diff --git a/Assets/CableJointsAlgorithm.cs b/Assets/CableJointsAlgorithm.cs index e756489..f3953fb 100644 --- a/Assets/CableJointsAlgorithm.cs +++ b/Assets/CableJointsAlgorithm.cs @@ -5,18 +5,18 @@ using static System.Math; /** Cable Joints algorithm based on Paper by Matthias Müller, Nuttapong Chentanez, Stefan Jeschke and Miles Macklin*/ public static class CableJointsAlgorithm { - public static void TimeStep(List cableStartingPoints) { + public static void TimeStep(List cableStartingPoints) { //handle each cable individually foreach (var cable in cableStartingPoints) { float totalDist = 0; //calculate new attachment points for all joints - for (var rollerProperties = cable; rollerProperties != null; rollerProperties = rollerProperties.linkTo) { - if (rollerProperties.linkTo != null) { - var dist = rollerProperties.GetComponent(); - - var (left, right) = rollerProperties.updateDistanceJoints(); - rollerProperties.actualDistance = dist.ActualDistanceInWorld(); + for (var go = cable; go != null; go = go.GetComponent().linkTo) { + if (go.GetComponent().linkTo != null) { + var dist = go.GetComponent(); + var rp = go.GetComponent(); + var (left, right) = rp.updateDistanceJoints(); + rp.actualDistance = dist.ActualDistanceInWorld(); if (left.HasValue) { dist.distance -= left.Value; diff --git a/Assets/Controller.cs b/Assets/Controller.cs index 553252d..ab5cdcc 100644 --- a/Assets/Controller.cs +++ b/Assets/Controller.cs @@ -3,7 +3,7 @@ using TMPro; using UnityEngine; public class Controller : MonoBehaviour { - private List cableStartingPoints = new(); + private List cableStartingPoints = new(); //Initialize void Awake() { @@ -52,7 +52,11 @@ public class Controller : MonoBehaviour { go.AddComponent(); //build list of cable starting objects - cableStartingPoints.Add(rp); + cableStartingPoints.Add(go); + if (rp.linkTo != null) { + cableStartingPoints.Remove(rp.linkTo); + } + Debug.Log("Initialized roller: " + go.name); } } @@ -62,87 +66,64 @@ public class Controller : MonoBehaviour { //prepare joints foreach (var go in gameObjects) { - RollerProperties[] rpArr = go.GetComponents(); - foreach (var rp in rpArr) { - if (rp != null) { - if (rp.linkTo != null) { - var dist = go.AddComponent(); - dist.enableCollision = true; - dist.connectedBody = rp.linkTo.GetComponent(); - dist.maxDistanceOnly = true; - dist.autoConfigureDistance = false; - rp.distanceJoint2D = dist; - - //remove linked to objects, so only starting points remain - cableStartingPoints.Remove(rp.linkTo); - - //set fixed points only once - if (rp.useFixedAttachmentPoint) { - dist.anchor = rp.attachmentPoint; - } - - if (rp.linkTo.useFixedAttachmentPoint) { - dist.connectedAnchor = rp.linkTo.attachmentPoint; - } - - //update roller tangent attachments - rp.updateDistanceJoints(); - - rp.actualDistance = dist.distance = dist.ActualDistanceInWorld(); + RollerProperties rp = go.GetComponent(); + if (rp != null) { + if (rp.linkTo != null) { + var dist = go.AddComponent(); + dist.enableCollision = true; + dist.connectedBody = rp.linkTo.GetComponent(); + dist.maxDistanceOnly = true; + dist.autoConfigureDistance = false; + rp.distanceJoint2D = dist; + + //set fixed points only once + if (rp.useFixedAttachmentPoint) { + dist.anchor = rp.attachmentPoint; } - - if (rp.movement is RollerProperties.RotationType.Rotatable - or RollerProperties.RotationType.Powered) { - var wheel = go.AddComponent(); - wheel.anchor = Vector2.zero; - if (rp.movement == RollerProperties.RotationType.Powered) { - wheel.useMotor = true; - wheel.motor = new JointMotor2D() - { maxMotorTorque = 10000, motorSpeed = rp.clockwise ? 10 : -10 }; - } + if (rp.linkTo.GetComponent().useFixedAttachmentPoint) { + dist.connectedAnchor = rp.linkTo.GetComponent().attachmentPoint; } - - //create names on objects - GameObject text = new GameObject(go.name + "_text"); - text.transform.parent = canvas.transform; - - var textMeshPro = text.AddComponent(); - // textMeshPro.material.shader.GetComponent().enabled = true; - // textMeshPro.material.shader.GetComponent().useGraphicAlpha = false; - // textMeshPro.material.shader.GetComponent().effectDistance = new Vector2(1, -1); - textMeshPro.fontSize = .3f; - textMeshPro.color = Color.black; - textMeshPro.fontStyle = FontStyles.Bold; - textMeshPro.outlineColor = Color.black; - textMeshPro.outlineWidth = 0.2f; - textMeshPro.horizontalAlignment = HorizontalAlignmentOptions.Center; - textMeshPro.verticalAlignment = VerticalAlignmentOptions.Middle; - textMeshPro.transform.localScale = new Vector3(100, 100, 1); - textMeshPro.fontSize = .03f; - textMeshPro.autoSizeTextContainer = true; - textMeshPro.fontSizeMin = 0; - rp.text = text; + + //update roller tangent attachments + rp.updateDistanceJoints(); + + rp.actualDistance = dist.distance = dist.ActualDistanceInWorld(); } + + if (rp.movement is RollerProperties.RotationType.Rotatable or