Added a ZO 4wd Differential Drive Controller

Editor/CustomEditors/ZO4wdDifferentialDriveControllerEditor.cs

@@ -0,0 +1,91 @@
+using System.Linq;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEditor;
+using ZO.ROS.Controllers;
+using ZO.Physics;
+
+
+namespace ZO.Editor {
+
+    [CustomEditor(typeof(ZO4wdDifferentialDriveController))]
+    public class ZO4wdDifferentialDriveControllerEditor : UnityEditor.Editor {
+
+        // int _hingeChoiceIndex = 0;
+        string[] _motorChoiceNames;
+        SerializedObject _diffDriveSerializedObject;
+        SerializedProperty _frontRightMotorProp;
+        SerializedProperty _rearRightMotorProp;
+        SerializedProperty _frontLeftMotorProp;
+        SerializedProperty _rearLeftMotorProp;
+
+        private void OnEnable() {
+            _diffDriveSerializedObject = new SerializedObject(target);
+            _frontRightMotorProp = _diffDriveSerializedObject.FindProperty("_frontRightWheelMotor");
+            _rearRightMotorProp = _diffDriveSerializedObject.FindProperty("_rearRightWheelMotor");
+            _frontLeftMotorProp = _diffDriveSerializedObject.FindProperty("_frontLeftWheelMotor");
+            _rearLeftMotorProp = _diffDriveSerializedObject.FindProperty("_rearLeftWheelMotor");
+        }
+        public override void OnInspectorGUI() {
+            _diffDriveSerializedObject.Update();
+
+            DrawDefaultInspector();
+
+            ZO4wdDifferentialDriveController diffDrive = (ZO4wdDifferentialDriveController)target;
+
+            // get the hinge joints on this object
+            ZOHingeJoint[] hingeJoints = diffDrive.GetComponentsInChildren<ZOHingeJoint>();
+            _motorChoiceNames = new string[hingeJoints.Length];
+
+            // check if we already have set the hinge joints
+            int frontRightWheelIndex = -1;
+            int rearRightWheelIndex = -1;
+            int frontLeftWheelIndex = -1;
+            int rearLeftWheelIndex = -1;
+            for (int i = 0; i < hingeJoints.Length; i++) {
+                _motorChoiceNames[i] = hingeJoints[i].Name;
+                if (hingeJoints[i] == diffDrive.FrontRightWheelMotor) {
+                    frontRightWheelIndex = i;
+                }
+                if (hingeJoints[i] == diffDrive.RearRightWheelMotor) {
+                    rearRightWheelIndex = i;
+                }
+                if (hingeJoints[i] == diffDrive.FrontLeftWheelMotor) {
+                    frontLeftWheelIndex = i;
+                }
+                if (hingeJoints[i] == diffDrive.RearLeftWheelMotor) {
+                    rearLeftWheelIndex = i;
+                }
+
+            }
+
+            int frontLeftMotorChosenIndex = UnityEditor.EditorGUILayout.Popup("Front Left Wheel Motor Name", frontLeftWheelIndex, _motorChoiceNames);
+            int frontRightMotorChosenIndex = UnityEditor.EditorGUILayout.Popup("Front Right Wheel Motor Name", frontRightWheelIndex, _motorChoiceNames);
+
+            int rearLeftMotorChosenIndex = UnityEditor.EditorGUILayout.Popup("Rear Left Wheel Motor Name", rearLeftWheelIndex, _motorChoiceNames);
+            int rearRightMotorChosenIndex = UnityEditor.EditorGUILayout.Popup("Rear Right Wheel Motor Name", rearRightWheelIndex, _motorChoiceNames);
+
+            // if we chose something different then what is already selected then set it
+            if (frontRightMotorChosenIndex != frontRightWheelIndex) {
+                _frontRightMotorProp.objectReferenceValue = hingeJoints[frontRightMotorChosenIndex];
+            }
+            if (rearRightMotorChosenIndex != rearRightWheelIndex) {
+                _rearRightMotorProp.objectReferenceValue = hingeJoints[rearRightMotorChosenIndex];
+            }
+
+            if (frontLeftMotorChosenIndex != frontLeftWheelIndex) {
+                _frontLeftMotorProp.objectReferenceValue = hingeJoints[frontLeftMotorChosenIndex];
+            }
+            if (rearLeftMotorChosenIndex != rearLeftWheelIndex) {
+                _rearLeftMotorProp.objectReferenceValue = hingeJoints[rearLeftMotorChosenIndex];
+            }
+
+
+            // apply the properties
+            _diffDriveSerializedObject.ApplyModifiedProperties();
+
+        }
+    }
+
+}

README.md

@@ -14,6 +14,7 @@
     - [Export URDF](#export-urdf)
     - [Import URDF](#import-urdf)
       - [LEO Robot Example](#leo-robot-example)
+    - [Modifying package source](#modifying-package-source)
 
 ZeroSim is a robotics simulation engine built on the easy to use [Unity 3D](https://unity.com/)  development platform and the power of the [Robotics Operating System (ROS)](https://www.ros.org/).  ZeroSim is designed for ease of use and rapid development of all sorts of robotics and simulation -- from warehouses and industrial settings, to farming and outdoors -- from robotic arms to ground and drone based mobile robots.
 
@@ -298,3 +299,8 @@ sed -i 's#package://#./#g' my_leo_robot/leo_sim.urdf
 ```
 
 10. In Unity import URDF by: Right click and select `ZeroSim --> Import URDF...`
+
+### Modifying package source
+You can download and install this package in your Unity project and modify the package source code. You can do that by one of the following methods:
+1. Clone this repository in any folder on your computer. Install it with `Package Manager --> Add package from disk...`.
+2. Clone this repository inside the `Packages` folder in your Unity project.