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Ring Stacking spring constraints - tidied and defaulted to OFF
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moved functions into Ring.cs from Fishtank.cs
default is old pushtogether for rings
plenty of issues with springs... dirty - but OFF
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@ddoak
ddoak committed Jun 10, 2018
1 parent 652f1c3 commit 6a88067
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Showing 5 changed files with 225 additions and 185 deletions.
149 changes: 27 additions & 122 deletions Assets/Fishtank.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -124,7 +124,7 @@ public class Fishtank : MonoBehaviour
private bool myHand1TouchPressedLastLastUpdate = false; // debouncing

public bool ringsUseSpringConstraints = false; // if true, enables use of spring constraints for ring stacking
public float ringMinSpringStrength = 0f;
//public float ringMinSpringStrength = 0f;


void FindPairs()
Expand Down Expand Up @@ -474,6 +474,7 @@ void PushTogether()
if (tag == "ring")
{
Ring ring = go.GetComponent<Ring>();

if ((ring.partnerAcceptor == null && ring.partnerDonor == null))
{
//I am an unpaired ring (no donor or acceptor) => should drift
Expand Down Expand Up @@ -507,6 +508,7 @@ void PushTogether()
}
}
}

}


Expand Down Expand Up @@ -663,26 +665,18 @@ void PushTogether()
}
}

float GetSpringFromDistance(float dist)
{
float calcSpringStrength;
calcSpringStrength = 1.0f * (1.0f / (dist * dist));
//Debug.Log("distance = " + dist + " spring = " + calcSpringStrength);
calcSpringStrength = Mathf.Max(calcSpringStrength, ringMinSpringStrength);
return calcSpringStrength;
}

void PushRingsWithSprings(GameObject go)
{
// investigating using spring constraints to move rings
{

float bestRotationOffsetAngle = 0.0f;
float ringStackRotation = 8.09f;
var ring = go.GetComponent<Ring>();

ring.dockedToDonor = false;
ring.dockedToAcceptor = false;


if (ring.partnerAcceptor != null)
{
{
Expand All @@ -695,8 +689,9 @@ void PushRingsWithSprings(GameObject go)

bestRotationOffsetAngle = GetBestRotationOffsetAngle(acceptor.rotation, go);
//Debug.Log("bestRotationOffsetAngle (acceptor) is " + bestRotationOffsetAngle);

SetAcceptorConstraints(ring, bestRotationOffsetAngle - ringStackRotation);

//SetAcceptorConstraints(ring, bestRotationOffsetAngle - ringStackRotation);
ring.RingSetAcceptorConstraints(bestRotationOffsetAngle - ring.ringStackingAxialRotation);

//targetRotation = acceptor.rotation * Quaternion.Euler(new Vector3(0, bestRotationOffsetAngle, 0));
//go.transform.rotation = Quaternion.RotateTowards(go.transform.rotation, targetRotation, Time.deltaTime * Random.Range(0.1f, 0.5f) * pairingRotationVelocity);
Expand All @@ -718,7 +713,7 @@ void PushRingsWithSprings(GameObject go)
else
{
// no acceptor - switch off corresponding spring constraints
SwitchOffAcceptorConstraints(ring);
ring.RingSwitchOffAcceptorConstraints();
}

if (ring.partnerDonor != null)
Expand All @@ -733,7 +728,8 @@ void PushRingsWithSprings(GameObject go)
bestRotationOffsetAngle = GetBestRotationOffsetAngle(donor.rotation, go);
//Debug.Log("bestRotationOffsetAngle (donor) is " + bestRotationOffsetAngle);

SetDonorConstraints(ring, bestRotationOffsetAngle + ringStackRotation);
//SetDonorConstraints(ring, bestRotationOffsetAngle + ringStackRotation);
ring.RingSetDonorConstraints(bestRotationOffsetAngle + ring.ringStackingAxialRotation);

//targetRotation = donor.rotation * Quaternion.Euler(new Vector3(0, bestRotationOffsetAngle, 0));
//go.transform.rotation = Quaternion.RotateTowards(go.transform.rotation, targetRotation, Time.deltaTime * Random.Range(0.1f, 0.5f) * pairingRotationVelocity);
Expand All @@ -753,7 +749,7 @@ void PushRingsWithSprings(GameObject go)
else
{
// no donor - switch off corresponding spring constraint
SwitchOffDonorConstraints(ring);
ring.RingSwitchOffDonorConstraints();

}

Expand All @@ -774,106 +770,6 @@ void DrawLine(Vector3 start, Vector3 end, Color color, float duration = 0.2f)
GameObject.Destroy(myLine, duration);
}

void SetAcceptorConstraints(Ring ringD, float rotationOffsetAngle)
{
var ringA = ringD.partnerAcceptor;

for (int i = 0; i < 6; i++)
{
var sj = ringD.sjDonorToAcceptorArr[i];

sj.connectedBody = ringA.GetComponent<Rigidbody>();

float connectedAnchorX = ringD.radius * (Mathf.Sin((i * (Mathf.Deg2Rad * 60.0f)) + (Mathf.Deg2Rad * rotationOffsetAngle)));
float connectedAnchorY = 0f;
float connectedAnchorZ = ringD.radius * (Mathf.Cos((i * (Mathf.Deg2Rad * 60.0f)) + (Mathf.Deg2Rad * rotationOffsetAngle)));

sj.connectedAnchor = new Vector3(connectedAnchorX, connectedAnchorY, connectedAnchorZ);
//sj.connectedAnchor = new Vector3(ringD.radius * (Mathf.Sin(i * (60.0f * Mathf.Deg2Rad))), 0f, ringD.radius * (Mathf.Cos(i * (60.0f * Mathf.Deg2Rad))));

sj.damper = 50;

var startPoint = ringD.transform.position + ringD.transform.TransformVector(sj.anchor);
var endPoint = sj.connectedBody.transform.position + sj.connectedBody.transform.TransformVector(sj.connectedAnchor);

var currentSpringVector = endPoint - startPoint;
sj.spring = GetSpringFromDistance(Vector3.Magnitude(currentSpringVector));

