simple demo and additional scenes

This commit is contained in:
Felix Klenner 2023-11-20 09:13:14 +01:00
parent 3c334e040d
commit 88ab7b9b46
8 changed files with 1487 additions and 25 deletions

View file

@ -15,8 +15,17 @@ public static class CableJointsAlgorithm {
var dist = go.GetComponent<DistanceJoint2D>(); var dist = go.GetComponent<DistanceJoint2D>();
var rp = go.GetComponent<RollerProperties>(); var rp = go.GetComponent<RollerProperties>();
var (left, right) = rp.updateDistanceJoints(); var (left, right) = rp.updateDistanceJoints();
if (left.HasValue) {
dist.distance -= left.Value;
}
if (right.HasValue) {
dist.distance += right.Value;
}
totalDist += dist.distance; 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) { public static Vector2 TangentPointCircle(GameObject fixedPointObject, GameObject circleObject) {
var fixedObject = fixedPointObject.GetComponent<RollerProperties>();
var roller = circleObject.GetComponent<RollerProperties>(); var roller = circleObject.GetComponent<RollerProperties>();
var fixedTransform = fixedPointObject.GetComponent<RollerProperties>().transform; var fixedTransform = fixedObject.transform;
var rollerTransform = roller.transform; var rollerTransform = roller.transform;
//assume round rollers only //assume round rollers only
@ -46,7 +56,7 @@ public static class CableJointsAlgorithm {
float phi = (float)Asin(rollerRadius / dLen); float phi = (float)Asin(rollerRadius / dLen);
if (roller.clockwise) { if (fixedObject.clockwise) {
alpha = (float)(alpha - PI / 2 - phi); alpha = (float)(alpha - PI / 2 - phi);
} }
else { else {
@ -119,4 +129,17 @@ public static class CableJointsAlgorithm {
throw new Exception("Overlapping Rollers Error"); 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;
}
} }

View file

@ -42,10 +42,12 @@ public class Controller : MonoBehaviour {
} }
//collisions and physics //collisions and physics
Rigidbody2D rigidbody = go.GetOrAddComponent<Rigidbody2D>(); Rigidbody2D rb = go.GetOrAddComponent<Rigidbody2D>();
rigidbody.useAutoMass = true; // mass is based on size rb.useAutoMass = true; // mass is based on size
rb.angularDrag = 1;
rb.drag = 1;
if (rp.movement == RollerProperties.RotationType.Fixed) { if (rp.movement == RollerProperties.RotationType.Fixed) {
rigidbody.bodyType = RigidbodyType2D.Static; rb.bodyType = RigidbodyType2D.Static;
} }
go.AddComponent<PolygonCollider2D>(); go.AddComponent<PolygonCollider2D>();
@ -70,6 +72,7 @@ public class Controller : MonoBehaviour {
dist.enableCollision = true; dist.enableCollision = true;
dist.connectedBody = rp.linkTo.GetComponent<Rigidbody2D>(); dist.connectedBody = rp.linkTo.GetComponent<Rigidbody2D>();
dist.maxDistanceOnly = true; dist.maxDistanceOnly = true;
dist.autoConfigureDistance = false;
rp.distanceJoint2D = dist; rp.distanceJoint2D = dist;
//set fixed points only once //set fixed points only once
@ -106,8 +109,8 @@ public class Controller : MonoBehaviour {
textMeshPro.fontSize = .3f; textMeshPro.fontSize = .3f;
textMeshPro.color = Color.black; textMeshPro.color = Color.black;
textMeshPro.fontStyle = FontStyles.Bold; textMeshPro.fontStyle = FontStyles.Bold;
textMeshPro.outlineColor = new Color(0.6f, 0.7f, 1f); textMeshPro.outlineColor = Color.black;
textMeshPro.outlineWidth = 0.1f; textMeshPro.outlineWidth = 0.2f;
textMeshPro.horizontalAlignment = HorizontalAlignmentOptions.Center; textMeshPro.horizontalAlignment = HorizontalAlignmentOptions.Center;
textMeshPro.verticalAlignment = VerticalAlignmentOptions.Middle; textMeshPro.verticalAlignment = VerticalAlignmentOptions.Middle;
textMeshPro.transform.localScale = new Vector3(100, 100, 1); 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 // Update is called once per frame
void Update() { void Update() {
CableJointsAlgorithm.TimeStep(cables); if (waitedFrames++ > -1) {
CableJointsAlgorithm.TimeStep(cables);
waitedFrames = 0;
}
} }
} }

View file

@ -50,14 +50,17 @@ public class RollerProperties : MonoBehaviour {
//TODO: assumes circles are flat for sufficiently small timesteps //TODO: assumes circles are flat for sufficiently small timesteps
float? leftSurfaceDist = null, rightSurfaceDist = null; float? leftSurfaceDist = null, rightSurfaceDist = null;
if (left.HasValue) { 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; distanceJoint2D.anchor = left.Value;
} }
if (right.HasValue) { if (right.HasValue) {
rightSurfaceDist = (linkTo.transform.TransformPoint(distanceJoint2D.connectedAnchor) - rightSurfaceDist = CableJointsAlgorithm.CirclePointDistance(linkTo.transform.TransformPoint(distanceJoint2D.connectedAnchor) , linkTo.transform.TransformPoint(right.Value), linkTo);
linkTo.transform.TransformPoint(right.Value)).magnitude;
// rightSurfaceDist = (linkTo.transform.TransformPoint(distanceJoint2D.connectedAnchor) - linkTo.transform.TransformPoint(right.Value)).magnitude;
distanceJoint2D.connectedAnchor = right.Value; distanceJoint2D.connectedAnchor = right.Value;
} }
@ -71,11 +74,12 @@ public class RollerProperties : MonoBehaviour {
if (text != null) { if (text != null) {
text.transform.position = transform.position; text.transform.position = transform.position;
//text.transform.rotation = transform.rotation; //text.transform.rotation = transform.rotation;
text.GetComponent<TextMeshPro>().text = gameObject.name + "\n" + text.GetComponent<TextMeshPro>().text =
(clockwise ? "cw" : "ccw") + " - " + movement + "\n" + gameObject.name + "\n" +
"D: " + (distanceJoint2D == null (clockwise ? "cw" : "ccw") + " - " + movement + "\n" +
? " - " "D: " + (distanceJoint2D == null ? " - "
: distanceJoint2D.distance.ToString("0.00")) + "M: "+GetComponent<Rigidbody2D>().mass.ToString("0.00"); : distanceJoint2D.distance.ToString("0.00")) + "M: "+GetComponent<Rigidbody2D>().mass.ToString("0.00") + "\n"+
"OrigD: "+currentDistance;
} }
} }

View file

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708
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