From 88ab7b9b469d807ad73405f5640ca9b16bceab74 Mon Sep 17 00:00:00 2001 From: Felix Klenner Date: Mon, 20 Nov 2023 09:13:14 +0100 Subject: [PATCH] simple demo and additional scenes --- Assets/CableJointsAlgorithm.cs | 29 +- Assets/Controller.cs | 19 +- Assets/RollerProperties.cs | 22 +- Assets/Scenes/SimpleDemo.unity | 12 +- Assets/Scenes/Test1.unity | 708 +++++++++++++++++++++++++++++++++ Assets/Scenes/Test1.unity.meta | 7 + Assets/Scenes/Test2.unity | 708 +++++++++++++++++++++++++++++++++ Assets/Scenes/Test2.unity.meta | 7 + 8 files changed, 1487 insertions(+), 25 deletions(-) create mode 100644 Assets/Scenes/Test1.unity create mode 100644 Assets/Scenes/Test1.unity.meta create mode 100644 Assets/Scenes/Test2.unity create mode 100644 Assets/Scenes/Test2.unity.meta diff --git a/Assets/CableJointsAlgorithm.cs b/Assets/CableJointsAlgorithm.cs index 14d11e5..a4a76a6 100644 --- a/Assets/CableJointsAlgorithm.cs +++ b/Assets/CableJointsAlgorithm.cs @@ -15,8 +15,17 @@ public static class CableJointsAlgorithm { var dist = go.GetComponent(); var rp = go.GetComponent(); var (left, right) = rp.updateDistanceJoints(); + + if (left.HasValue) { + dist.distance -= left.Value; + } + if (right.HasValue) { + dist.distance += right.Value; + } + totalDist += dist.distance; - //Debug.Log(go.name+": left dist: "+leftSurfaceDist+" right Dist: "+rightSurfaceDist); + + Debug.Log(go.name+": l: +"+left+" r: -"+right); } } @@ -25,8 +34,9 @@ public static class CableJointsAlgorithm { } public static Vector2 TangentPointCircle(GameObject fixedPointObject, GameObject circleObject) { + var fixedObject = fixedPointObject.GetComponent(); var roller = circleObject.GetComponent(); - var fixedTransform = fixedPointObject.GetComponent().transform; + var fixedTransform = fixedObject.transform; var rollerTransform = roller.transform; //assume round rollers only @@ -46,7 +56,7 @@ public static class CableJointsAlgorithm { float phi = (float)Asin(rollerRadius / dLen); - if (roller.clockwise) { + if (fixedObject.clockwise) { alpha = (float)(alpha - PI / 2 - phi); } else { @@ -119,4 +129,17 @@ public static class CableJointsAlgorithm { throw new Exception("Overlapping Rollers Error"); } + + public static float CirclePointDistance(Vector2 p1, Vector2 p2, GameObject c) { + Vector2 p1diff = c.transform.Position2d() - p1, p2diff = c.transform.Position2d() - p2; + var circumference = c.transform.lossyScale.x; + var angle1 = Math.Atan2(p1diff.y, p1diff.x); + var angle2 = Math.Atan2(p2diff.y, p2diff.x); + var delta = angle2 - angle1; + + var dist = circumference * delta; + + Debug.Log(c.name+": angle1: "+angle1+" angle2: "+angle2+" -> delta: "+delta+" circumferecne: "+circumference+" dist: "+dist); + return (float) dist; + } } \ No newline at end of file diff --git a/Assets/Controller.cs b/Assets/Controller.cs index ff5f604..e77b94a 100644 --- a/Assets/Controller.cs +++ b/Assets/Controller.cs @@ -42,10 +42,12 @@ public class Controller : MonoBehaviour { } //collisions and physics - Rigidbody2D rigidbody = go.GetOrAddComponent(); - rigidbody.useAutoMass = true; // mass is based on size + Rigidbody2D rb = go.GetOrAddComponent(); + rb.useAutoMass = true; // mass is based on size + rb.angularDrag = 1; + rb.drag = 1; if (rp.movement == RollerProperties.RotationType.Fixed) { - rigidbody.bodyType = RigidbodyType2D.Static; + rb.bodyType = RigidbodyType2D.Static; } go.AddComponent(); @@ -70,6 +72,7 @@ public class Controller : MonoBehaviour { dist.enableCollision = true; dist.connectedBody = rp.linkTo.GetComponent(); dist.maxDistanceOnly = true; + dist.autoConfigureDistance = false; rp.distanceJoint2D = dist; //set fixed points only once @@ -106,8 +109,8 @@ public class Controller : MonoBehaviour { textMeshPro.fontSize = .3f; textMeshPro.color = Color.black; textMeshPro.fontStyle = FontStyles.Bold; - textMeshPro.outlineColor = new Color(0.6f, 0.7f, 1f); - textMeshPro.outlineWidth = 0.1f; + textMeshPro.outlineColor = Color.black; + textMeshPro.outlineWidth = 0.2f; textMeshPro.horizontalAlignment = HorizontalAlignmentOptions.Center; textMeshPro.verticalAlignment = VerticalAlignmentOptions.Middle; textMeshPro.transform.localScale = new Vector3(100, 100, 1); @@ -120,9 +123,13 @@ public class Controller : MonoBehaviour { } + private float waitedFrames = 0; // Update is called once per frame void Update() { - CableJointsAlgorithm.TimeStep(cables); + if (waitedFrames++ > -1) { + CableJointsAlgorithm.TimeStep(cables); + waitedFrames = 0; + } } } diff --git a/Assets/RollerProperties.cs b/Assets/RollerProperties.cs index 8667e8e..29a8a72 100644 --- a/Assets/RollerProperties.cs +++ b/Assets/RollerProperties.cs @@ -50,14 +50,17 @@ public class RollerProperties : MonoBehaviour { //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; + leftSurfaceDist = CableJointsAlgorithm.CirclePointDistance(gameObject.transform.TransformPoint(distanceJoint2D.anchor), gameObject.transform.TransformPoint(left.Value), gameObject); + + // 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; + rightSurfaceDist = CableJointsAlgorithm.CirclePointDistance(linkTo.transform.TransformPoint(distanceJoint2D.connectedAnchor) , linkTo.transform.TransformPoint(right.Value), linkTo); + + // rightSurfaceDist = (linkTo.transform.TransformPoint(distanceJoint2D.connectedAnchor) - linkTo.transform.TransformPoint(right.Value)).magnitude; distanceJoint2D.connectedAnchor = right.Value; } @@ -71,11 +74,12 @@ public class RollerProperties : MonoBehaviour { if (text != null) { text.transform.position = transform.position; //text.transform.rotation = transform.rotation; - text.GetComponent().text = gameObject.name + "\n" + - (clockwise ? "cw" : "ccw") + " - " + movement + "\n" + - "D: " + (distanceJoint2D == null - ? " - " - : distanceJoint2D.distance.ToString("0.00")) + "M: "+GetComponent().mass.ToString("0.00"); + text.GetComponent().text = + gameObject.name + "\n" + + (clockwise ? "cw" : "ccw") + " - " + movement + "\n" + + "D: " + (distanceJoint2D == null ? 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