RollerProperties.RotationType.Powered) { + var wheel = go.AddComponent(); + wheel.anchor = Vector2.zero; + if (rp.movement == RollerProperties.RotationType.Powered) { + wheel.useMotor = true; + wheel.motor = new JointMotor2D() { maxMotorTorque = 10000, motorSpeed = rp.clockwise?10:-10 }; + } + } + + //create names on objects + GameObject text = new GameObject(go.name + "_text"); + text.transform.parent = canvas.transform; + + var textMeshPro = text.AddComponent(); + // textMeshPro.material.shader.GetComponent().enabled = true; + // textMeshPro.material.shader.GetComponent().useGraphicAlpha = false; + // textMeshPro.material.shader.GetComponent().effectDistance = new Vector2(1, -1); + textMeshPro.fontSize = .3f; + textMeshPro.color = Color.black; + textMeshPro.fontStyle = FontStyles.Bold; + textMeshPro.outlineColor = Color.black; + textMeshPro.outlineWidth = 0.2f; + textMeshPro.horizontalAlignment = HorizontalAlignmentOptions.Center; + textMeshPro.verticalAlignment = VerticalAlignmentOptions.Middle; + textMeshPro.transform.localScale = new Vector3(100, 100, 1); + textMeshPro.fontSize = .03f; + textMeshPro.autoSizeTextContainer = true; + textMeshPro.fontSizeMin = 0; + rp.text = text; } } - - Debug.Log("Initialized "+cableStartingPoints.Count+" cables"); - var cableNum = 0; - //find and report loops of cables - foreach (var cable in cableStartingPoints) { - List visitedSegments = new(); - for (var segment = cable; segment != null; segment = segment.linkTo) { - if (visitedSegments.Contains(segment)) { - cableStartingPoints = null; - Debug.LogError("Fix cable loop in scene with object "+segment.gameObject.name); - break; - } - visitedSegments.Add(segment); - } - } - } + private float waitedFrames = 0; // Update is called once per frame void Update() { diff --git a/Assets/RollerProperties.cs b/Assets/RollerProperties.cs index 47a00df..6655884 100644 --- a/Assets/RollerProperties.cs +++ b/Assets/RollerProperties.cs @@ -1,17 +1,12 @@ -using System.Collections.Generic; using TMPro; -using Unity.VisualScripting; using UnityEngine; using UnityEngine.Serialization; [System.Serializable] public class RollerProperties : MonoBehaviour { //settings - /// rotation direction, used to determine attachment sides for the cables [SerializeField] public bool clockwise = false; - [SerializeField] public RollerProperties linkTo = null; - [SerializeField] public List listTest; - [SerializeField] public RollerProperties[] arrayTest; + [SerializeField] public GameObject linkTo = null; [SerializeField] public RotationType movement = RotationType.Fixed; [FormerlySerializedAs("fixedAttachmentPoint")] [SerializeField] public bool useFixedAttachmentPoint = false; [SerializeField] public Vector2 attachmentPoint = new Vector2(0, 0); @@ -20,24 +15,24 @@ public class RollerProperties : MonoBehaviour { //references protected internal GameObject text; protected internal DistanceJoint2D distanceJoint2D = null; - protected internal GameObject linkToGameObject => linkTo.gameObject; //simulation properties protected internal float actualDistance; public (float?, float?) updateDistanceJoints() { Vector2? left = null, right = null; + if (linkTo != null) { - if (useFixedAttachmentPoint && !linkTo.useFixedAttachmentPoint) { + if (useFixedAttachmentPoint && !linkTo.GetComponent().useFixedAttachmentPoint) { //left = attachmentPoint; - right = CableJointsAlgorithm.TangentPointCircle(gameObject, linkToGameObject); + right = CableJointsAlgorithm.TangentPointCircle(gameObject, linkTo); } - else if (!useFixedAttachmentPoint && linkTo.useFixedAttachmentPoint) { - left = CableJointsAlgorithm.TangentPointCircle(linkToGameObject,gameObject); + else if (!useFixedAttachmentPoint && linkTo.GetComponent().useFixedAttachmentPoint) { + left = CableJointsAlgorithm.TangentPointCircle(linkTo,gameObject); //right = linkTo.GetComponent().attachmentPoint; } - else if (!useFixedAttachmentPoint && !linkTo.useFixedAttachmentPoint) { - (left, right) = CableJointsAlgorithm.TangentCircleCircle(gameObject, linkToGameObject); + else if (!useFixedAttachmentPoint && !linkTo.GetComponent().useFixedAttachmentPoint) { + (left, right) = CableJointsAlgorithm.TangentCircleCircle(gameObject, linkTo); } /* else { @@ -58,7 +53,7 @@ public class RollerProperties : MonoBehaviour { distanceJoint2D.anchor = left.Value; } if (right.HasValue) { - rightSurfaceDist = CableJointsAlgorithm.CirclePointDistance(linkToGameObject.transform.TransformPoint(distanceJoint2D.connectedAnchor) , linkToGameObject.transform.TransformPoint(right.Value), linkToGameObject); + rightSurfaceDist = CableJointsAlgorithm.CirclePointDistance(linkTo.transform.TransformPoint(distanceJoint2D.connectedAnchor) , linkTo.transform.TransformPoint(right.Value), linkTo); // rightSurfaceDist = (linkTo.transform.TransformPoint(distanceJoint2D.connectedAnchor) - 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