many improvements and point mounted cables

2023-11-19 15:45:08 +01:00 · 2023-11-19 15:45:08 +01:00 · 3c334e040d
commit 3c334e040d
parent 7e46a7cf95
6 changed files with 526 additions and 162 deletions
--- a/Assets/CableJointsAlgorithm.cs
+++ b/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);
-
-                    //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");
--- a/Assets/Controller.cs
+++ b/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);
-                    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;
                    }
                    
-                if (rp.movement == RollerProperties.RotationType.Rotatable ||
-                    rp.movement == RollerProperties.RotationType.Powered) {
+                    //update roller tangent attachments
+                    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.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;
            }
        }
-
    }


--- a/Assets/RollerProperties.cs
+++ b/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");
        }
    }

--- a/Assets/Scenes/SimpleDemo.unity
+++ b/Assets/Scenes/SimpleDemo.unity
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