Felix/Seminar_Cable_Joints_Unity
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many improvements and point mounted cables

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This commit is contained in:
Felix Klenner 2023-11-19 15:45:08 +01:00
parent 7e46a7cf95
commit 3c334e040d
6 changed files with 526 additions and 162 deletions
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62
Assets/CableJointsAlgorithm.cs
View file

@ -7,28 +7,59 @@ public static class CableJointsAlgorithm {
public static void TimeStep(List<Cable> cables) {
//handle each cable individually
foreach (var cable in cables) {
float totalDist = 0;
//calculate new attachment points for all joints
for(var go = cable.firstRoller; go != null; go = go.GetComponent<RollerProperties>().linkTo) {
for (var go = cable.firstRoller; go != null; go = go.GetComponent<RollerProperties>().linkTo) {
if (go.GetComponent<RollerProperties>().linkTo != null) {
var dist = go.GetComponent<DistanceJoint2D>();
var rp = go.GetComponent<RollerProperties>();
var (left, right) = TangentCircleCircle(go, rp.linkTo);
//TODO: assumes circles are flat for sufficiently small timesteps
var leftSurfaceDist =
(go.transform.TransformPoint(dist.anchor) - go.transform.TransformPoint(left)).magnitude;
var rightSurfaceDist = (dist.attachedRigidbody.transform.TransformPoint(dist.connectedAnchor) -
dist.attachedRigidbody.transform.TransformPoint(right)).magnitude;
Debug.Log(go.name+": left dist: "+leftSurfaceDist+" right Dist: "+rightSurfaceDist);
dist.anchor = left;
dist.connectedAnchor = right;
var (left, right) = rp.updateDistanceJoints();
totalDist += dist.distance;
//Debug.Log(go.name+": left dist: "+leftSurfaceDist+" right Dist: "+rightSurfaceDist);
}
}
Debug.Log("Total distance for cable: "+totalDist);
}
}
public static Vector2 TangentPointCircle(GameObject fixedPointObject, GameObject circleObject) {
var roller = circleObject.GetComponent<RollerProperties>();
var fixedTransform = fixedPointObject.GetComponent<RollerProperties>().transform;
var rollerTransform = roller.transform;
//assume round rollers only
var rollerRadius = rollerTransform.lossyScale.x / 2;
Vector2 d = rollerTransform.Position2d() - fixedTransform.Position2d();
var dLen = d.magnitude;
if (dLen > rollerRadius) {
float alpha;
if (d.x >= 0) {
alpha = (float)Asin(d.y / dLen);
}
else {
alpha = (float)(PI - Asin(d.y / dLen));
}
float phi = (float)Asin(rollerRadius / dLen);
if (roller.clockwise) {
alpha = (float)(alpha - PI / 2 - phi);
}
else {
alpha = (float)(alpha + PI / 2 + phi);
}
var p1 = rollerTransform.Position2d() + rollerRadius * new Vector2((float)Cos(alpha), (float)Sin(alpha));
return rollerTransform.InverseTransformPoint(p1);
}
throw new Exception("Overlapping Rollers Error");
}
public static (Vector2, Vector2) TangentCircleCircle(GameObject g1, GameObject g2) {
var roller1 = g1.GetComponent<RollerProperties>();
@ -37,8 +68,8 @@ public static class CableJointsAlgorithm {
var t2 = g2.transform;
//assume round rollers only
var r1 = t1.lossyScale.x/2;
var r2 = t2.lossyScale.x/2;
var r1 = t1.lossyScale.x / 2;
var r2 = t2.lossyScale.x / 2;
Vector2 d = t2.Position2d() - t1.Position2d();
float r = r1 + r2;
@ -84,7 +115,6 @@ public static class CableJointsAlgorithm {
var p2 = t2.Position2d() + r2 * new Vector2((float)Cos(alpha2), (float)Sin(alpha2));
return (t1.InverseTransformPoint(p1), t2.InverseTransformPoint(p2));
}
throw new Exception("Overlapping Rollers Error");

