first implementation
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@ -70,3 +70,4 @@ crashlytics-build.properties
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# Temporary auto-generated Android Assets
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/[Aa]ssets/[Ss]treamingAssets/aa.meta
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/[Aa]ssets/[Ss]treamingAssets/aa/*
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/Assets/TextMesh Pro
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using System;
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using System.Collections.Generic;
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using UnityEngine;
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using static System.Math;
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public static class CableJointsAlgorithm {
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public static void TimeStep(List<Cable> cables) {
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//handle each cable individually
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foreach (var cable in cables) {
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//calculate new attachment points for all joints
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for(var go = cable.firstRoller; 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) = TangentCircleCircle(go, rp.linkTo);
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//TODO: assumes circles are flat for sufficiently small timesteps
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var leftSurfaceDist =
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(go.transform.TransformPoint(dist.anchor) - go.transform.TransformPoint(left)).magnitude;
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var rightSurfaceDist = (dist.attachedRigidbody.transform.TransformPoint(dist.connectedAnchor) -
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dist.attachedRigidbody.transform.TransformPoint(right)).magnitude;
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Debug.Log(go.name+": left dist: "+leftSurfaceDist+" right Dist: "+rightSurfaceDist);
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dist.anchor = left;
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dist.connectedAnchor = right;
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}
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}
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}
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}
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public static (Vector2, Vector2) TangentCircleCircle(GameObject g1, GameObject g2) {
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var roller1 = g1.GetComponent<RollerProperties>();
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var roller2 = g2.GetComponent<RollerProperties>();
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var t1 = g1.transform;
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var t2 = g2.transform;
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//assume round rollers only
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var r1 = t1.lossyScale.x/2;
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var r2 = t2.lossyScale.x/2;
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Vector2 d = t2.Position2d() - t1.Position2d();
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float r = r1 + r2;
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if (roller1.clockwise == roller2.clockwise) {
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r = r2 - r1;
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}
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var dLen = d.magnitude;
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if (dLen > r) {
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float alpha;
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if (d.x >= 0) {
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alpha = (float)Asin(d.y / dLen);
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}
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else {
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alpha = (float)(PI - Asin(d.y / dLen));
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}
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float phi = (float)Asin(r / dLen); //TODO verify, paper says "|c|"
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float alpha1, alpha2;
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if (roller1.clockwise == roller2.clockwise) {
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if (roller1.clockwise) {
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alpha1 = (float)(alpha - PI / 2 - phi);
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alpha2 = (float)(alpha - PI / 2 + phi);
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}
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else {
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alpha1 = (float)(alpha + PI / 2 + phi);
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alpha2 = (float)(alpha + PI / 2 + phi);
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}
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}
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else {
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if (roller1.clockwise) {
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alpha1 = (float)(alpha - PI / 2 + phi);
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alpha2 = (float)(alpha + PI / 2 + phi);
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}
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else {
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alpha1 = (float)(alpha + PI / 2 - phi);
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alpha2 = (float)(alpha - PI / 2 - phi);
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}
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}
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var p1 = t1.Position2d() + r1 * new Vector2((float)Cos(alpha1), (float)Sin(alpha1));
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var p2 = t2.Position2d() + r2 * new Vector2((float)Cos(alpha2), (float)Sin(alpha2));
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return (t1.InverseTransformPoint(p1), t2.InverseTransformPoint(p2));
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}
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throw new Exception("Overlapping Rollers Error");
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}
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}
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@ -0,0 +1,3 @@
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fileFormatVersion: 2
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guid: 091ab8204ddb43eabfb870958861ae96
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timeCreated: 1700149837
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@ -1,27 +1,116 @@
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using System.Collections;
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using System.Collections.Generic;
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using NUnit.Framework;
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using TMPro;
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using Unity.Collections;
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using Unity.VisualScripting;
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using UnityEditor;
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using UnityEngine;
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using UnityEngine.SceneManagement;
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using FontWeight = TMPro.FontWeight;
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public class Controller : MonoBehaviour
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{
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// Start is called before the first frame update
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void Start() {
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public class Controller : MonoBehaviour {
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private List<Cable> cables = new();
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//Initialize
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void OnEnable() {
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var rotatableSprite = Resources.Load<Sprite>("Rotatable");
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var fixedSprite = Resources.Load<Sprite>("Fixed");
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var poweredSprite = Resources.Load<Sprite>("Powered");
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var freeSprite = Resources.Load<Sprite>("Free");
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//prepare rollers
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var gameObjects = FindObjectsByType<GameObject>(FindObjectsInactive.Exclude, FindObjectsSortMode.None);
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foreach (GameObject go in gameObjects) {
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if (go.GetComponent<SpriteRenderer>() != null) {
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Debug.Log("Object: "+go.name);
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RollerProperties rp = go.GetComponent<RollerProperties>();
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if (rp != null) {
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Rigidbody2D settings = go.GetOrAddComponent<Rigidbody2D>();
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go.AddComponent<RollerProperties>();
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switch (rp.movement) {
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case RollerProperties.RotationType.Rotatable:
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go.GetComponent<SpriteRenderer>().sprite = rotatableSprite;
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break;
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case RollerProperties.RotationType.Fixed:
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go.GetComponent<SpriteRenderer>().sprite = fixedSprite;
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break;
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case RollerProperties.RotationType.Free:
