Added Panel in Live View and IK mode.

Co-authored-by: Cursor <cursoragent@cursor.com>

Assets/IK/ModulePositionController.cs

@@ -23,6 +23,11 @@ public class ModulePositionController : MonoBehaviour
     [Range(0.05f, 1f)]
     public float selectedModuleAlpha = 0.25f;
 
+    [Header("Fixed/Anchor Module (IK View)")]
+    [Tooltip("If enabled, the fixed (anchor) module is tinted red in IK view.")]
+    public bool makeFixedModuleRed = true;
+    public Color fixedModuleRedColor = Color.red;
+    
     [Header("UI References")]
     public Button xPlusButton;
     public Button xMinusButton;
@@ -45,6 +50,9 @@ public class ModulePositionController : MonoBehaviour
     private readonly Dictionary<Renderer, Material[]> _originalSharedMaterialsByRenderer = new();
     private readonly List<Renderer> _transparentRenderers = new();
 
+    private readonly Dictionary<Renderer, Material[]> _originalAnchorMaterialsByRenderer = new();
+    private readonly List<Renderer> _anchorRenderers = new();
+    
     void Start()
     {
         if (mainCamera == null)
@@ -412,11 +420,16 @@ public class ModulePositionController : MonoBehaviour
         {
             ApplyTransparencyToSelectedModule();
         }
+        if (makeFixedModuleRed)
+        {
+            ApplyRedToAnchorModule();
+        }
     }
     
     public void DeselectModule()
     {
         RestoreTransparency();
+        RestoreAnchorColor();
 
         if (selectedModule != null)
         {
@@ -436,6 +449,7 @@ public class ModulePositionController : MonoBehaviour
     private void ApplyTransparencyToSelectedModule()
     {
         RestoreTransparency();
+        RestoreAnchorColor();
 
         if (selectedModule == null) return;
 
@@ -564,6 +578,53 @@ public class ModulePositionController : MonoBehaviour
         _originalSharedMaterialsByRenderer.Clear();
     }
 
+    private void ApplyRedToAnchorModule()
+    {
+        RestoreAnchorColor();
+        if (ikController == null || selectedModule == null || !makeFixedModuleRed) return;
+
+        Transform anchor = ikController.GetAnchorPoint();
+        if (anchor == null || anchor == selectedModule.transform) return;
+
+        var anchorModule = anchor.GetComponent<ModuleBase>();
+        if (anchorModule == null) return;
+
+        foreach (var r in GetRenderersOwnedByModule(anchorModule))
+        {
+            if (!_originalAnchorMaterialsByRenderer.ContainsKey(r))
+                _originalAnchorMaterialsByRenderer[r] = r.sharedMaterials;
+
+            Material[] mats = r.materials;
+            for (int i = 0; i < mats.Length; i++)
+            {
+                if (mats[i] == null) continue;
+                ConfigureMaterialForRed(mats[i], fixedModuleRedColor);
+            }
+            _anchorRenderers.Add(r);
+        }
+    }
+
+    private static void ConfigureMaterialForRed(Material m, Color redColor)
+    {
+        if (m.HasProperty("_BaseColor"))
+            m.SetColor("_BaseColor", redColor);
+        if (m.HasProperty("_Color"))
+            m.SetColor("_Color", redColor);
+    }
+
+    private void RestoreAnchorColor()
+    {
+        if (_anchorRenderers.Count == 0 && _originalAnchorMaterialsByRenderer.Count == 0) return;
+        foreach (var r in _anchorRenderers)
+        {
+            if (r == null) continue;
+            if (_originalAnchorMaterialsByRenderer.TryGetValue(r, out var shared))
+                r.sharedMaterials = shared;
+        }
+        _anchorRenderers.Clear();
+        _originalAnchorMaterialsByRenderer.Clear();
+    }
+    
     bool IsPartOfGeneratedTopology(Transform moduleTransform)
     {
         Transform current = moduleTransform;

Assets/IKModulePanel.cs

@@ -0,0 +1,33 @@
+using UnityEngine;
+using UnityEngine.UI;
+using TMPro;
+
+/// <summary>
+/// IK-mode side panel: shows fixed-module hint. Text is set in the scene.
+/// </summary>
+public class IKModulePanel : MonoBehaviour
+{
+    public TextMeshProUGUI moduleInfoText;
+
+    [Header("Panel Layout")]
+    public float panelWidth = 260f;
+    [Range(0f, 0.5f)]
+    public float cornerRadius = 0.12f;
+
+    void Start()
+    {
+        ApplyRoundedMaterial();
+    }
+
+    void ApplyRoundedMaterial()
+    {
+        var img = GetComponent<Image>();
+        if (img == null || (img.material != null && img.material.shader != null && img.material.shader.name == "UI/RoundedRect")) return;
+        var shader = Shader.Find("UI/RoundedRect");
+        if (shader == null) return;
+        var mat = new Material(shader);
+        mat.SetFloat("_Radius", cornerRadius);
+        img.material = mat;
+    }
+
+}

