Initial commit (v1.1.0)

.gitignore

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+# This .gitignore file should be placed at the root of your Unity project directory
+#
+# Get latest from https://github.com/github/gitignore/blob/main/Unity.gitignore
+#
+/[Ll]ibrary/
+/[Tt]emp/
+/[Oo]bj/
+/[Bb]uild/
+/[Bb]uilds/
+/[Ll]ogs/
+/[Uu]ser[Ss]ettings/
+
+# MemoryCaptures can get excessive in size.
+# They also could contain extremely sensitive data
+/[Mm]emoryCaptures/
+
+# Recordings can get excessive in size
+/[Rr]ecordings/
+
+# Uncomment this line if you wish to ignore the asset store tools plugin
+# /[Aa]ssets/AssetStoreTools*
+
+# Autogenerated Jetbrains Rider plugin
+/[Aa]ssets/Plugins/Editor/JetBrains*
+
+# Visual Studio cache directory
+.vs/
+
+# Gradle cache directory
+.gradle/
+
+# Autogenerated VS/MD/Consulo solution and project files
+ExportedObj/
+.consulo/
+*.csproj
+*.unityproj
+*.sln
+*.suo
+*.tmp
+*.user
+*.userprefs
+*.pidb
+*.booproj
+*.svd
+*.pdb
+*.mdb
+*.opendb
+*.VC.db
+
+# Unity3D generated meta files
+*.pidb.meta
+*.pdb.meta
+*.mdb.meta
+
+# Unity3D generated file on crash reports
+sysinfo.txt
+
+# Builds
+*.apk
+*.aab
+*.unitypackage
+*.app
+
+# Crashlytics generated file
+crashlytics-build.properties
+
+# Packed Addressables
+/[Aa]ssets/[Aa]ddressable[Aa]ssets[Dd]ata/*/*.bin*
+
+# Temporary auto-generated Android Assets
+/[Aa]ssets/[Ss]treamingAssets/aa.meta
+/[Aa]ssets/[Ss]treamingAssets/aa/*
+
+# VS Code
+.vscode/*
+
+# Native libraries
+*.dll
+*.so
+
+# mono crash report
+*.blob

Editor/Actors/PhysxActorEditorBase.cs

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+using UnityEditor;
+using UnityEngine;
+
+namespace PhysX5ForUnity
+{
+    public abstract class PhysxActorEditorBase : PhysxEditorBase
+    {
+        protected virtual void OnEnable()
+        {
+            m_scene = serializedObject.FindProperty("m_scene");
+        }
+
+        protected SerializedProperty m_scene;
+
+        protected GUIContent m_sceneLabelContent = new GUIContent("PhysX Scene");
+    }
+}

Editor/Actors/PhysxArticulationKinematicTreeEditor.cs

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+using UnityEditor;
+
+namespace PhysX5ForUnity
+{
+    [CustomEditor(typeof(PhysxArticulationKinematicTree))]
+    [CanEditMultipleObjects]
+    public class PhysxArticulationKinematicTreeEditor : PhysxActorEditorBase
+    {
+        protected override void OnEnable()
+        {
+            base.OnEnable();
+            m_fixBase = serializedObject.FindProperty("m_fixBase");
+            m_disableSelfCollision = serializedObject.FindProperty("m_disableSelfCollision");
+            m_links = serializedObject.FindProperty("m_links");
+            m_density = serializedObject.FindProperty("m_density");
+        }
+
+        protected override void DrawInspectorGUI()
+        {
+            serializedObject.Update();
+
+            EditorGUILayout.PropertyField(m_scene, m_sceneLabelContent);
+            EditorGUILayout.PropertyField(m_fixBase);
+            EditorGUILayout.PropertyField(m_disableSelfCollision);
+            EditorGUILayout.PropertyField(m_density);
+            EditorGUILayout.PropertyField(m_links);
+
+            serializedObject.ApplyModifiedProperties();
+        }
+
+        protected SerializedProperty m_fixBase;
+        protected SerializedProperty m_disableSelfCollision;
+        protected SerializedProperty m_links;
+        protected SerializedProperty m_density;
+    }
+}

Editor/Actors/PhysxArticulationLinkEditor.cs

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+using UnityEditor;
+using UnityEngine;
+
+namespace PhysX5ForUnity
+{
+    [CustomEditor(typeof(PhysxArticulationLink))]
+    [CanEditMultipleObjects]
+    public class PhysxArticulationLinkEditor : PhysxArticulationLinkEditorBase
+    {
+        protected override void OnEnable()
+        {
+            base.OnEnable();
+            m_parentLink = serializedObject.FindProperty("m_parentLink");
+            m_articulationAxis = serializedObject.FindProperty("m_articulationAxis");
+            m_isDriveJoint = serializedObject.FindProperty("m_isDriveJoint");
+        }
+
+        protected override void DrawInspectorGUI()
+        {
+            serializedObject.Update();
+
+            EditorGUILayout.PropertyField(m_parentLink);
+            EditorGUILayout.PropertyField(m_jointOnParent);
+            EditorGUILayout.PropertyField(m_jointOnSelf);
+            EditorGUILayout.PropertyField(m_jointType);
+
+            if (m_jointType.enumValueIndex!=0)
+            {
+                EditorGUILayout.PropertyField(m_articulationAxis);
+
+                GUILayout.BeginVertical("HelpBox");
+
+                EditorGUILayout.LabelField("Joint Limits", EditorStyles.boldLabel);
+                float jointLimMin = m_jointLimLower.floatValue;
+                float jointLimMax = m_jointLimUpper.floatValue;
+                EditorGUILayout.MinMaxSlider(ref jointLimMin, ref jointLimMax, -2 * Mathf.PI, 2 * Mathf.PI);
+                m_jointLimLower.floatValue = jointLimMin;
+                m_jointLimUpper.floatValue = jointLimMax;
+                EditorGUILayout.PropertyField(m_jointLimLower, m_jointLimLowerLabelContent);
+                EditorGUILayout.PropertyField(m_jointLimUpper, m_jointLimUpperLabelContent);
+
+                GUILayout.EndVertical();
+                EditorGUILayout.PropertyField(m_isDriveJoint);
+                if (m_isDriveJoint.boolValue)
+                {
+                    EditorGUILayout.PropertyField(m_driveGainP);
+                    EditorGUILayout.PropertyField(m_driveGainD);
+                    EditorGUILayout.PropertyField(m_driveMaxForce);
+                }
+            }
+
+            serializedObject.ApplyModifiedProperties();
+        }
+
+        protected SerializedProperty m_parentLink;
+        protected SerializedProperty m_articulationAxis;
+        protected SerializedProperty m_isDriveJoint;
+    }
+}

