Felix/Seminar_Cable_Joints_Unity
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first implementation

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Felix Klenner 2023-11-17 16:09:21 +01:00
parent 6a870f33c7
commit 7e46a7cf95
23 changed files with 1618 additions and 231 deletions
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1
.gitignore vendored
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@ -70,3 +70,4 @@ crashlytics-build.properties
# Temporary auto-generated Android Assets
/[Aa]ssets/[Ss]treamingAssets/aa.meta
/[Aa]ssets/[Ss]treamingAssets/aa/*
/Assets/TextMesh Pro

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Assets/CableJointsAlgorithm.cs Normal file
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using System;
using System.Collections.Generic;
using UnityEngine;
using static System.Math;
public static class CableJointsAlgorithm {
public static void TimeStep(List<Cable> cables) {
//handle each cable individually
foreach (var cable in cables) {
//calculate new attachment points for all joints
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;
}
}
}
}
public static (Vector2, Vector2) TangentCircleCircle(GameObject g1, GameObject g2) {
var roller1 = g1.GetComponent<RollerProperties>();
var roller2 = g2.GetComponent<RollerProperties>();
var t1 = g1.transform;
var t2 = g2.transform;
//assume round rollers only
var r1 = t1.lossyScale.x/2;
var r2 = t2.lossyScale.x/2;
Vector2 d = t2.Position2d() - t1.Position2d();
float r = r1 + r2;
if (roller1.clockwise == roller2.clockwise) {
r = r2 - r1;
}
var dLen = d.magnitude;
if (dLen > r) {
float alpha;
if (d.x >= 0) {
alpha = (float)Asin(d.y / dLen);
}
else {
alpha = (float)(PI - Asin(d.y / dLen));
}
float phi = (float)Asin(r / dLen); //TODO verify, paper says "|c|"
float alpha1, alpha2;
if (roller1.clockwise == roller2.clockwise) {
if (roller1.clockwise) {
alpha1 = (float)(alpha - PI / 2 - phi);
alpha2 = (float)(alpha - PI / 2 + phi);
}
else {
alpha1 = (float)(alpha + PI / 2 + phi);
alpha2 = (float)(alpha + PI / 2 + phi);
}
}
else {
if (roller1.clockwise) {
alpha1 = (float)(alpha - PI / 2 + phi);
alpha2 = (float)(alpha + PI / 2 + phi);
}
else {
alpha1 = (float)(alpha + PI / 2 - phi);
alpha2 = (float)(alpha - PI / 2 - phi);
}
}
var p1 = t1.Position2d() + r1 * new Vector2((float)Cos(alpha1), (float)Sin(alpha1));
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");
}
}

