Seminar_Cable_Joints_Unity/Assets/Controller.cs

using System.Collections.Generic;
using TMPro;
using UnityEngine;

public class Controller : MonoBehaviour {
    
    [Tooltip("List of cables in the scene. Each cable consists of segments describing the link and last/first can optionally be fixed to points.")]
    [SerializeField]
    public List<Cable> cables = new();

    //Initialize
    void Awake() {
        var rotatableSprite = Resources.Load<Sprite>("Rotatable");
        var fixedSprite = Resources.Load<Sprite>("Fixed");
        var poweredSprite = Resources.Load<Sprite>("Powered");
        var freeSprite = Resources.Load<Sprite>("Free");

        //prepare rollers
        var gameObjects = FindObjectsByType<GameObject>(FindObjectsInactive.Exclude, FindObjectsSortMode.None);
        foreach (GameObject go in gameObjects) {
            RollerProperties rp = go.GetComponent<RollerProperties>();
            if (rp != null) {
                if (!rp.useFixedAttachmentPoint) {
                    switch (rp.movement) {
                        case RollerProperties.RotationType.Rotatable:
                            go.GetComponent<SpriteRenderer>().sprite = rotatableSprite;
                            break;
                        case RollerProperties.RotationType.Fixed:
                            go.GetComponent<SpriteRenderer>().sprite = fixedSprite;
                            break;
                        case RollerProperties.RotationType.Free:
                            go.GetComponent<SpriteRenderer>().sprite = freeSprite;
                            break;
                        case RollerProperties.RotationType.Powered:
                            go.GetComponent<SpriteRenderer>().sprite = poweredSprite;
                            break;
                    }  
                }

                //collisions and physics
                Rigidbody2D rb = go.GetOrAddComponent<Rigidbody2D>();
                // mass is based on area, if not provided
                rb.useAutoMass = rp.mass < 0;
                if(rp.mass >= 0) {
                    rb.mass = rp.mass;
                }
                rb.angularDrag = 1;
                rb.drag = 1;
                if (rp.movement == RollerProperties.RotationType.Fixed) {
                    rb.bodyType = RigidbodyType2D.Static;
                }

                go.AddComponent<PolygonCollider2D>();
                
                Debug.Log("Initialized roller: " + go.name);
            }
        }

        //create canvas to display information
        var canvas = gameObject.AddComponent<Canvas>();

        //prepare joints
        foreach (var go in gameObjects) {
            RollerProperties[] rpArr = go.GetComponents<RollerProperties>();
            foreach (var rp in rpArr) {
                if (rp != null) {
                    if (rp.linkTo != null) {
                        var dist = go.AddComponent<DistanceJoint2D>();
                        dist.enableCollision = true;
                        dist.connectedBody = rp.linkTo.GetComponent<Rigidbody2D>();
                        dist.maxDistanceOnly = true;
                        dist.autoConfigureDistance = false;
                        rp.distanceJoint2D = dist;

                        //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.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 "+cables.Count+" cables");
        
        /* Define cables directly instead
        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
    void Update() {
        if (Input.GetKeyDown(KeyCode.T)) {
            foreach (var go in FindObjectsByType<GameObject>(FindObjectsInactive.Exclude, FindObjectsSortMode.None)) {
                if (go.GetComponent<RollerProperties>() != null && go.GetComponent<RollerProperties>().movement == RollerProperties.RotationType.Powered) {
                    go.GetComponent<HingeJoint2D>().useMotor = !go.GetComponent<HingeJoint2D>().useMotor;
                    Debug.Log("TOGGLED ALL MOTORS");
                }
            }
        }
        
        if (waitedFrames++ > -1) {
            CableJointsAlgorithm.TimeStep(cables);
            waitedFrames = 0;
        }
    }
}