Color constraintColor = Color.green;
if (Vector3.Distance(startPoint, endPoint) >= (sj.minDistance + sj.tolerance))
{
constraintColor = Color.red;
}
if (Vector3.Distance(startPoint, endPoint) <= (sj.maxDistance - sj.tolerance))
{
constraintColor = Color.yellow;
}

//DrawLine(startPoint, endPoint, constraintColor, 0.02f);
}
}

void SetDonorConstraints(Ring ringA, float rotationOffsetAngle)
{
var ringD = ringA.partnerDonor;

for (int i = 0; i < 6; i++)
{
var sj = ringA.sjAcceptorToDonorArr[i];

sj.connectedBody = ringD.GetComponent<Rigidbody>();

float connectedAnchorX = ringA.radius * (Mathf.Sin((i * (Mathf.Deg2Rad * 60.0f)) + (Mathf.Deg2Rad * rotationOffsetAngle)));
float connectedAnchorY = 0f;
float connectedAnchorZ = ringA.radius * (Mathf.Cos((i * (Mathf.Deg2Rad * 60.0f)) + (Mathf.Deg2Rad * rotationOffsetAngle)));

sj.connectedAnchor = new Vector3(connectedAnchorX, connectedAnchorY, connectedAnchorZ);
//sj.connectedAnchor = new Vector3(ringA.radius * (Mathf.Sin(i * (60.0f * Mathf.Deg2Rad))), 0f, ringA.radius * (Mathf.Cos(i * (60.0f * Mathf.Deg2Rad))));

sj.damper = 50;

var startPoint = ringA.transform.position + ringA.transform.TransformVector(sj.anchor);
var endPoint = sj.connectedBody.transform.position + sj.connectedBody.transform.TransformVector(sj.connectedAnchor);

var currentSpringVector = endPoint - startPoint;
sj.spring = GetSpringFromDistance(Vector3.Magnitude(currentSpringVector));

Color constraintColor = Color.green;
if (Vector3.Distance(startPoint, endPoint) >= (sj.minDistance + sj.tolerance))
{
constraintColor = Color.red;
}
if (Vector3.Distance(startPoint, endPoint) <= (sj.maxDistance - sj.tolerance))
{
constraintColor = Color.yellow;
}

//DrawLine(startPoint, endPoint, constraintColor, 0.02f);
}
}

void SwitchOffAcceptorConstraints(Ring ringD)
{
for (int i = 0; i < 6; i++)
{
var sj = ringD.sjDonorToAcceptorArr[i];
sj.connectedBody = null;
sj.damper = 0;
sj.spring = 0f;
}
}

void SwitchOffDonorConstraints(Ring ringA)
{
for (int i = 0; i < 6; i++)
{
var sj = ringA.sjAcceptorToDonorArr[i];
sj.connectedBody = null;
sj.damper = 0;
sj.spring = 0f;
}
}

void PushRingsDirectly(GameObject go)
{
// original implementation of fishtank - uses RB forces and transform lerps to move rings
Expand All @@ -890,8 +786,8 @@ void PushRingsDirectly(GameObject go)
rb.angularDrag = 1;

// switch all spring constraints off
SwitchOffAcceptorConstraints(ring);
SwitchOffDonorConstraints(ring);
ring.RingSwitchOffAcceptorConstraints();
ring.RingSwitchOffDonorConstraints();


}
Expand Down Expand Up @@ -1064,16 +960,25 @@ private void AddRandomMotion(GameObject go)
float torque = torqueDiffuse;
if (go.tag == "ring")
{

//make rings tumble more
torque = 0.001f;

if (!ringsUseSpringConstraints)
{
//RB spring constraint damper interferes with rb movement
//switching the damper value may also have an effect - hence bool checks
var ring = go.GetComponent<Ring>();
SwitchOffAcceptorConstraints(ring);
SwitchOffDonorConstraints(ring);
if (ring.sjDonorToAcceptorOn == true)
{
ring.RingSwitchOffAcceptorConstraints();
}
if (ring.sjAcceptorToDonorOn == true)
{
ring.RingSwitchOffDonorConstraints();
}
}

}

if (!bounds.Contains(go.transform.position)) // duplicate code needs tidying
Expand Down Expand Up @@ -1221,8 +1126,8 @@ void ClampRigidBodyDynamics()
//Debug.Log("There are " + gos.Length + " " + tag + " around");
foreach (var go in gos)
{
go.GetComponent<Rigidbody>().velocity = Vector3.ClampMagnitude(go.GetComponent<Rigidbody>().velocity, 0.5f * 2.0f);
go.GetComponent<Rigidbody>().angularVelocity = Vector3.ClampMagnitude(go.GetComponent<Rigidbody>().angularVelocity, 0.5f * 6.0f);
go.GetComponent<Rigidbody>().velocity = Vector3.ClampMagnitude(go.GetComponent<Rigidbody>().velocity, 1.0f * 2.0f);
go.GetComponent<Rigidbody>().angularVelocity = Vector3.ClampMagnitude(go.GetComponent<Rigidbody>().angularVelocity, 1.0f * 6.0f);
}
}
}
Expand Down
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