From d6428dba3ec7d6a56ea75a458f9b67c40e4251b2 Mon Sep 17 00:00:00 2001 From: Felix Klenner Date: Mon, 4 Dec 2023 08:26:05 +0100 Subject: [PATCH] improvements to multi-cables --- Assets/CableJointsAlgorithm.cs | 14 +- Assets/Controller.cs | 133 +++-- Assets/RollerProperties.cs | 23 +- Assets/Scenes/FreeRoller.unity | 23 +- Assets/Scenes/MultipleCables.unity | 14 +- Assets/Scenes/WeightBalance.unity | 7 +- Assets/Scenes/Winch.unity | 816 +++++++++++++++++++++++++++++ Assets/Scenes/Winch.unity.meta | 7 + 8 files changed, 940 insertions(+), 97 deletions(-) create mode 100644 Assets/Scenes/Winch.unity create mode 100644 Assets/Scenes/Winch.unity.meta diff --git a/Assets/CableJointsAlgorithm.cs b/Assets/CableJointsAlgorithm.cs index f3953fb..e756489 100644 --- a/Assets/CableJointsAlgorithm.cs +++ b/Assets/CableJointsAlgorithm.cs @@ -5,18 +5,18 @@ using static System.Math; /** Cable Joints algorithm based on Paper by Matthias Müller, Nuttapong Chentanez, Stefan Jeschke and Miles Macklin*/ public static class CableJointsAlgorithm { - public static void TimeStep(List cableStartingPoints) { + public static void TimeStep(List cableStartingPoints) { //handle each cable individually foreach (var cable in cableStartingPoints) { float totalDist = 0; //calculate new attachment points for all joints - for (var go = cable; go != null; go = go.GetComponent().linkTo) { - if (go.GetComponent().linkTo != null) { - var dist = go.GetComponent(); - var rp = go.GetComponent(); - var (left, right) = rp.updateDistanceJoints(); - rp.actualDistance = dist.ActualDistanceInWorld(); + for (var rollerProperties = cable; rollerProperties != null; rollerProperties = rollerProperties.linkTo) { + if (rollerProperties.linkTo != null) { + var dist = rollerProperties.GetComponent(); + + var (left, right) = rollerProperties.updateDistanceJoints(); + rollerProperties.actualDistance = dist.ActualDistanceInWorld(); if (left.HasValue) { dist.distance -= left.Value; diff --git a/Assets/Controller.cs b/Assets/Controller.cs index ab5cdcc..553252d 100644 --- a/Assets/Controller.cs +++ b/Assets/Controller.cs @@ -3,7 +3,7 @@ using TMPro; using UnityEngine; public class Controller : MonoBehaviour { - private List cableStartingPoints = new(); + private List cableStartingPoints = new(); //Initialize void Awake() { @@ -52,11 +52,7 @@ public class Controller : MonoBehaviour { go.AddComponent(); //build list of cable starting objects - cableStartingPoints.Add(go); - if (rp.linkTo != null) { - cableStartingPoints.Remove(rp.linkTo); - } - + cableStartingPoints.Add(rp); Debug.Log("Initialized roller: " + go.name); } } @@ -66,64 +62,87 @@ public class Controller : MonoBehaviour { //prepare joints foreach (var go in gameObjects) { - RollerProperties rp = go.GetComponent(); - if (rp != null) { - if (rp.linkTo != null) { - var dist = go.AddComponent(); - dist.enableCollision = true; - dist.connectedBody = rp.linkTo.GetComponent(); - dist.maxDistanceOnly = true; - dist.autoConfigureDistance = false; - rp.distanceJoint2D = dist; - - //set fixed points only once - if (rp.useFixedAttachmentPoint) { - dist.anchor = rp.attachmentPoint; + RollerProperties[] rpArr = go.GetComponents(); + foreach (var rp in rpArr) { + if (rp != null) { + if (rp.linkTo != null) { + var dist = go.AddComponent(); + dist.enableCollision = true; + dist.connectedBody = rp.linkTo.GetComponent(); + dist.maxDistanceOnly = true; + dist.autoConfigureDistance = false; + rp.distanceJoint2D = dist; + + //remove linked to objects, so only starting points remain + cableStartingPoints.Remove(rp.linkTo); + + //set fixed points only once + if (rp.useFixedAttachmentPoint) { + dist.anchor = rp.attachmentPoint; + } + + if (rp.linkTo.useFixedAttachmentPoint) { + dist.connectedAnchor = rp.linkTo.attachmentPoint; + } + + //update roller tangent attachments + rp.updateDistanceJoints(); + + rp.actualDistance = dist.distance = dist.ActualDistanceInWorld(); } - if (rp.linkTo.GetComponent().useFixedAttachmentPoint) { - dist.connectedAnchor = rp.linkTo.GetComponent().attachmentPoint; + + if (rp.movement is RollerProperties.RotationType.Rotatable + or RollerProperties.RotationType.Powered) { + var wheel = go.AddComponent(); + wheel.anchor = Vector2.zero; + if (rp.movement == RollerProperties.RotationType.Powered) { + wheel.useMotor = true; + wheel.motor = new JointMotor2D() + { maxMotorTorque = 10000, motorSpeed = rp.clockwise ? 10 : -10 }; + } } - - //update roller tangent attachments - rp.updateDistanceJoints(); - - rp.actualDistance = dist.distance = dist.ActualDistanceInWorld(); + + //create names on objects + GameObject text = new GameObject(go.name + "_text"); + text.transform.parent = canvas.transform; + + var textMeshPro = text.AddComponent(); + // textMeshPro.material.shader.GetComponent().enabled = true; + // textMeshPro.material.shader.GetComponent().useGraphicAlpha = false; + // textMeshPro.material.shader.GetComponent().effectDistance = new Vector2(1, -1); + textMeshPro.fontSize = .3f; + textMeshPro.color = Color.black; + textMeshPro.fontStyle = FontStyles.Bold; + textMeshPro.outlineColor = Color.black; + textMeshPro.outlineWidth = 0.2f; + 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; } - - if (rp.movement is RollerProperties.RotationType.Rotatable or RollerProperties.RotationType.Powered) { - var wheel = go.AddComponent(); - wheel.anchor = Vector2.zero; - if (rp.movement == RollerProperties.RotationType.Powered) { - wheel.useMotor = true; - wheel.motor = new JointMotor2D() { maxMotorTorque = 10000, motorSpeed = rp.clockwise?10:-10 }; - } - } - - //create names on objects - GameObject text = new GameObject(go.name + "_text"); - text.transform.parent = canvas.transform; - - var textMeshPro = text.AddComponent(); - // textMeshPro.material.shader.GetComponent().enabled = true; - // textMeshPro.material.shader.GetComponent().useGraphicAlpha = false; - // textMeshPro.material.shader.GetComponent().effectDistance = new Vector2(1, -1); - textMeshPro.fontSize = .3f; - textMeshPro.color = Color.black; - textMeshPro.fontStyle = FontStyles.Bold; - textMeshPro.outlineColor = Color.black; - textMeshPro.outlineWidth = 0.2f; - 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; } } + + Debug.Log("Initialized "+cableStartingPoints.Count+" cables"); + var cableNum = 0; + //find and report loops of cables + foreach (var cable in cableStartingPoints) { + List visitedSegments = new(); + for (var segment = cable; segment != null; segment = segment.linkTo) { + if (visitedSegments.Contains(segment)) { + cableStartingPoints = null; + Debug.LogError("Fix cable loop in scene with object "+segment.gameObject.name); + break; + } + visitedSegments.Add(segment); + } + } + } - private float waitedFrames = 0; // Update is called once per frame void Update() { diff --git a/Assets/RollerProperties.cs b/Assets/RollerProperties.cs index 6655884..47a00df 100644 --- a/Assets/RollerProperties.cs +++ b/Assets/RollerProperties.cs @@ -1,12 +1,17 @@ +using System.Collections.Generic; using TMPro; +using Unity.VisualScripting; using UnityEngine; using UnityEngine.Serialization; [System.Serializable] public class RollerProperties : MonoBehaviour { //settings + /// rotation direction, used to determine attachment sides for the cables [SerializeField] public