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go.GetComponent<SpriteRenderer>().sprite = freeSprite;
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break;
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case RollerProperties.RotationType.Powered:
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go.GetComponent<SpriteRenderer>().sprite = poweredSprite;
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break;
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}
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if (rp.movement == RollerProperties.RotationType.Fixed) {
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settings.bodyType = RigidbodyType2D.Static;
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}
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if (rp.start) {
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cables.Add(new Cable { firstRoller = go });
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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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//create canvas to display information
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var canvas = FindAnyObjectByType<Canvas>();
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//prepare joints
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foreach (var go in gameObjects) {
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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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dist.enableCollision = true;
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dist.connectedBody = rp.linkTo.GetComponent<Rigidbody2D>();
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dist.maxDistanceOnly = true;
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var (left, right) = CableJointsAlgorithm.TangentCircleCircle(go, rp.linkTo);
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dist.anchor = left;
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dist.connectedAnchor = right;
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rp.currentDistance = dist.distance = dist.DistanceInWorld(left, right);
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}
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if (rp.movement == RollerProperties.RotationType.Rotatable ||
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rp.movement == 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() { maxMotorTorque = 10000, motorSpeed = 10 };
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}
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}
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//create names on objects
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GameObject text = new GameObject(go.name + "_text");
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text.transform.parent = canvas.transform;
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var textMeshPro = text.AddComponent<TextMeshPro>();
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textMeshPro.text = go.name + "\n" + (rp.clockwise ? "cw" : "ccw") + " - " + rp.movement;
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textMeshPro.fontSize = .3f;
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textMeshPro.color = Color.red;
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textMeshPro.fontWeight = FontWeight.Bold;
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textMeshPro.outlineColor = Color.white;
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textMeshPro.outlineWidth = 1;
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textMeshPro.horizontalAlignment = HorizontalAlignmentOptions.Center;
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textMeshPro.verticalAlignment = VerticalAlignmentOptions.Middle;
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textMeshPro.transform.localScale = new Vector3(100, 100, 1);
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textMeshPro.fontSize = .03f;
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textMeshPro.autoSizeTextContainer = true;
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textMeshPro.fontSizeMin = 0;
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rp.text = text;
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}
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}
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}
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// Update is called once per frame
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void Update()
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{
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void Update() {
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CableJointsAlgorithm.TimeStep(cables);
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}
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}
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public class Cable {
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public GameObject firstRoller;
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}
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@ -0,0 +1,23 @@
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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public static class Extensions
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{
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public static ComponentA GetOrAddComponent<ComponentA>(this GameObject gameObject)
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where ComponentA : Component {
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ComponentA result = gameObject.GetComponent<ComponentA>();
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return result == null ? gameObject.AddComponent<ComponentA>() : result;
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}
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public static Vector2 Position2d(this Transform t) {
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Vector3 pos = t.position;
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return new Vector2(pos.x, pos.y);
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}
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public static float DistanceInWorld(this DistanceJoint2D dist, Vector2 pointInSelf, Vector2 pointInConnected) {
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return (dist.transform.TransformPoint(dist.anchor) -
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dist.connectedBody.transform.TransformPoint(pointInConnected)).magnitude;
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}
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}
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@ -0,0 +1,11 @@
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@ -1,19 +1,51 @@
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using NUnit.Framework.Internal;
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||||
using TMPro;
|
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using UnityEditor;
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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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public bool Direction { get; set; } = false;
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// Start is called before the first frame update
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void Start()
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{
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[SerializeField] public bool start = false;
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[SerializeField] public bool clockwise = false;
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[SerializeField] public GameObject linkTo = null;
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[SerializeField] public RotationType movement = RotationType.Fixed;
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protected internal float currentDistance;
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protected internal GameObject text;
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private void Update() {
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if (text != null) {
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text.transform.position = transform.position;
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text.transform.rotation = transform.rotation;
|
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}
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}
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// Update is called once per frame
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void Update()
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{
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|
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void OnDrawGizmos() {
|
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foreach (var distanceJoint in gameObject.GetComponents<DistanceJoint2D>()) {
|
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Gizmos.color = new Color(1, .3f, 0);
|
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var cableStart = transform.TransformPoint(distanceJoint.anchor);
|
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var cableEnd = distanceJoint.connectedBody.transform.TransformPoint(distanceJoint.connectedAnchor);
|
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Gizmos.DrawLine(cableStart, cableEnd);
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Gizmos.color = Color.yellow;
|
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Gizmos.DrawCube(cableStart, new Vector3(0.1f, 0.1f, 0.1f));
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Gizmos.color = Color.red;
|
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Gizmos.DrawCube(cableEnd, new Vector3(0.1f, 0.1f, 0.1f));
|
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}
|
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}
|
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}
|
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|
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public enum RotationType {
|
||||
Fixed,
|
||||
Rotatable,
|
||||
Powered,
|
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Free
|
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}
|
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}
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@ -1,208 +0,0 @@
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Reference in New Issue