81
Assets/Controller.cs
View file

@ -6,14 +6,14 @@ 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();
//Initialize
void OnEnable() {
void Awake() {
var rotatableSprite = Resources.Load<Sprite>("Rotatable");
var fixedSprite = Resources.Load<Sprite>("Fixed");
var poweredSprite = Resources.Load<Sprite>("Powered");
@ -24,27 +24,32 @@ public class Controller : MonoBehaviour {
foreach (GameObject go in gameObjects) {
RollerProperties rp = go.GetComponent<RollerProperties>();
if (rp != null) {
Rigidbody2D settings = go.GetOrAddComponent<Rigidbody2D>();
switch (rp.movement) {
case RollerProperties.RotationType.Rotatable:
go.GetComponent<SpriteRenderer>().sprite = rotatableSprite;
break;
case RollerProperties.RotationType.Fixed:
go.GetComponent<SpriteRenderer>().sprite = fixedSprite;
break;
case RollerProperties.RotationType.Free:
go.GetComponent<SpriteRenderer>().sprite = freeSprite;
break;
case RollerProperties.RotationType.Powered:
go.GetComponent<SpriteRenderer>().sprite = poweredSprite;
break;
if (!rp.useFixedAttachmentPoint) {
switch (rp.movement) {
case RollerProperties.RotationType.Rotatable:
go.GetComponent<SpriteRenderer>().sprite = rotatableSprite;
break;
case RollerProperties.RotationType.Fixed:
go.GetComponent<SpriteRenderer>().sprite = fixedSprite;
break;
case RollerProperties.RotationType.Free:
go.GetComponent<SpriteRenderer>().sprite = freeSprite;
break;
case RollerProperties.RotationType.Powered:
go.GetComponent<SpriteRenderer>().sprite = poweredSprite;
break;
}
}
//collisions and physics
Rigidbody2D rigidbody = go.GetOrAddComponent<Rigidbody2D>();
rigidbody.useAutoMass = true; // mass is based on size
if (rp.movement == RollerProperties.RotationType.Fixed) {
settings.bodyType = RigidbodyType2D.Static;
rigidbody.bodyType = RigidbodyType2D.Static;
}
go.AddComponent<PolygonCollider2D>();
if (rp.start) {
cables.Add(new Cable { firstRoller = go });
}
@ -54,7 +59,7 @@ public class Controller : MonoBehaviour {
}
//create canvas to display information
var canvas = FindAnyObjectByType<Canvas>();
var canvas = gameObject.AddComponent<Canvas>();
//prepare joints
foreach (var go in gameObjects) {
@ -65,14 +70,23 @@ public class Controller : MonoBehaviour {
dist.enableCollision = true;
dist.connectedBody = rp.linkTo.GetComponent<Rigidbody2D>();
dist.maxDistanceOnly = true;
var (left, right) = CableJointsAlgorithm.TangentCircleCircle(go, rp.linkTo);
dist.anchor = left;
dist.connectedAnchor = right;
rp.currentDistance = dist.distance = dist.DistanceInWorld(left, right);
rp.distanceJoint2D = dist;
//set fixed points only once
if (rp.useFixedAttachmentPoint) {
dist.anchor = rp.attachmentPoint;
}
if (rp.linkTo.GetComponent<RollerProperties>().useFixedAttachmentPoint) {
dist.connectedAnchor = rp.linkTo.GetComponent<RollerProperties>().attachmentPoint;
}
//update roller tangent attachments
rp.updateDistanceJoints();
rp.currentDistance = dist.distance = dist.DistanceInWorld(dist.anchor, dist.connectedAnchor);
}
if (rp.movement == RollerProperties.RotationType.Rotatable ||
rp.movement == RollerProperties.RotationType.Powered) {
if (rp.movement is RollerProperties.RotationType.Rotatable or RollerProperties.RotationType.Powered) {
var wheel = go.AddComponent<HingeJoint2D>();
wheel.anchor = Vector2.zero;
if (rp.movement == RollerProperties.RotationType.Powered) {
@ -84,14 +98,16 @@ public class Controller : MonoBehaviour {
//create names on objects
GameObject text = new GameObject(go.name + "_text");
text.transform.parent = canvas.transform;
var textMeshPro = text.AddComponent<TextMeshPro>();
textMeshPro.text = go.name + "\n" + (rp.clockwise ? "cw" : "ccw") + " - " + rp.movement;
// textMeshPro.material.shader.GetComponent<Outline>().enabled = true;
// textMeshPro.material.shader.GetComponent<Outline>().useGraphicAlpha = false;
// textMeshPro.material.shader.GetComponent<Outline>().effectDistance = new Vector2(1, -1);
textMeshPro.fontSize = .3f;
textMeshPro.color = Color.red;
textMeshPro.fontWeight = FontWeight.Bold;
textMeshPro.outlineColor = Color.white;
textMeshPro.outlineWidth = 1;
textMeshPro.color = Color.black;
textMeshPro.fontStyle = FontStyles.Bold;
textMeshPro.outlineColor = new Color(0.6f, 0.7f, 1f);
textMeshPro.outlineWidth = 0.1f;
textMeshPro.horizontalAlignment = HorizontalAlignmentOptions.Center;
textMeshPro.verticalAlignment = VerticalAlignmentOptions.Middle;
textMeshPro.transform.localScale = new Vector3(100, 100, 1);
@ -101,7 +117,6 @@ public class Controller : MonoBehaviour {
rp.text = text;
}
}
}