Assets/IKModulePanel.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e23ae2fe9673a4253b1900ba71dd94d6
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/LiveViewModulePanel.cs

@@ -0,0 +1,234 @@
+using UnityEngine;
+using UnityEngine.UI;
+using UnityEngine.EventSystems;
+using TMPro;
+
+/// <summary>
+/// Unified side panel for LiveView: shows module info and either servo (vertical slider) or DC controls.
+/// Attach to ModuleControlSidePanel in the scene; assign refs in inspector.
+/// </summary>
+public class LiveViewModulePanel : MonoBehaviour
+{
+    [Header("Module Info")]
+    public TextMeshProUGUI moduleInfoText;
+
+    [Header("Servo Control")]
+    public GameObject servoControlSection;
+    public Slider servoAngleSlider;
+    public TextMeshProUGUI servoAngleLabel;
+
+    [Header("DC Control")]
+    public GameObject dcControlSection;
+
+    [Header("Panel Layout")]
+    [Tooltip("Width of the side panel")]
+    public float panelWidth = 260f;
+    [Tooltip("Corner radius for rounded corners (0-0.5)")]
+    [Range(0f, 0.5f)]
+    public float cornerRadius = 0.12f;
+
+    [Header("Slider Styling")]
+    public Color sliderTrackColor = new Color(0.4f, 0.4f, 0.45f, 0.9f);
+    public Color sliderFillColor = new Color(0.75f, 0.75f, 0.8f, 1f);
+    public Color sliderHandleColor = new Color(0.95f, 0.95f, 0.98f, 1f);
+    public Color sliderTextColor = new Color(0.92f, 0.92f, 0.95f, 1f);
+
+    private bool _sliderDragging;
+    private DCMotorControlPanel _dcPanel;
+
+    void Start()
+    {
+        if (servoAngleSlider != null)
+        {
+            servoAngleSlider.minValue = 0f;
+            servoAngleSlider.maxValue = 180f;
+            servoAngleSlider.direction = Slider.Direction.BottomToTop;
+            servoAngleSlider.onValueChanged.AddListener(OnServoSliderChanged);
+            ConfigureSliderForVertical(servoAngleSlider);
+            var et = servoAngleSlider.GetComponent<EventTrigger>() ?? servoAngleSlider.gameObject.AddComponent<EventTrigger>();
+            var begin = new EventTrigger.Entry { eventID = EventTriggerType.BeginDrag };
+            begin.callback.AddListener(_ => OnServoSliderBeginDrag());
+            et.triggers.Add(begin);
+            var end = new EventTrigger.Entry { eventID = EventTriggerType.EndDrag };
+            end.callback.AddListener(_ => OnServoSliderEndDrag());
+            et.triggers.Add(end);
+        }
+
+        var oldController = FindObjectOfType<ServoModuleUISliderController>(true);
+        if (oldController != null) oldController.enabled = false;
+
+        _dcPanel = dcControlSection != null ? dcControlSection.GetComponent<DCMotorControlPanel>() : null;
+        if (_dcPanel == null)
+            _dcPanel = FindObjectOfType<DCMotorControlPanel>(true);
+
+        ApplyRoundedMaterial();
+        UpdatePanel();
+    }
+
+    void ApplyRoundedMaterial()
+    {
+        var img = GetComponent<Image>();
+        if (img == null || (img.material != null && img.material.shader != null && img.material.shader.name == "UI/RoundedRect")) return;
+        var shader = Shader.Find("UI/RoundedRect");
+        if (shader == null) return;
+        var mat = new Material(shader);
+        mat.SetFloat("_Radius", cornerRadius);
+        img.material = mat;
+    }
+
+    void ConfigureSliderForVertical(Slider slider)
+    {
+        if (slider == null || servoControlSection == null) return;
+        var sectionRect = servoControlSection.GetComponent<RectTransform>();
+        if (sectionRect != null)
+            EnsureDegreeLabels(sectionRect);
+    }
+
+    void EnsureDegreeLabels(RectTransform sectionRect)
+    {
+        SetDegreeLabel(sectionRect, "0deg", "0°", 0, 14);
+        SetDegreeLabel(sectionRect, "180deg", "180°", 1, -14);
+    }
+
+    void SetDegreeLabel(RectTransform sectionRect, string goName, string text, float anchorY, float posY)
+    {
+        var t = sectionRect.Find(goName);
+        if (t == null)
+        {
+            var go = new GameObject(goName);
+            go.transform.SetParent(sectionRect, false);
+            var tmp = go.AddComponent<TextMeshProUGUI>();
