parent
272472eeac
commit
0556f7e5ed
8 changed files with 97 additions and 940 deletions
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@ -5,18 +5,18 @@ using static System.Math;
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/** Cable Joints algorithm based on Paper by Matthias Müller, Nuttapong Chentanez, Stefan Jeschke and Miles Macklin*/
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public static class CableJointsAlgorithm {
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public static void TimeStep(List<RollerProperties> cableStartingPoints) {
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public static void TimeStep(List<GameObject> cableStartingPoints) {
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//handle each cable individually
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foreach (var cable in cableStartingPoints) {
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float totalDist = 0;
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//calculate new attachment points for all joints
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for (var rollerProperties = cable; rollerProperties != null; rollerProperties = rollerProperties.linkTo) {
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if (rollerProperties.linkTo != null) {
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var dist = rollerProperties.GetComponent<DistanceJoint2D>();
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var (left, right) = rollerProperties.updateDistanceJoints();
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rollerProperties.actualDistance = dist.ActualDistanceInWorld();
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for (var go = cable; go != null; go = go.GetComponent<RollerProperties>().linkTo) {
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if (go.GetComponent<RollerProperties>().linkTo != null) {
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var dist = go.GetComponent<DistanceJoint2D>();
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var rp = go.GetComponent<RollerProperties>();
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var (left, right) = rp.updateDistanceJoints();
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rp.actualDistance = dist.ActualDistanceInWorld();
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if (left.HasValue) {
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dist.distance -= left.Value;
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@ -3,7 +3,7 @@ using TMPro;
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using UnityEngine;
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public class Controller : MonoBehaviour {
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private List<RollerProperties> cableStartingPoints = new();
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private List<GameObject> cableStartingPoints = new();
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//Initialize
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void Awake() {
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@ -52,7 +52,11 @@ public class Controller : MonoBehaviour {
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go.AddComponent<PolygonCollider2D>();
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//build list of cable starting objects
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cableStartingPoints.Add(rp);
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cableStartingPoints.Add(go);
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if (rp.linkTo != null) {
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cableStartingPoints.Remove(rp.linkTo);
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}
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Debug.Log("Initialized roller: " + go.name);
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}
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}
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@ -62,8 +66,7 @@ public class Controller : MonoBehaviour {
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//prepare joints
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foreach (var go in gameObjects) {
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RollerProperties[] rpArr = go.GetComponents<RollerProperties>();
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foreach (var rp in rpArr) {
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RollerProperties rp = go.GetComponent<RollerProperties>();
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if (rp != null) {
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if (rp.linkTo != null) {
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var dist = go.AddComponent<DistanceJoint2D>();
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@ -73,16 +76,12 @@ public class Controller : MonoBehaviour {
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dist.autoConfigureDistance = false;
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rp.distanceJoint2D = dist;
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//remove linked to objects, so only starting points remain
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cableStartingPoints.Remove(rp.linkTo);
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//set fixed points only once
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if (rp.useFixedAttachmentPoint) {
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dist.anchor = rp.attachmentPoint;
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}
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if (rp.linkTo.useFixedAttachmentPoint) {
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dist.connectedAnchor = rp.linkTo.attachmentPoint;
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if (rp.linkTo.GetComponent<RollerProperties>().useFixedAttachmentPoint) {
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dist.connectedAnchor = rp.linkTo.GetComponent<RollerProperties>().attachmentPoint;
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}
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//update roller tangent attachments
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@ -91,14 +90,12 @@ public class Controller : MonoBehaviour {
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rp.actualDistance = dist.distance = dist.ActualDistanceInWorld();
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}
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if (rp.movement is RollerProperties.RotationType.Rotatable
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or RollerProperties.RotationType.Powered) {
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if (rp.movement is RollerProperties.RotationType.Rotatable or RollerProperties.RotationType.Powered) {
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var wheel = go.AddComponent<HingeJoint2D>();
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wheel.anchor = Vector2.zero;
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if (rp.movement == RollerProperties.RotationType.Powered) {
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wheel.useMotor = true;
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wheel.motor = new JointMotor2D()
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{ maxMotorTorque = 10000, motorSpeed = rp.clockwise ? 10 : -10 };
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wheel.motor = new JointMotor2D() { maxMotorTorque = 10000, motorSpeed = rp.clockwise?10:-10 };
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}
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}
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@ -126,22 +123,6 @@ public class Controller : MonoBehaviour {
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}
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}
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Debug.Log("Initialized "+cableStartingPoints.Count+" cables");
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var cableNum = 0;
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//find and report loops of cables
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foreach (var cable in cableStartingPoints) {
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List<RollerProperties> visitedSegments = new();
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for (var segment = cable; segment != null; segment = segment.linkTo) {
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if (visitedSegments.Contains(segment)) {
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cableStartingPoints = null;
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Debug.LogError("Fix cable loop in scene with object "+segment.gameObject.name);
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break;
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}
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visitedSegments.Add(segment);
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}
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}
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}
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private float waitedFrames = 0;
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// Update is called once per frame
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@ -1,17 +1,12 @@
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using System.Collections.Generic;
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using TMPro;
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using Unity.VisualScripting;
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using UnityEngine;
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using UnityEngine.Serialization;
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[System.Serializable]
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public class RollerProperties : MonoBehaviour {
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//settings
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/// rotation direction, used to determine attachment sides for the cables
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[SerializeField] public bool clockwise = false;
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[SerializeField] public RollerProperties linkTo = null;
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[SerializeField] public List<RollerProperties> listTest;
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[SerializeField] public RollerProperties[] arrayTest;
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[SerializeField] public GameObject linkTo = null;
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[SerializeField] public RotationType movement = RotationType.Fixed;
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[FormerlySerializedAs("fixedAttachmentPoint")] [SerializeField] public bool useFixedAttachmentPoint = false;
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[SerializeField] public Vector2 attachmentPoint = new Vector2(0, 0);
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@ -20,24 +15,24 @@ public class RollerProperties : MonoBehaviour {
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//references
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protected internal GameObject text;
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protected internal DistanceJoint2D distanceJoint2D = null;
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protected internal GameObject linkToGameObject => linkTo.gameObject;
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//simulation properties
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protected internal float actualDistance;
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public (float?, float?) updateDistanceJoints() {
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Vector2? left = null, right = null;
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if (linkTo != null) {
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if (useFixedAttachmentPoint && !linkTo.useFixedAttachmentPoint) {
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if (useFixedAttachmentPoint && !linkTo.GetComponent<RollerProperties>().useFixedAttachmentPoint) {
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//left = attachmentPoint;
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right = CableJointsAlgorithm.TangentPointCircle(gameObject, linkToGameObject);
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right = CableJointsAlgorithm.TangentPointCircle(gameObject, linkTo);
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}
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else if (!useFixedAttachmentPoint && linkTo.useFixedAttachmentPoint) {
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left = CableJointsAlgorithm.TangentPointCircle(linkToGameObject,gameObject);
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else if (!useFixedAttachmentPoint && linkTo.GetComponent<RollerProperties>().useFixedAttachmentPoint) {
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left = CableJointsAlgorithm.TangentPointCircle(linkTo,gameObject);
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//right = linkTo.GetComponent<RollerProperties>().attachmentPoint;
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}
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else if (!useFixedAttachmentPoint && !linkTo.useFixedAttachmentPoint) {
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(left, right) = CableJointsAlgorithm.TangentCircleCircle(gameObject, linkToGameObject);
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else if (!useFixedAttachmentPoint && !linkTo.GetComponent<RollerProperties>().useFixedAttachmentPoint) {
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(left, right) = CableJointsAlgorithm.TangentCircleCircle(gameObject, linkTo);
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}
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/*
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else {
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@ -58,7 +53,7 @@ public class RollerProperties : MonoBehaviour {
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distanceJoint2D.anchor = left.Value;
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}
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if (right.HasValue) {
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rightSurfaceDist = CableJointsAlgorithm.CirclePointDistance(linkToGameObject.transform.TransformPoint(distanceJoint2D.connectedAnchor) , linkToGameObject.transform.TransformPoint(right.Value), linkToGameObject);
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rightSurfaceDist = CableJointsAlgorithm.CirclePointDistance(linkTo.transform.TransformPoint(distanceJoint2D.connectedAnchor) , linkTo.transform.TransformPoint(right.Value), linkTo);
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// rightSurfaceDist = (linkTo.transform.TransformPoint(distanceJoint2D.connectedAnchor) - linkTo.transform.TransformPoint(right.Value)).magnitude;
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Loading…
Reference in a new issue