Felix/Seminar_Cable_Joints_Unity
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Fix angle calculation

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This commit is contained in:
Felix Klenner 2023-11-30 09:20:46 +01:00
parent e329e366d2
commit 1abac4460d
3 changed files with 14 additions and 16 deletions
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13
Assets/CableJointsAlgorithm.cs
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@ -3,6 +3,7 @@ using System.Collections.Generic;
using UnityEngine;
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<Cable> cables) {
//handle each cable individually
@ -15,6 +16,7 @@ public static class CableJointsAlgorithm {
var dist = go.GetComponent<DistanceJoint2D>();
var rp = go.GetComponent<RollerProperties>();
var (left, right) = rp.updateDistanceJoints();
rp.actualDistance = dist.ActualDistanceInWorld();
if (left.HasValue) {
dist.distance -= left.Value;
@ -56,6 +58,7 @@ public static class CableJointsAlgorithm {
float phi = (float)Asin(rollerRadius / dLen);
//TODO: check if should be roller.clockwise
if (fixedObject.clockwise) {
alpha = (float)(alpha - PI / 2 - phi);
}
@ -136,11 +139,11 @@ public static class CableJointsAlgorithm {
var angle1 = Math.Atan2(p1diff.y, p1diff.x);
var angle2 = Math.Atan2(p2diff.y, p2diff.x);
if (angle2 < PI/2 && angle1 > PI/2) {
if (angle2 < -PI/2 && angle1 > PI/2) {
angle2 += 2 * PI;
}
if (angle2 > PI/2 && angle1 < PI/2) {
//angle2 += 2 * PI;
else if (angle1 < -PI/2 && angle2 > PI/2) {
angle1 += 2 * PI;
}
var delta = angle2 - angle1;
@ -148,6 +151,10 @@ public static class CableJointsAlgorithm {
var dist = circumference * delta;
if (!c.GetComponent<RollerProperties>().clockwise) {
dist *= -1;
}
//Debug.Log(c.name+": angle1: "+angle1+" angle2: "+angle2+" -> delta: "+delta+" circumferecne: "+circumference+" dist: "+dist);
return (float) dist;
}

11
Assets/Controller.cs
View file

@ -1,13 +1,6 @@
using System.Collections;
using System.Collections.Generic;
using NUnit.Framework;
using TMPro;
using Unity.Collections;
using Unity.VisualScripting;
using UnityEditor;
using UnityEngine;
using UnityEngine.UI;
using FontWeight = TMPro.FontWeight;
public class Controller : MonoBehaviour {
private List<Cable> cables = new();
@ -86,7 +79,7 @@ public class Controller : MonoBehaviour {
//update roller tangent attachments
rp.updateDistanceJoints();
rp.currentDistance = dist.distance = dist.DistanceInWorld(dist.anchor, dist.connectedAnchor);
rp.actualDistance = dist.distance = dist.ActualDistanceInWorld();
}
if (rp.movement is RollerProperties.RotationType.Rotatable or RollerProperties.RotationType.Powered) {
@ -94,7 +87,7 @@ public class Controller : MonoBehaviour {
wheel.anchor = Vector2.zero;
if (rp.movement == RollerProperties.RotationType.Powered) {
wheel.useMotor = true;
wheel.motor = new JointMotor2D() { maxMotorTorque = 10000, motorSpeed = 10 };
wheel.motor = new JointMotor2D() { maxMotorTorque = 10000, motorSpeed = rp.clockwise?10:-10 };
}
}

6
Assets/Extensions.cs
View file

@ -1,5 +1,3 @@
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public static class Extensions
@ -16,8 +14,8 @@ public static class Extensions
return new Vector2(pos.x, pos.y);
}
public static float DistanceInWorld(this DistanceJoint2D dist, Vector2 pointInSelf, Vector2 pointInConnected) {
public static float ActualDistanceInWorld(this DistanceJoint2D dist) {
return (dist.transform.TransformPoint(dist.anchor) -
dist.connectedBody.transform.TransformPoint(pointInConnected)).magnitude;
dist.connectedBody.transform.TransformPoint(dist.connectedAnchor)).magnitude;
}
}