+            tmp.text = text;
+            tmp.fontSize = 16;
+            tmp.color = Color.white;
+            tmp.alignment = TextAlignmentOptions.MidlineLeft;
+            var r = go.GetComponent<RectTransform>();
+            r.anchorMin = new Vector2(1f, anchorY);
+            r.anchorMax = new Vector2(1f, anchorY);
+            r.pivot = new Vector2(0f, 0.5f);
+            r.anchoredPosition = new Vector2(20, posY);
+            r.sizeDelta = new Vector2(50, 24);
+        }
+        else
+        {
+            var tmp = t.GetComponent<TextMeshProUGUI>();
+            if (tmp != null)
+            {
+                tmp.color = Color.white;
+                tmp.fontSize = 16;
+            }
+            var r = t.GetComponent<RectTransform>();
+            if (r != null)
+            {
+                r.anchorMin = new Vector2(1f, anchorY);
+                r.anchorMax = new Vector2(1f, anchorY);
+                r.pivot = new Vector2(0f, 0.5f);
+                r.anchoredPosition = new Vector2(20, posY);
+                r.sizeDelta = new Vector2(50, 24);
+            }
+        }
+    }
+
+    void Update()
+    {
+        UpdatePanel();
+    }
+
+    void UpdatePanel()
+    {
+        var selected = ModuleSelector.SelectedModule;
+
+        if (selected == null)
+        {
+            SetModuleInfo("No module selected");
+            SetServoSectionActive(false);
+            SetDCSectionActive(false);
+            return;
+        }
+
+        string typeName = GetModuleTypeName(selected);
+        string degreeInfo = GetDegreeInfo(selected);
+        string info = string.IsNullOrEmpty(degreeInfo)
+            ? $"Type: {typeName}"
+            : $"Type: {typeName}\n{degreeInfo}";
+        SetModuleInfo(info);
+
+        var servo = selected as ServoMotorModule;
+        var dc = selected as DCMotorModule;
+
+        if (servo != null)
+        {
+            SetServoSectionActive(true);
+            SetDCSectionActive(false);
+            if (servoAngleSlider != null && !_sliderDragging)
+                servoAngleSlider.SetValueWithoutNotify(servo.currentAngle);
+        }
+        else if (dc != null)
+        {
+            SetServoSectionActive(false);
+            SetDCSectionActive(true);
+        }
+        else
+        {
+            SetServoSectionActive(false);
+            SetDCSectionActive(false);
+        }
+    }
+
+    string GetModuleTypeName(ModuleBase m)
+    {
+        if (m is ServoBendModule) return "Servo Bend";
+        if (m is ServoStraightModule) return "Servo Straight";
+        if (m is DCMotorModule) return "DC";
+        if (m is HubModule) return "Hub";
+        if (m is BatteryModule) return "Battery";
+        return m.GetType().Name;
+    }
+
+    string GetDegreeInfo(ModuleBase m)
+    {
+        var servo = m as ServoMotorModule;
+        if (servo != null)
+            return $"Joint: {servo.currentAngle:F1}°";
+        return "";
+    }
+
+    void SetModuleInfo(string text)
+    {
+        if (moduleInfoText != null)
+            moduleInfoText.text = text;
+    }
+
+    void SetServoSectionActive(bool active)
+    {
+        if (servoControlSection != null && servoControlSection.activeSelf != active)
+            servoControlSection.SetActive(active);
+    }
+
+    void SetDCSectionActive(bool active)
+    {
+        if (dcControlSection != null)
+        {
+            if (active && _dcPanel != null)
+                _dcPanel.gameObject.SetActive(true);
+            else if (!active && _dcPanel != null)
+                _dcPanel.HidePanel();
+        }
+    }
+
+    void OnServoSliderChanged(float value)
+    {
+        if (ServoMotorModule.selectedModule != null)
+            ServoMotorModule.selectedModule.SetAngleAndSendControlLibrary(value);
+    }
+
+    public void OnServoSliderBeginDrag()
+    {
+        _sliderDragging = true;
+    }
+
+    public void OnServoSliderEndDrag()
+    {
+        _sliderDragging = false;
+    }
+}

Assets/LiveViewModulePanel.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: a1b2c3d4e5f6a7b8c9d0e1f2a3b4c5d6
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: