Felix/Seminar_Cable_Joints_Unity
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improvements to multi-cables

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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
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14
Assets/CableJointsAlgorithm.cs
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*/
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) {
if (go.GetComponent<RollerProperties>().linkTo != null) {
var dist = go.GetComponent<DistanceJoint2D>();
var rp = go.GetComponent<RollerProperties>();
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<DistanceJoint2D>();
var (left, right) = rollerProperties.updateDistanceJoints();
rollerProperties.actualDistance = dist.ActualDistanceInWorld();
if (left.HasValue) {
dist.distance -= left.Value;

41
Assets/Controller.cs
View file

@ -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);
if (rp.linkTo != null) {
cableStartingPoints.Remove(rp.linkTo);
}
cableStartingPoints.Add(rp);
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

23
Assets/RollerProperties.cs
View file

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

23
Assets/Scenes/FreeRoller.unity
View file

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14
Assets/Scenes/MultipleCables.unity
View file

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7
Assets/Scenes/WeightBalance.unity
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