improvements to multi-cables

This commit is contained in:
Felix Klenner 2023-12-04 08:26:05 +01:00
parent cd25f31a77
commit d6428dba3e
8 changed files with 940 additions and 97 deletions

View file

@ -5,18 +5,18 @@ using static System.Math;
/** Cable Joints algorithm based on Paper by Matthias Müller, Nuttapong Chentanez, Stefan Jeschke and Miles Macklin*/ /** Cable Joints algorithm based on Paper by Matthias Müller, Nuttapong Chentanez, Stefan Jeschke and Miles Macklin*/
public static class CableJointsAlgorithm { public static class CableJointsAlgorithm {
public static void TimeStep(List<GameObject> cableStartingPoints) { public static void TimeStep(List<RollerProperties> cableStartingPoints) {
//handle each cable individually //handle each cable individually
foreach (var cable in cableStartingPoints) { foreach (var cable in cableStartingPoints) {
float totalDist = 0; float totalDist = 0;
//calculate new attachment points for all joints //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) { if (left.HasValue) {
dist.distance -= left.Value; dist.distance -= left.Value;

View file

@ -3,7 +3,7 @@ using TMPro;
using UnityEngine; using UnityEngine;
public class Controller : MonoBehaviour { public class Controller : MonoBehaviour {
private List<GameObject> cableStartingPoints = new(); private List<RollerProperties> cableStartingPoints = new();
//Initialize //Initialize
void Awake() { void Awake() {
@ -52,11 +52,7 @@ public class Controller : MonoBehaviour {
go.AddComponent<PolygonCollider2D>(); go.AddComponent<PolygonCollider2D>();
//build list of cable starting objects //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); Debug.Log("Initialized roller: " + go.name);
} }
} }
@ -66,64 +62,87 @@ public class Controller : MonoBehaviour {
//prepare joints //prepare joints
foreach (var go in gameObjects) { foreach (var go in gameObjects) {
RollerProperties rp = go.GetComponent<RollerProperties>(); RollerProperties[] rpArr = go.GetComponents<RollerProperties>();
if (rp != null) { foreach (var rp in rpArr) {
if (rp.linkTo != null) { if (rp != null) {
var dist = go.AddComponent<DistanceJoint2D>(); if (rp.linkTo != null) {
dist.enableCollision = true; var dist = go.AddComponent<DistanceJoint2D>();
dist.connectedBody = rp.linkTo.GetComponent<Rigidbody2D>(); dist.enableCollision = true;
dist.maxDistanceOnly = true; dist.connectedBody = rp.linkTo.GetComponent<Rigidbody2D>();
dist.autoConfigureDistance = false; dist.maxDistanceOnly = true;
rp.distanceJoint2D = dist; dist.autoConfigureDistance = false;
rp.distanceJoint2D = dist;
//set fixed points only once
if (rp.useFixedAttachmentPoint) { //remove linked to objects, so only starting points remain
dist.anchor = rp.attachmentPoint; 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<RollerProperties>().useFixedAttachmentPoint) {
dist.connectedAnchor = rp.linkTo.GetComponent<RollerProperties>().attachmentPoint; 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 };
}
} }
//update roller tangent attachments //create names on objects
rp.updateDistanceJoints(); GameObject text = new GameObject(go.name + "_text");
text.transform.parent = canvas.transform;
rp.actualDistance = dist.distance = dist.ActualDistanceInWorld();
var textMeshPro = text.AddComponent<TextMeshPro>();
// textMeshPro.material.shader.GetComponent<Outline>().enabled = true;
// textMeshPro.material.shader.GetComponent<Outline>().useGraphicAlpha = false;
// textMeshPro.material.shader.GetComponent<Outline>().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<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 };
}
}
//create names on objects
GameObject text = new GameObject(go.name + "_text");
text.transform.parent = canvas.transform;
var textMeshPro = text.AddComponent<TextMeshPro>();
// textMeshPro.material.shader.GetComponent<Outline>().enabled = true;
// textMeshPro.material.shader.GetComponent<Outline>().useGraphicAlpha = false;
// textMeshPro.material.shader.GetComponent<Outline>().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<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; private float waitedFrames = 0;
// Update is called once per frame // Update is called once per frame
void Update() { void Update() {

View file

@ -1,12 +1,17 @@
using System.Collections.Generic;
using TMPro; using TMPro;
using Unity.VisualScripting;
using UnityEngine; using UnityEngine;
using UnityEngine.Serialization; using UnityEngine.Serialization;
[System.Serializable] [System.Serializable]
public class RollerProperties : MonoBehaviour { public class RollerProperties : MonoBehaviour {
//settings //settings
/// rotation direction, used to determine attachment sides for the cables
[SerializeField] public bool clockwise = false; [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; [SerializeField] public RotationType movement = RotationType.Fixed;
[FormerlySerializedAs("fixedAttachmentPoint")] [SerializeField] public bool useFixedAttachmentPoint = false; [FormerlySerializedAs("fixedAttachmentPoint")] [SerializeField] public bool useFixedAttachmentPoint = false;
[SerializeField] public Vector2 attachmentPoint = new Vector2(0, 0); [SerializeField] public Vector2 attachmentPoint = new Vector2(0, 0);
@ -15,24 +20,24 @@ public class RollerProperties : MonoBehaviour {
//references //references
protected internal GameObject text; protected internal GameObject text;
protected internal DistanceJoint2D distanceJoint2D = null; protected internal DistanceJoint2D distanceJoint2D = null;
protected internal GameObject linkToGameObject => linkTo.gameObject;
//simulation properties //simulation properties
protected internal float actualDistance; protected internal float actualDistance;
public (float?, float?) updateDistanceJoints() { public (float?, float?) updateDistanceJoints() {
Vector2? left = null, right = null; Vector2? left = null, right = null;
if (linkTo != null) { if (linkTo != null) {
if (useFixedAttachmentPoint && !linkTo.GetComponent<RollerProperties>().useFixedAttachmentPoint) { if (useFixedAttachmentPoint && !linkTo.useFixedAttachmentPoint) {
//left = attachmentPoint; //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; //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 { else {
@ -53,7 +58,7 @@ public class RollerProperties : MonoBehaviour {
distanceJoint2D.anchor = left.Value; distanceJoint2D.anchor = left.Value;
} }
if (right.HasValue) { 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; // rightSurfaceDist = (linkTo.transform.TransformPoint(distanceJoint2D.connectedAnchor) - linkTo.transform.TransformPoint(right.Value)).magnitude;

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