simple demo and additional scenes
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@ -15,8 +15,17 @@ public static class CableJointsAlgorithm {
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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) = rp.updateDistanceJoints();
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if (left.HasValue) {
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dist.distance -= left.Value;
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}
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if (right.HasValue) {
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dist.distance += right.Value;
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}
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totalDist += dist.distance;
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//Debug.Log(go.name+": left dist: "+leftSurfaceDist+" right Dist: "+rightSurfaceDist);
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Debug.Log(go.name+": l: +"+left+" r: -"+right);
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}
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}
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@ -25,8 +34,9 @@ public static class CableJointsAlgorithm {
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}
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public static Vector2 TangentPointCircle(GameObject fixedPointObject, GameObject circleObject) {
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var fixedObject = fixedPointObject.GetComponent<RollerProperties>();
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var roller = circleObject.GetComponent<RollerProperties>();
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var fixedTransform = fixedPointObject.GetComponent<RollerProperties>().transform;
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var fixedTransform = fixedObject.transform;
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var rollerTransform = roller.transform;
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//assume round rollers only
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@ -46,7 +56,7 @@ public static class CableJointsAlgorithm {
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float phi = (float)Asin(rollerRadius / dLen);
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if (roller.clockwise) {
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if (fixedObject.clockwise) {
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alpha = (float)(alpha - PI / 2 - phi);
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}
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else {
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@ -119,4 +129,17 @@ public static class CableJointsAlgorithm {
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throw new Exception("Overlapping Rollers Error");
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}
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public static float CirclePointDistance(Vector2 p1, Vector2 p2, GameObject c) {
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Vector2 p1diff = c.transform.Position2d() - p1, p2diff = c.transform.Position2d() - p2;
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var circumference = c.transform.lossyScale.x;
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var angle1 = Math.Atan2(p1diff.y, p1diff.x);
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var angle2 = Math.Atan2(p2diff.y, p2diff.x);
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var delta = angle2 - angle1;
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var dist = circumference * delta;
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Debug.Log(c.name+": angle1: "+angle1+" angle2: "+angle2+" -> delta: "+delta+" circumferecne: "+circumference+" dist: "+dist);
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return (float) dist;
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}
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}
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@ -42,10 +42,12 @@ public class Controller : MonoBehaviour {
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}
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//collisions and physics
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Rigidbody2D rigidbody = go.GetOrAddComponent<Rigidbody2D>();
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rigidbody.useAutoMass = true; // mass is based on size
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Rigidbody2D rb = go.GetOrAddComponent<Rigidbody2D>();
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rb.useAutoMass = true; // mass is based on size
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rb.angularDrag = 1;
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rb.drag = 1;
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if (rp.movement == RollerProperties.RotationType.Fixed) {
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rigidbody.bodyType = RigidbodyType2D.Static;
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rb.bodyType = RigidbodyType2D.Static;
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}
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go.AddComponent<PolygonCollider2D>();
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@ -70,6 +72,7 @@ public class Controller : MonoBehaviour {
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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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dist.autoConfigureDistance = false;
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rp.distanceJoint2D = dist;
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//set fixed points only once
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@ -106,8 +109,8 @@ public class Controller : MonoBehaviour {
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textMeshPro.fontSize = .3f;
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textMeshPro.color = Color.black;
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textMeshPro.fontStyle = FontStyles.Bold;
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textMeshPro.outlineColor = new Color(0.6f, 0.7f, 1f);
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textMeshPro.outlineWidth = 0.1f;
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textMeshPro.outlineColor = Color.black;
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textMeshPro.outlineWidth = 0.2f;
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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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@ -120,9 +123,13 @@ public class Controller : MonoBehaviour {
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}
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private float waitedFrames = 0;
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// Update is called once per frame
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void Update() {
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CableJointsAlgorithm.TimeStep(cables);
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if (waitedFrames++ > -1) {
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CableJointsAlgorithm.TimeStep(cables);
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waitedFrames = 0;
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}
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}
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}
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@ -50,14 +50,17 @@ public class RollerProperties : MonoBehaviour {
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//TODO: assumes circles are flat for sufficiently small timesteps
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float? leftSurfaceDist = null, rightSurfaceDist = null;
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if (left.HasValue) {
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leftSurfaceDist = (gameObject.transform.TransformPoint(distanceJoint2D.anchor) - gameObject.transform.TransformPoint(left.Value))
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.magnitude;
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leftSurfaceDist = CableJointsAlgorithm.CirclePointDistance(gameObject.transform.TransformPoint(distanceJoint2D.anchor), gameObject.transform.TransformPoint(left.Value), gameObject);
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// leftSurfaceDist = (gameObject.transform.TransformPoint(distanceJoint2D.anchor) - gameObject.transform.TransformPoint(left.Value)).magnitude;
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distanceJoint2D.anchor = left.Value;
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}
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if (right.HasValue) {
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rightSurfaceDist = (linkTo.transform.TransformPoint(distanceJoint2D.connectedAnchor) -
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linkTo.transform.TransformPoint(right.Value)).magnitude;
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rightSurfaceDist = CableJointsAlgorithm.CirclePointDistance(linkTo.transform.TransformPoint(distanceJoint2D.connectedAnchor) , linkTo.transform.TransformPoint(right.Value), linkTo);
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// rightSurfaceDist = (linkTo.transform.TransformPoint(distanceJoint2D.connectedAnchor) - linkTo.transform.TransformPoint(right.Value)).magnitude;
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distanceJoint2D.connectedAnchor = right.Value;
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}
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@ -71,11 +74,12 @@ public class RollerProperties : MonoBehaviour {
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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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text.GetComponent<TextMeshPro>().text = gameObject.name + "\n" +
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(clockwise ? "cw" : "ccw") + " - " + movement + "\n" +
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"D: " + (distanceJoint2D == null
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? " - "
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: distanceJoint2D.distance.ToString("0.00")) + "M: "+GetComponent<Rigidbody2D>().mass.ToString("0.00");
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text.GetComponent<TextMeshPro>().text =
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gameObject.name + "\n" +
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(clockwise ? "cw" : "ccw") + " - " + movement + "\n" +
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"D: " + (distanceJoint2D == null ? " - "
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: distanceJoint2D.distance.ToString("0.00")) + "M: "+GetComponent<Rigidbody2D>().mass.ToString("0.00") + "\n"+
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"OrigD: "+currentDistance;
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}
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}
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@ -67,9 +67,6 @@ LightmapSettings:
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@ -192,7 +189,7 @@ MonoBehaviour:
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start: 0
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clockwise: 0
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linkTo: {fileID: 1983224135}
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movement: 0
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movement: 1
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--- !u!212 &1073098767
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@ -288,6 +285,7 @@ BoxCollider2D:
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@ -311,7 +309,8 @@ BoxCollider2D:
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@ -322,7 +321,6 @@ BoxCollider2D:
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--- !u!212 &1142910637
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@ -524,7 +522,7 @@ Transform:
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708
Assets/Scenes/Test1.unity
Normal file
708
Assets/Scenes/Test1.unity
Normal file
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@ -0,0 +1,708 @@
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7
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7
Assets/Scenes/Test2.unity.meta
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Loading…
Reference in a new issue