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Assets/CableJointsAlgorithm.cs.meta Normal file
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111
Assets/Controller.cs
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@ -1,27 +1,116 @@
using System.Collections;
using System.Collections.Generic;
using NUnit.Framework;
using TMPro;
using Unity.Collections;
using Unity.VisualScripting;
using UnityEditor;
using UnityEngine;
using UnityEngine.SceneManagement;
using FontWeight = TMPro.FontWeight;
public class Controller : MonoBehaviour
{
// Start is called before the first frame update
void Start() {
public class Controller : MonoBehaviour {
private List<Cable> cables = new();
//Initialize
void OnEnable() {
var rotatableSprite = Resources.Load<Sprite>("Rotatable");
var fixedSprite = Resources.Load<Sprite>("Fixed");
var poweredSprite = Resources.Load<Sprite>("Powered");
var freeSprite = Resources.Load<Sprite>("Free");
//prepare rollers
var gameObjects = FindObjectsByType<GameObject>(FindObjectsInactive.Exclude, FindObjectsSortMode.None);
foreach (GameObject go in gameObjects) {
if (go.GetComponent<SpriteRenderer>() != null) {
Debug.Log("Object: "+go.name);
RollerProperties rp = go.GetComponent<RollerProperties>();
if (rp != null) {
Rigidbody2D settings = go.GetOrAddComponent<Rigidbody2D>();
go.AddComponent<RollerProperties>();
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.movement == RollerProperties.RotationType.Fixed) {
settings.bodyType = RigidbodyType2D.Static;
}
if (rp.start) {
cables.Add(new Cable { firstRoller = go });
}
Debug.Log("Initialized roller: " + go.name);
}
}
//create canvas to display information
var canvas = FindAnyObjectByType<Canvas>();
//prepare joints
foreach (var go in gameObjects) {
RollerProperties rp = go.GetComponent<RollerProperties>();
if (rp != null) {
if (rp.linkTo != null) {
var dist = go.AddComponent<DistanceJoint2D>();
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);
}
if (rp.movement == RollerProperties.RotationType.Rotatable ||
rp.movement == RollerProperties.RotationType.Powered) {
var wheel = go.AddComponent<HingeJoint2D>();
wheel.anchor = Vector2.zero;
if (rp.movement == RollerProperties.RotationType.Powered) {
wheel.useMotor = true;
wheel.motor = new JointMotor2D() { maxMotorTorque = 10000, motorSpeed = 10 };
}
}
//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.fontSize = .3f;
textMeshPro.color = Color.red;
textMeshPro.fontWeight = FontWeight.Bold;
textMeshPro.outlineColor = Color.white;
textMeshPro.outlineWidth = 1;
textMeshPro.horizontalAlignment = HorizontalAlignmentOptions.Center;
textMeshPro.verticalAlignment = VerticalAlignmentOptions.Middle;
textMeshPro.transform.localScale = new Vector3(100, 100, 1);
textMeshPro.fontSize = .03f;
textMeshPro.autoSizeTextContainer = true;
textMeshPro.fontSizeMin = 0;
rp.text = text;
}
}
}
// Update is called once per frame
void Update()
{
void Update() {
CableJointsAlgorithm.TimeStep(cables);
}
}
public class Cable {
public GameObject firstRoller;
}

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using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public static class Extensions
{
public static ComponentA GetOrAddComponent<ComponentA>(this GameObject gameObject)
where ComponentA : Component {
ComponentA result = gameObject.GetComponent<ComponentA>();
return result == null ? gameObject.AddComponent<ComponentA>() : result;
}
public static Vector2 Position2d(this Transform t) {
Vector3 pos = t.position;
return new Vector2(pos.x, pos.y);
}
public static float DistanceInWorld(this DistanceJoint2D dist, Vector2 pointInSelf, Vector2 pointInConnected) {
return (dist.transform.TransformPoint(dist.anchor) -
dist.connectedBody.transform.TransformPoint(pointInConnected)).magnitude;
}
}

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Assets/RollerProperties.cs
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using System;
using System.Collections;
using System.Collections.Generic;
using NUnit.Framework.Internal;
using TMPro;
using UnityEditor;
using UnityEngine;
using UnityEngine.Serialization;
[System.Serializable]
public class RollerProperties : MonoBehaviour {
public bool Direction { get; set; } = false;
[SerializeField] public bool start = false;
// Start is called before the first frame update
void Start()
{
[SerializeField] public bool clockwise = false;
[SerializeField] public GameObject linkTo = null;
[SerializeField] public RotationType movement = RotationType.Fixed;
protected internal float currentDistance;
protected internal GameObject text;
private void Update() {
if (text != null) {
text.transform.position = transform.position;
text.transform.rotation = transform.rotation;
}
}
// Update is called once per frame
void Update()
{
void OnDrawGizmos() {
foreach (var distanceJoint in gameObject.GetComponents<DistanceJoint2D>()) {
Gizmos.color = new Color(1, .3f, 0);
var cableStart = transform.TransformPoint(distanceJoint.anchor);
var cableEnd = distanceJoint.connectedBody.transform.TransformPoint(distanceJoint.connectedAnchor);
Gizmos.DrawLine(cableStart, cableEnd);
Gizmos.color = Color.yellow;
Gizmos.DrawCube(cableStart, new Vector3(0.1f, 0.1f, 0.1f));
Gizmos.color = Color.red;
Gizmos.DrawCube(cableEnd, new Vector3(0.1f, 0.1f, 0.1f));
}
}
public enum RotationType {
Fixed,
Rotatable,
Powered,
Free
}
}

208
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