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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.
#if UNITY_EDITOR
using System;
using UnityEditor;
using UnityEngine;
namespace Mujoco {
// During play mode, in the scene view, with a MjBody component selected, holding down control
// and left mouse drag will apply a force on the body. Holding shift down will change the applied
// force direction between World XZ plane and Y[camera-up].
[CustomEditor(typeof(MjBody))]
public class MjMouseSpring : Editor {
private bool _lastShiftKeyState = false;
private Plane _mouseDragPlane;
private Vector3 _mouseDragCurrentPoint = Vector3.negativeInfinity;
private Color _translucentRed = new Color(1, 0, 0, 0.1f);
public void OnDisable() {
// If we're still the hot control at this stage, we need to release.
int uniqueID = GUIUtility.GetControlID(FocusType.Passive);
if (GUIUtility.hotControl == uniqueID) {
GUIUtility.hotControl = 0;
}
}
private void SetDragOriginAndDragPlane(Vector3 planeOrigin, Vector3 normal) {
normal[1] = 0;
normal = _lastShiftKeyState ? Vector3.up : normal;
_mouseDragPlane.SetNormalAndPosition(normal, planeOrigin);
}
private void UpdatePositionOnDragPlane(Vector3 mousePosition) {
float rayDist;
Ray ray = HandleUtility.GUIPointToWorldRay(mousePosition);
if (_mouseDragPlane.Raycast(ray, out rayDist)) {
_mouseDragCurrentPoint = ray.GetPoint(rayDist);
}
}
private void DrawMouseSpringGui(Vector3 bodyPosition, Vector3 direction, Camera renderCamera) {
// Update and draw the drag indicator.
var rot = Quaternion.FromToRotation(Vector3.up, direction);
// Backup defaults.
var backupColour = Handles.color;
// Update the drag plane indicator disc and outline...
var discRadius = (_mouseDragCurrentPoint - bodyPosition).magnitude;
Handles.color = Color.red;
Handles.DrawWireDisc(bodyPosition, _mouseDragPlane.normal, discRadius);
Handles.color = _translucentRed;
Handles.DrawSolidDisc(bodyPosition, _mouseDragPlane.normal, discRadius);
// ...and give it a phat poly line to show the drag anchor origin.
Handles.color = Color.white;
Handles.DrawAAPolyLine(6, new Vector3[] { bodyPosition, _mouseDragCurrentPoint });
// Restore defaults.
Handles.color = backupColour;
}
public unsafe void OnSceneGUI() {
if (!Application.isPlaying) {
return;
}
var currentEvent = UnityEngine.Event.current;
// Cache the hot control to determine whether we're currently capturing mouse input.
int uniqueID = GUIUtility.GetControlID(FocusType.Passive);
// Mouse spring is active if the control key is held down and the user is dragging the
// left mouse button, or if we're already in the process of capturing mouse input.
bool mouseSpringActive = GUIUtility.hotControl == uniqueID;
bool mouseSpringStarting = currentEvent.control && currentEvent.button == 0;
if (!mouseSpringStarting && !mouseSpringActive) {
return;
}
var sceneCamera = SceneView.currentDrawingSceneView?.camera;
if (sceneCamera == null) {
Debug.LogError("SceneView.currentDrawingSceneView is null");
return;
}
MjBody body = target as MjBody;
Vector3 bodyPosition =
body != null ? body.transform.position : Vector3.zero;
var scene = MjScene.Instance;
switch (currentEvent.type) {
case EventType.MouseDown:
if (EditorWindow.mouseOverWindow == UnityEditor.EditorWindow.GetWindow<SceneView>()) {
// The mouse was pressed in the scene view, so start capturing all mouse input until
// the mouse button's released.
GUIUtility.hotControl = uniqueID;
_lastShiftKeyState = false;
SetDragOriginAndDragPlane(bodyPosition, -sceneCamera.transform.forward);
currentEvent.Use();
}
return;
case EventType.MouseDrag:
if (mouseSpringActive) {
// We're currently capturing all mouse input, so consume the event.
GUIUtility.hotControl = uniqueID;
currentEvent.Use();
}
return;
case EventType.MouseUp:
if (mouseSpringActive) {
// We're still capturing all mouse input so consume the event, but we can release our
// control over capturing input now as the mouse button's been released.
GUIUtility.hotControl = 0;
currentEvent.Use();
// as opposed to unity's addforce, xfrc_applied is persistent
scene.Data->xfrc_applied[6*body.MujocoId + 0] = 0;
scene.Data->xfrc_applied[6*body.MujocoId + 1] = 0;
scene.Data->xfrc_applied[6*body.MujocoId + 2] = 0;
}
return;
case EventType.Repaint: {
if (mouseSpringActive) {
if (currentEvent.shift != _lastShiftKeyState) {
_lastShiftKeyState = currentEvent.shift;
SetDragOriginAndDragPlane(bodyPosition, -sceneCamera.transform.forward);
}
// Raycast towards the drag plane to update _mouseDragCurrentPoint.
UpdatePositionOnDragPlane(currentEvent.mousePosition);
Vector3 bodyVel = Vector3.one;
double[] mjBodyVel = new double[6];
fixed (double* res = mjBodyVel) {
MujocoLib.mj_objectVelocity(
scene.Model, scene.Data, (int)MujocoLib.mjtObj.mjOBJ_BODY, body.MujocoId, res, 0);
// linear velocity is in the last 3 entries
bodyVel = MjEngineTool.UnityVector3(
MjEngineTool.MjVector3AtEntry(res, 1));
}
float springStiffness = 100;
var settings = MjGlobalSettings.Instance;
if (settings) {
springStiffness = settings.MouseSpringStiffness;
}
Vector3 delta = _mouseDragCurrentPoint - bodyPosition;
float mass = 1.0f / (float)scene.Model->body_invweight0[2*body.MujocoId];
Vector3 unityForce = delta * springStiffness * mass;
unityForce -= bodyVel * Mathf.Sqrt(springStiffness) * mass;
Vector3 mjForce = MjEngineTool.MjVector3(unityForce);
scene.Data->xfrc_applied[6*body.MujocoId + 0] = mjForce.x;
scene.Data->xfrc_applied[6*body.MujocoId + 1] = mjForce.y;
scene.Data->xfrc_applied[6*body.MujocoId + 2] = mjForce.z;
// Draw and immediately force a repaint.
DrawMouseSpringGui(body.transform.position, delta, sceneCamera);
SceneView.RepaintAll();
}
return;
}
}
}
}
}
#endif
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