _showDebugValues = false;
private bool _showDynPrm = false;
private bool _showGainPrm = false;
private bool _showBiasValues = false;
// General actuator properties.
private SerializedProperty _dynType;
private SerializedProperty _gainType;
private SerializedProperty _biasType;
private SerializedProperty _dynPrm;
private SerializedProperty _gainPrm;
private SerializedProperty _biasPrm;
// Position actuator properties.
private SerializedProperty _kp;
// Velocity actuator properties.
private SerializedProperty _kv;
// Cylinder actuator properties.
private SerializedProperty _cylinderTimeConst;
private SerializedProperty _area;
private SerializedProperty _diameter;
private SerializedProperty _bias;
// Cylinder actuator properties.
private SerializedProperty _muscleTimeConst;
private SerializedProperty _range;
private SerializedProperty _force;
private SerializedProperty _scale;
private SerializedProperty _lmin;
private SerializedProperty _lmax;
private SerializedProperty _vmax;
private SerializedProperty _fpmax;
private SerializedProperty _fvmax;
public void OnEnable() {
_showCustomParams = false;
_showDebugValues = false;
_showDynPrm = false;
_showGainPrm = false;
_showBiasValues = false;
var customParams = serializedObject.FindProperty("CustomParams");
// General actuator properties.
_dynType = customParams.FindPropertyRelative("DynType");
_gainType = customParams.FindPropertyRelative("GainType");
_biasType = customParams.FindPropertyRelative("BiasType");
_dynPrm = customParams.FindPropertyRelative("DynPrm");
_gainPrm = customParams.FindPropertyRelative("GainPrm");
_biasPrm = customParams.FindPropertyRelative("BiasPrm");
// Position actuator properties.
_kp = customParams.FindPropertyRelative("Kp");
// Velocity actuator properties.
_kv = customParams.FindPropertyRelative("Kv");
// Cylinder actuator properties.
_cylinderTimeConst = customParams.FindPropertyRelative("CylinderTimeConst");
_area = customParams.FindPropertyRelative("Area");
_diameter = customParams.FindPropertyRelative("Diameter");
_bias = customParams.FindPropertyRelative("Bias");
// Cylinder actuator properties.
_muscleTimeConst = customParams.FindPropertyRelative("MuscleTimeConst");
_range = customParams.FindPropertyRelative("Range");
_force = customParams.FindPropertyRelative("Force");
_scale = customParams.FindPropertyRelative("Scale");
_lmin = customParams.FindPropertyRelative("LMin");
_lmax = customParams.FindPropertyRelative("LMax");
_vmax = customParams.FindPropertyRelative("VMax");
_fpmax = customParams.FindPropertyRelative("FpMax");
_fvmax = customParams.FindPropertyRelative("FvMax");
}
public override void OnInspectorGUI() {
serializedObject.Update();
foreach (var target in serializedObject.targetObjects) {
EditActuator(target as MjActuator);
}
serializedObject.ApplyModifiedProperties();
}
private void EditActuator(MjActuator actuator) {
DrawDefaultInspector();
_showCustomParams = EditorGUILayout.Foldout(_showCustomParams, "Custom Params");
if (_showCustomParams) {
EditCustomParams(actuator.Type, actuator.CustomParams);
}
_showDebugValues = EditorGUILayout.Foldout(_showDebugValues, "Debug");
if (_showDebugValues) {
using (new EditorGUI.DisabledScope(true)) {
EditorGUILayout.FloatField("Length", actuator.Length);
EditorGUILayout.FloatField("Velocity", actuator.Velocity);
EditorGUILayout.FloatField("Force", actuator.Force);
}
}
}
private void EditCustomParams(MjActuator.ActuatorType type,
MjActuator.CustomParameters parameters) {
switch (type) {
case MjActuator.ActuatorType.General: {
EditGeneralParams(parameters);
break;
}
case MjActuator.ActuatorType.Position: {
EditPositionParams(parameters);
break;
}
case MjActuator.ActuatorType.Velocity: {
EditVelocityParams(parameters);
break;
}
case MjActuator.ActuatorType.Cylinder: {
EditCylinderParams(parameters);
break;
}
case MjActuator.ActuatorType.Muscle: {
EditMuscleParams(parameters);
break;
}
}
}
private void EditGeneralParams(MjActuator.CustomParameters parameters) {
EditorGUILayout.PropertyField(_dynType);
EditorGUILayout.PropertyField(_gainType);
EditorGUILayout.PropertyField(_biasType);
_showDynPrm = EditorGUILayout.Foldout(_showDynPrm, "DynPrm");
if (_showDynPrm) {
for (var i = 0; i < parameters.DynPrm.Count; ++i) {
EditorGUILayout.PropertyField(_dynPrm.GetArrayElementAtIndex(i));
}
}
_showGainPrm = EditorGUILayout.Foldout(_showGainPrm, "GainPrm");
if (_showGainPrm) {
for (var i = 0; i < parameters.GainPrm.Count; ++i) {
EditorGUILayout.PropertyField(_gainPrm.GetArrayElementAtIndex(i));
}
}
_showBiasValues = EditorGUILayout.Foldout(_showBiasValues, "BiasPrm");
if (_showBiasValues) {
for (var i = 0; i < parameters.BiasPrm.Count; ++i) {
EditorGUILayout.PropertyField(_biasPrm.GetArrayElementAtIndex(i));
}
}
}
private void EditPositionParams(MjActuator.CustomParameters parameters) {
EditorGUILayout.PropertyField(_kp);
}
private void EditVelocityParams(MjActuator.CustomParameters parameters) {
EditorGUILayout.PropertyField(_kv);
}
private void EditCylinderParams(MjActuator.CustomParameters parameters) {
EditorGUILayout.PropertyField(_cylinderTimeConst);
EditorGUILayout.PropertyField(_area);
EditorGUILayout.PropertyField(_diameter);
_showBiasValues = EditorGUILayout.Foldout(_showBiasValues, "Bias");
if (_showBiasValues) {
for (var i = 0; i < parameters.Bias.Length; ++i) {
EditorGUILayout.PropertyField(_bias.GetArrayElementAtIndex(i));
}
}
}
private void EditMuscleParams(MjActuator.CustomParameters parameters) {
EditorGUILayout.PropertyField(_muscleTimeConst, new GUIContent("TimeConst"));
EditorGUILayout.PropertyField(_range);
EditorGUILayout.PropertyField(_force);
EditorGUILayout.PropertyField(_scale);
EditorGUILayout.PropertyField(_lmin);
EditorGUILayout.PropertyField(_lmax);
EditorGUILayout.PropertyField(_vmax);
EditorGUILayout.PropertyField(_fpmax);
EditorGUILayout.PropertyField(_fvmax);
}
}
}
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