bool clockwise = false; - [SerializeField] public GameObject linkTo = null; + [SerializeField] public RollerProperties linkTo = null; + [SerializeField] public List listTest; + [SerializeField] public RollerProperties[] arrayTest; [SerializeField] public RotationType movement = RotationType.Fixed; [FormerlySerializedAs("fixedAttachmentPoint")] [SerializeField] public bool useFixedAttachmentPoint = false; [SerializeField] public Vector2 attachmentPoint = new Vector2(0, 0); @@ -15,24 +20,24 @@ public class RollerProperties : MonoBehaviour { //references protected internal GameObject text; protected internal DistanceJoint2D distanceJoint2D = null; + protected internal GameObject linkToGameObject => linkTo.gameObject; //simulation properties protected internal float actualDistance; public (float?, float?) updateDistanceJoints() { Vector2? left = null, right = null; - if (linkTo != null) { - if (useFixedAttachmentPoint && !linkTo.GetComponent().useFixedAttachmentPoint) { + if (useFixedAttachmentPoint && !linkTo.useFixedAttachmentPoint) { //left = attachmentPoint; - right = CableJointsAlgorithm.TangentPointCircle(gameObject, linkTo); + right = CableJointsAlgorithm.TangentPointCircle(gameObject, linkToGameObject); } - else if (!useFixedAttachmentPoint && linkTo.GetComponent().useFixedAttachmentPoint) { - left = CableJointsAlgorithm.TangentPointCircle(linkTo,gameObject); + else if (!useFixedAttachmentPoint && linkTo.useFixedAttachmentPoint) { + left = CableJointsAlgorithm.TangentPointCircle(linkToGameObject,gameObject); //right = linkTo.GetComponent().attachmentPoint; } - else if (!useFixedAttachmentPoint && !linkTo.GetComponent().useFixedAttachmentPoint) { - (left, right) = CableJointsAlgorithm.TangentCircleCircle(gameObject, linkTo); + else if (!useFixedAttachmentPoint && !linkTo.useFixedAttachmentPoint) { + (left, right) = CableJointsAlgorithm.TangentCircleCircle(gameObject, linkToGameObject); } /* else { @@ -53,7 +58,7 @@ public class RollerProperties : MonoBehaviour { distanceJoint2D.anchor = left.Value; } if (right.HasValue) { - rightSurfaceDist = CableJointsAlgorithm.CirclePointDistance(linkTo.transform.TransformPoint(distanceJoint2D.connectedAnchor) , linkTo.transform.TransformPoint(right.Value), linkTo); + rightSurfaceDist = CableJointsAlgorithm.CirclePointDistance(linkToGameObject.transform.TransformPoint(distanceJoint2D.connectedAnchor) , linkToGameObject.transform.TransformPoint(right.Value), linkToGameObject); // rightSurfaceDist = (linkTo.transform.TransformPoint(distanceJoint2D.connectedAnchor) - linkTo.transform.TransformPoint(right.Value)).magnitude; diff --git a/Assets/Scenes/FreeRoller.unity b/Assets/Scenes/FreeRoller.unity index 73f7a96..23f3719 100644 --- a/Assets/Scenes/FreeRoller.unity +++ b/Assets/Scenes/FreeRoller.unity @@ -186,9 +186,10 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 371c00a70d1ac344fae68d1834928173, type: 3} m_Name: m_EditorClassIdentifier: - start: 0 clockwise: 0 - linkTo: {fileID: 1983224135} + linkTo: {fileID: 1983224138} + listTest: [] + arrayTest: [] movement: 1 useFixedAttachmentPoint: 0 attachmentPoint: {x: 0, y: 0} @@ -540,9 +541,10 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 371c00a70d1ac344fae68d1834928173, type: 3} m_Name: m_EditorClassIdentifier: - start: 0 clockwise: 1 linkTo: {fileID: 0} + listTest: [] + arrayTest: [] movement: 3 useFixedAttachmentPoint: 1 attachmentPoint: {x: 0, y: 0.5} @@ -628,9 +630,10 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 371c00a70d1ac344fae68d1834928173, type: 3} m_Name: m_EditorClassIdentifier: - 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