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{fileID: 1993214205} - - {fileID: 22879099} + - {fileID: 437176301} + - {fileID: 347555806} + - {fileID: 418427025} + - {fileID: 1451580753} + - {fileID: 1625146148} + - {fileID: 1973576216} + - {fileID: 1773613825} + - {fileID: 484915626} + - {fileID: 1470500160} diff --git a/Assets/Scripts/Rope/Rope.cs b/Assets/Scripts/Rope/Rope.cs index de4d20b..370ac94 100644 --- a/Assets/Scripts/Rope/Rope.cs +++ b/Assets/Scripts/Rope/Rope.cs @@ -11,4 +11,15 @@ public class Rope this.points = points; this.sticks = sticks; } + + public float CalculateLengthOvershoot() + { + float sum = 0f; + foreach (Stick stick in sticks) + { + float dist = Vector3.Distance(stick.A.position, stick.B.position); + sum += dist - stick.desiredLength; + } + return sum; + } } diff --git a/Assets/Scripts/Rope/RopeBuilder.cs b/Assets/Scripts/Rope/RopeBuilder.cs index 2de53aa..6c57470 100644 --- a/Assets/Scripts/Rope/RopeBuilder.cs +++ b/Assets/Scripts/Rope/RopeBuilder.cs @@ -25,6 +25,12 @@ public class RopeBuilder return this; } + public RopeBuilder ConnectPointsWithDesiredLength(int idxA, int idxB, float desiredLength) + { + sticks.Add(new Stick(points[idxA], points[idxB], desiredLength)); + return this; + } + public Rope Build() { return new Rope(points: points, sticks: sticks); diff --git a/Assets/Scripts/Rope/RopeSimulator.cs b/Assets/Scripts/Rope/RopeSimulator.cs index d7bf275..b418554 100644 --- a/Assets/Scripts/Rope/RopeSimulator.cs +++ b/Assets/Scripts/Rope/RopeSimulator.cs @@ -1,6 +1,12 @@ +using System; using System.Collections; using System.Collections.Generic; +using System.Linq; +using Unity.VisualScripting; +using UnityEditor.ShaderGraph.Drawing; using UnityEngine; +using UnityEngine.Analytics; +using UnityEngine.Rendering; using UnityUtils; public class RopeSimulator : MonoBehaviour @@ -9,36 +15,120 @@ public class RopeSimulator : MonoBehaviour private float gravity = 10; [SerializeField] - private float solveIterations = 10; + private int solveIterations = 10; [SerializeField] - private float constrainStickMinLength = 0.1f; + private bool constrainStickMinLength; + + [SerializeField] + Transform start, end; + + [SerializeField] + int subDivision = 50; + + [SerializeField] + float collisionCheckDist = 0.5f; + + [SerializeField, Range(0f, 1f)] + float distBetweenRopePoints = 0.1f; + + [SerializeField, Range(0.01f, 1f)] + float ropeRadius; + + [SerializeField] + float ignoreResolveThreshold = 0.08f; + + [SerializeField] + Transform ropeCollidersParent; + + [SerializeField] + LayerMask staticColliderMask; + + [SerializeField, Range(0f, 100f)] + float pullForce = 20f; int[] order; public Vector2 testPos; + Vector2 prevStartPos; + Rope rope; private void Start() { - rope = new RopeBuilder() - .AddPoint(new Point(testPos, locked: true)) - .AddPoint(new Point(testPos.Add(x:5f))) - .AddPoint(new Point(testPos.Add(x: 10f))) - .AddPoint(new Point(testPos.Add(x: 15f))) - .AddPoint(new Point(testPos.Add(x: 20f))) - .ConnectPoints(0, 1) - .ConnectPoints(1, 2) - .ConnectPoints(2, 3) - .ConnectPoints(3, 4) - .Build(); + //rope = new RopeBuilder() + // .AddPoint(new Point(testPos, locked: true)) + // .AddPoint(new Point(testPos.Add(x:5f))) + // .AddPoint(new Point(testPos.Add(x: 10f))) + // .AddPoint(new Point(testPos.Add(x: 15f))) + // .AddPoint(new Point(testPos.Add(x: 20f))) + // .ConnectPoints(0, 1) + // .ConnectPoints(1, 2) + // .ConnectPoints(2, 3) + // .ConnectPoints(3, 4) + // .Build(); + RopeBuilder builder = new RopeBuilder(); + builder.AddPoint(new Point(start.position, locked: true)); + for (int i = 1; i < subDivision; i++) + { + Vector2 pointPos = Vector2.Lerp(start.position, end.position, (float)i / (float)subDivision); + //Debug.Log($"pos: {pointPos}, t={i / subDivision}"); + Debug.DrawRay(pointPos, (end.position - start.position).normalized); + builder.AddPoint(new Point(pointPos)); + } + + builder.AddPoint(new Point(end.position, locked: true)); + + for (int i = 0; i < subDivision; i++) + { + builder.ConnectPointsWithDesiredLength(i, i + 1, desiredLength: distBetweenRopePoints); + } + rope = builder.Build(); + + foreach (var point in rope.points) + { + GameObject ropeCollider = new GameObject("Rope Collider"); + ropeCollider.transform.parent = ropeCollidersParent; + ropeCollider.layer = LayerMask.NameToLayer("Rope"); + + var colliderComponent = ropeCollider.AddComponent(); + colliderComponent.radius = ropeRadius; + } CreateOrderArray(); } private void Update() { + rope.points.First().position = start.position; + rope.points.Last().position = end.position; + Simulate(); + + // Update the rope collider positions + for (int i = 0; i < rope.points.Count; i++) + { + ropeCollidersParent.GetChild(i).position = rope.points[i].position; + } + + // Handle static colliders + foreach (var point in rope.points) + { + if (point.locked) continue; + + HandleStaticCollidersOfPoint(point); + } + + // Constrain start transform based on overshoot + float overshoot = rope.CalculateLengthOvershoot(); + if (overshoot > 0) + { + //start.position = prevStartPos; + Vector2 pullDirection = (rope.points.ElementAt(1).position - new Vector2(start.position.x, start.position.y)).normalized; + start.gameObject.GetComponent().AddForce(pullDirection * overshoot * pullForce); + } + + prevStartPos = start.position; } private void OnDrawGizmos() @@ -47,8 +137,8 @@ public class RopeSimulator : MonoBehaviour foreach (var point in rope.points) { - Debug.Log($"pos: {point.position}"); - Gizmos.DrawSphere(point.position, 1f); + //Debug.Log($"pos: {point.position}"); + Gizmos.DrawSphere(point.position, ropeRadius); } } @@ -79,22 +169,60 @@ public class RopeSimulator : MonoBehaviour Vector2 stickDir = (stick.A.position - stick.B.position).normalized; float length = (stick.A.position - stick.B.position).magnitude; - if (length > stick.length || length > constrainStickMinLength) + if (length > stick.desiredLength || constrainStickMinLength) { if (!stick.A.locked) { - stick.A.position = stickCentre + stickDir * stick.length / 2; + TryMovePointToPosition(stick.A, stickCentre + stickDir * stick.desiredLength / 2); } if (!stick.B.locked) { - stick.B.position = stickCentre - stickDir * stick.length / 2; + TryMovePointToPosition(stick.B, stickCentre - stickDir * stick.desiredLength / 2); } } - } } } + private void TryMovePointToPosition(Point point, Vector2 position) + { + Vector2 moveDir = position - point.position; + int stepsRequired = (int) Mathf.Ceil(moveDir.magnitude / collisionCheckDist); + moveDir.Normalize(); + Vector2 initialPos = point.position; + for (int i = 0 ; i < stepsRequired; i++) + { + Vector2 newPos = Vector2.MoveTowards(point.position, position, collisionCheckDist); + point.position = newPos; + Collider2D collider = Physics2D.OverlapCircle(point.position, ropeRadius, staticColliderMask); + if (collider == null) continue; + + // A static collider was met, dont move any further + Vector2 resolvedPos = collider.ClosestPoint(initialPos); + + if (Vector2.Distance(initialPos, resolvedPos) < ignoreResolveThreshold) continue; + + Vector2 penetrationDir = (resolvedPos - point.position).normalized; + Vector2 finalPos = resolvedPos - penetrationDir * ropeRadius; + //Debug.Log($"resolved pos: {point.position}->{finalPos}"); + point.position = finalPos; + //point.prevPosition = finalPos; + break; + } + } + + private void HandleStaticCollidersOfPoint(Point p) + { + Collider2D hitCollider = Physics2D.OverlapCircle(p.position, ropeRadius, staticColliderMask); + if (hitCollider == null) return; + + Vector2 resolvedPos = hitCollider.ClosestPoint(p.position); + Vector2 penetrationDir = (resolvedPos - p.position).normalized; + Vector2 finalPos = resolvedPos - penetrationDir * ropeRadius; + + p.position = finalPos; + } + void CreateOrderArray() { order = new int[rope.sticks.Count]; diff --git a/Assets/Scripts/Rope/Stick.cs b/Assets/Scripts/Rope/Stick.cs index 078e0fe..eee0873 100644 --- a/Assets/Scripts/Rope/Stick.cs +++ b/Assets/Scripts/Rope/Stick.cs @@ -4,13 +4,20 @@ using UnityEngine; public class Stick { public Point A, B; - public float length; + public float desiredLength; public bool dead; public Stick(Point pointA, Point pointB) { this.A = pointA; this.B = pointB; - length = Vector2.Distance(pointA.position, pointB.position); + desiredLength = Vector2.Distance(pointA.position, pointB.position); + } + + public Stick(Point pointA, Point pointB, float desiredLenght) + { + this.A = pointA; + this.B = pointB; + this.desiredLength = desiredLenght; } } \ No newline at end of file diff --git a/ProjectSettings/TagManager.asset b/ProjectSettings/TagManager.asset index 1c92a78..5cc4796 100644 --- a/ProjectSettings/TagManager.asset +++ b/ProjectSettings/TagManager.asset @@ -11,8 +11,8 @@ TagManager: - - Water - UI - - - - + - Rope + - Player - - -