61
Assets/RollerProperties.cs
View file

@ -9,22 +9,73 @@ using UnityEngine.Serialization;
[System.Serializable]
public class RollerProperties : MonoBehaviour {
//settings
[SerializeField] public bool start = false;
[SerializeField] public bool clockwise = false;
[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);
//references
protected internal GameObject text;
protected internal DistanceJoint2D distanceJoint2D = null;
//simulation properties
protected internal float currentDistance;
protected internal GameObject text;
public (float?, float?) updateDistanceJoints() {
Vector2? left = null, right = null;
if (linkTo != null) {
if (useFixedAttachmentPoint && !linkTo.GetComponent<RollerProperties>().useFixedAttachmentPoint) {
//left = attachmentPoint;
right = CableJointsAlgorithm.TangentPointCircle(gameObject, linkTo);
}
else if (!useFixedAttachmentPoint && linkTo.GetComponent<RollerProperties>().useFixedAttachmentPoint) {
left = CableJointsAlgorithm.TangentPointCircle(linkTo,gameObject);
//right = linkTo.GetComponent<RollerProperties>().attachmentPoint;
}
else if (!useFixedAttachmentPoint && !linkTo.GetComponent<RollerProperties>().useFixedAttachmentPoint) {
(left, right) = CableJointsAlgorithm.TangentCircleCircle(gameObject, linkTo);
}
/*
else {
left = attachmentPoint;
right = linkTo.GetComponent<RollerProperties>().attachmentPoint;
}*/
}
//TODO: assumes circles are flat for sufficiently small timesteps
float? leftSurfaceDist = null, rightSurfaceDist = null;
if (left.HasValue) {
leftSurfaceDist = (gameObject.transform.TransformPoint(distanceJoint2D.anchor) - gameObject.transform.TransformPoint(left.Value))
.magnitude;
distanceJoint2D.anchor = left.Value;
}
if (right.HasValue) {
rightSurfaceDist = (linkTo.transform.TransformPoint(distanceJoint2D.connectedAnchor) -
linkTo.transform.TransformPoint(right.Value)).magnitude;
distanceJoint2D.connectedAnchor = right.Value;
}
return (leftSurfaceDist, rightSurfaceDist);
}
/* VISUALS */
private void Update() {
if (text != null) {
text.transform.position = transform.position;
text.transform.rotation = transform.rotation;
//text.transform.rotation = transform.rotation;
text.GetComponent<TextMeshPro>().text = gameObject.name + "\n" +
(clockwise ? "cw" : "ccw") + " - " + movement + "\n" +
"D: " + (distanceJoint2D == null
? " - "
: distanceJoint2D.distance.ToString("0.00")) + "M: "+GetComponent<Rigidbody2D>().mass.ToString("0.00");
}
}

466
Assets/Scenes/SimpleDemo.unity
View file

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5
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13
Packages/packages-lock.json
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