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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 System;
using System.Collections.Generic;
using System.Linq;
using UnityEditor;
using UnityEditor.AnimatedValues;
using UnityEngine;
namespace Mujoco {
public static class MjHandles {
// Renders a visualization of an axis, anchored at the specified world space origin.
//
// Args:
// origin: World space coordinates of the anchoring point for the visualization.
// direction: Axis direction.
public static void Axis(Vector3 origin, Vector3 direction) {
var size = HandleUtility.GetHandleSize(origin) * 0.3f;
var axisEnd = origin + direction * size;
var capRotation = Quaternion.LookRotation(direction);
Handles.DrawLine(origin, axisEnd);
Handles.ConeHandleCap(0, axisEnd, capRotation, size, EventType.Repaint);
}
// Renders a visualization of linear (translational) limits, anchored at the specified world
// space origin.
//
// Args:
// origin: World space coordinates of the anchoring point for the visualization.
// lower: Distance from the origin below, where the limit expires.
// upper: Distance from the origin above, where the limit expires.
// axis: Axis along which the limit works.
public static void LinearLimits(Vector3 origin, float lower, float upper, Vector3 axis) {
if (upper > lower) {
var discRadius = HandleUtility.GetHandleSize(origin) * 0.7f;
var startPosition = origin + axis * lower;
var endPosition = origin + axis * upper;
Handles.DrawSolidDisc(startPosition, axis, discRadius);
Handles.DrawSolidDisc(endPosition, axis, discRadius);
Handles.DrawLine(origin, endPosition);
}
}
}
}
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