many improvements and point mounted cables

Assets/CableJointsAlgorithm.cs

@@ -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);
+                    var (left, right) = rp.updateDistanceJoints();
-
+                    totalDist += dist.distance;
-                    //TODO: assumes circles are flat for sufficiently small timesteps
+                    //Debug.Log(go.name+": left dist: "+leftSurfaceDist+" right Dist: "+rightSurfaceDist);
-                    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;
-                }
-            }
                 }
             }
             
+            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 r1 = t1.lossyScale.x / 2;
-        var r2 = t2.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");

Assets/Controller.cs

@@ -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");
@@ -24,8 +24,7 @@ public class Controller : MonoBehaviour {
         foreach (GameObject go in gameObjects) {
             RollerProperties rp = go.GetComponent<RollerProperties>();
             if (rp != null) {
-                Rigidbody2D settings = go.GetOrAddComponent<Rigidbody2D>();
+                if (!rp.useFixedAttachmentPoint) {
-                
                     switch (rp.movement) {
                         case RollerProperties.RotationType.Rotatable:
                             go.GetComponent<SpriteRenderer>().sprite = rotatableSprite;
@@ -40,11 +39,17 @@ public class Controller : MonoBehaviour {
                             go.GetComponent<SpriteRenderer>().sprite = poweredSprite;
                             break;
                     }  
-                
-                if (rp.movement == RollerProperties.RotationType.Fixed) {
-                    settings.bodyType = RigidbodyType2D.Static;
                 }
 
+                //collisions and physics
+                Rigidbody2D rigidbody = go.GetOrAddComponent<Rigidbody2D>();
+                rigidbody.useAutoMass = true; // mass is based on size
+                if (rp.movement == RollerProperties.RotationType.Fixed) {
+                    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);
+                    rp.distanceJoint2D = dist;
-                    dist.anchor = left;
+                    
-                    dist.connectedAnchor = right;
+                    //set fixed points only once
-                    rp.currentDistance = dist.distance = dist.DistanceInWorld(left, right);
+                    if (rp.useFixedAttachmentPoint) {
+                        dist.anchor = rp.attachmentPoint;
+                    }
+                    if (rp.linkTo.GetComponent<RollerProperties>().useFixedAttachmentPoint) {
+                        dist.connectedAnchor = rp.linkTo.GetComponent<RollerProperties>().attachmentPoint;
                     }
                     
-                if (rp.movement == RollerProperties.RotationType.Rotatable ||
+                    //update roller tangent attachments
-                    rp.movement == RollerProperties.RotationType.Powered) {
+                    rp.updateDistanceJoints();
+                    
+                    rp.currentDistance = dist.distance = dist.DistanceInWorld(dist.anchor, dist.connectedAnchor);
+                }
+
+                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) {
@@ -86,12 +100,14 @@ public class Controller : MonoBehaviour {
                 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.color = Color.black;
-                textMeshPro.fontWeight = FontWeight.Bold;
+                textMeshPro.fontStyle = FontStyles.Bold;
-                textMeshPro.outlineColor = Color.white;
+                textMeshPro.outlineColor = new Color(0.6f, 0.7f, 1f);
-                textMeshPro.outlineWidth = 1;
+                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;
             }
         }
-
     }
 
 

Assets/RollerProperties.cs

@@ -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");
         }
     }
 

Assets/Scenes/SimpleDemo.unity

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Packages/manifest.json

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Packages/packages-lock.json

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