Editor/Actors/PhysxArticulationLinkEditorBase.cs

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+using UnityEditor;
+using UnityEngine;
+
+namespace PhysX5ForUnity
+{
+    public abstract class PhysxArticulationLinkEditorBase : PhysxEditorBase
+    {
+        protected virtual void OnEnable()
+        {
+            m_jointOnParent = serializedObject.FindProperty("m_jointOnParent");
+            m_jointOnSelf = serializedObject.FindProperty("m_jointOnSelf");
+            m_jointType = serializedObject.FindProperty("m_jointType");
+            m_jointLimLower = serializedObject.FindProperty("m_jointLimLower");
+            m_jointLimUpper = serializedObject.FindProperty("m_jointLimUpper");
+            m_driveGainP = serializedObject.FindProperty("m_driveGainP");
+            m_driveGainD = serializedObject.FindProperty("m_driveGainD");
+            m_driveMaxForce = serializedObject.FindProperty("m_driveMaxForce");
+        }
+
+        protected SerializedProperty m_jointOnParent;
+        protected SerializedProperty m_jointOnSelf;
+        protected SerializedProperty m_jointType;
+        protected SerializedProperty m_jointLimLower;
+        protected SerializedProperty m_jointLimUpper;
+        protected SerializedProperty m_driveGainP;
+        protected SerializedProperty m_driveGainD;
+        protected SerializedProperty m_driveMaxForce;
+
+        protected GUIContent m_jointLimLowerLabelContent = new GUIContent("Lower Limit");
+        protected GUIContent m_jointLimUpperLabelContent = new GUIContent("Upper Limit");
+    }
+}

Editor/Actors/PhysxArticulationRobotEditor.cs

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+using UnityEditor;
+
+namespace PhysX5ForUnity
+{
+    [CustomEditor(typeof(PhysxArticulationRobot))]
+    [CanEditMultipleObjects]
+    public class PhysxArticulationRobotEditor : PhysxArticulationKinematicTreeEditor
+    {
+        protected override void OnEnable()
+        {
+            base.OnEnable();
+            m_basePose = serializedObject.FindProperty("m_basePose");
+            m_eeLinks = serializedObject.FindProperty("m_eeLinks");
+        }
+
+        protected override void DrawInspectorGUI()
+        {
+            serializedObject.Update();
+
+            EditorGUILayout.PropertyField(m_scene, m_sceneLabelContent);
+            EditorGUILayout.PropertyField(m_fixBase);
+            EditorGUILayout.PropertyField(m_disableSelfCollision);
+            EditorGUILayout.PropertyField(m_basePose);
+            EditorGUILayout.PropertyField(m_density);
+            EditorGUILayout.PropertyField(m_links);
+            EditorGUILayout.PropertyField(m_eeLinks);
+
+            serializedObject.ApplyModifiedProperties();
+        }
+
+        protected SerializedProperty m_basePose;
+        protected SerializedProperty m_eeLinks;
+    }
+}

Editor/Actors/PhysxArticulationRobotLinkEditor.cs

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+using UnityEditor;
+using UnityEngine;
+
+namespace PhysX5ForUnity
+{
+    [CustomEditor(typeof(PhysxArticulationRobotLink))]
+    [CanEditMultipleObjects]
+    public class PhysxArticulationRobotLinkEditor : PhysxArticulationLinkEditorBase
+    {
+        protected override void DrawInspectorGUI()
+        {
+            serializedObject.Update();
+
+            EditorGUILayout.PropertyField(m_jointOnParent);
+            EditorGUILayout.PropertyField(m_jointOnSelf);
+            EditorGUILayout.PropertyField(m_jointType);
+
+            if (m_jointType.enumValueIndex!=0)
+            {
+                GUILayout.BeginVertical("HelpBox");
+
+                EditorGUILayout.LabelField("Joint Limits", EditorStyles.boldLabel);
+                float jointLimMin = m_jointLimLower.floatValue;
+                float jointLimMax = m_jointLimUpper.floatValue;
+                EditorGUILayout.MinMaxSlider(ref jointLimMin, ref jointLimMax, -2 * Mathf.PI, 2 * Mathf.PI);
+                m_jointLimLower.floatValue = jointLimMin;
+                m_jointLimUpper.floatValue = jointLimMax;
+                EditorGUILayout.PropertyField(m_jointLimLower, m_jointLimLowerLabelContent);
+                EditorGUILayout.PropertyField(m_jointLimUpper, m_jointLimUpperLabelContent);
+
+                GUILayout.EndVertical();
+                EditorGUILayout.PropertyField(m_driveGainP);
+                EditorGUILayout.PropertyField(m_driveGainD);
+                EditorGUILayout.PropertyField(m_driveMaxForce);
+            }
+
+            serializedObject.ApplyModifiedProperties();
+        }
+    }
+}