improvements to multi-cables

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<GameObject> cableStartingPoints) {
+    public static void TimeStep(List<RollerProperties> 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<RollerProperties>().linkTo) {
+            for (var rollerProperties = cable; rollerProperties != null; rollerProperties = rollerProperties.linkTo) {
-                if (go.GetComponent<RollerProperties>().linkTo != null) {
+                if (rollerProperties.linkTo != null) {
-                    var dist = go.GetComponent<DistanceJoint2D>();
+                    var dist = rollerProperties.GetComponent<DistanceJoint2D>();
-                    var rp = go.GetComponent<RollerProperties>();
+                    
-                    var (left, right) = rp.updateDistanceJoints();
+                    var (left, right) = rollerProperties.updateDistanceJoints();
-                    rp.actualDistance = dist.ActualDistanceInWorld();
+                    rollerProperties.actualDistance = dist.ActualDistanceInWorld();
 
                     if (left.HasValue) {
                         dist.distance -= left.Value;

Assets/Controller.cs

@@ -3,7 +3,7 @@ using TMPro;
 using UnityEngine;
 
 public class Controller : MonoBehaviour {
-    private List<GameObject> cableStartingPoints = new();
+    private List<RollerProperties> cableStartingPoints = new();
 
     //Initialize
     void Awake() {
@@ -52,11 +52,7 @@ public class Controller : MonoBehaviour {
                 go.AddComponent<PolygonCollider2D>();
 
                 //build list of cable starting objects 
-                cableStartingPoints.Add(go);
+                cableStartingPoints.Add(rp);
-                if (rp.linkTo != null) {
-                    cableStartingPoints.Remove(rp.linkTo);
-                }
-
                 Debug.Log("Initialized roller: " + go.name);
             }
         }
@@ -66,7 +62,8 @@ public class Controller : MonoBehaviour {
 
         //prepare joints
         foreach (var go in gameObjects) {
-            RollerProperties rp = go.GetComponent<RollerProperties>();
+            RollerProperties[] rpArr = go.GetComponents<RollerProperties>();
+            foreach (var rp in rpArr) {
                 if (rp != null) {
                     if (rp.linkTo != null) {
                         var dist = go.AddComponent<DistanceJoint2D>();
@@ -76,12 +73,16 @@ public class Controller : MonoBehaviour {
                         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.GetComponent<RollerProperties>().useFixedAttachmentPoint) {
+
-                        dist.connectedAnchor = rp.linkTo.GetComponent<RollerProperties>().attachmentPoint;
+                        if (rp.linkTo.useFixedAttachmentPoint) {
+                            dist.connectedAnchor = rp.linkTo.attachmentPoint;
                         }
 
                         //update roller tangent attachments
@@ -90,12 +91,14 @@ public class Controller : MonoBehaviour {
                         rp.actualDistance = dist.distance = dist.ActualDistanceInWorld();
                     }
 
-                if (rp.movement is RollerProperties.RotationType.Rotatable or RollerProperties.RotationType.Powered) {
+                    if (rp.movement is RollerProperties.RotationType.Rotatable
+                        or 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 = rp.clockwise?10:-10 };
+                            wheel.motor = new JointMotor2D()
+                                { maxMotorTorque = 10000, motorSpeed = rp.clockwise ? 10 : -10 };
                         }
                     }
 
@@ -123,6 +126,22 @@ public class Controller : MonoBehaviour {
             }
         }
         
+        Debug.Log("Initialized "+cableStartingPoints.Count+" cables");
+        var cableNum = 0;
+        //find and report loops of cables
+        foreach (var cable in cableStartingPoints) {
+            List<RollerProperties> 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

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<RollerProperties> 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<RollerProperties>().useFixedAttachmentPoint) {
+            if (useFixedAttachmentPoint && !linkTo.useFixedAttachmentPoint) {
                 //left = attachmentPoint;
-                right = CableJointsAlgorithm.TangentPointCircle(gameObject, linkTo);
+                right = CableJointsAlgorithm.TangentPointCircle(gameObject, linkToGameObject);
             }
-            else if (!useFixedAttachmentPoint && linkTo.GetComponent<RollerProperties>().useFixedAttachmentPoint) {
+            else if (!useFixedAttachmentPoint && linkTo.useFixedAttachmentPoint) {
-                left = CableJointsAlgorithm.TangentPointCircle(linkTo,gameObject);
+                left = CableJointsAlgorithm.TangentPointCircle(linkToGameObject,gameObject);
                 //right = linkTo.GetComponent<RollerProperties>().attachmentPoint;
             }
-            else if (!useFixedAttachmentPoint && !linkTo.GetComponent<RollerProperties>().useFixedAttachmentPoint) {
+            else if (!useFixedAttachmentPoint && !linkTo.useFixedAttachmentPoint) {
-                (left, right) = CableJointsAlgorithm.TangentCircleCircle(gameObject, linkTo);
+                (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;
             

Assets/Scenes/FreeRoller.unity

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Assets/Scenes/MultipleCables.unity

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Assets/Scenes/WeightBalance.unity

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Assets/Scenes/Winch.unity

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