// Update is called once per frame
void Update()
{
applyTorque();
if (forcetype == forcegen.Gravity)
{
AddForce(ForceGenerator.GenerateForce_Gravity(Mass, kGravity, Vector2.up));
}
if (forcetype == forcegen.Normal)
{
AddForce(ForceGenerator.GenerateForce_Normal(ForceGenerator.GenerateForce_Gravity(Mass, kGravity, Vector2.up), surfaceNormalUnit));
}
if (forcetype == forcegen.Sliding)
{
AddForce(ForceGenerator.GenerateForce_Sliding(ForceGenerator.GenerateForce_Gravity(Mass, kGravity, Vector2.up), ForceGenerator.GenerateForce_Normal(ForceGenerator.GenerateForce_Gravity(Mass, kGravity, Vector2.up), surfaceNormalUnit)));
}
if (forcetype == forcegen.Friction_Static)
{
AddForce(ForceGenerator.GenerateForce_Friction_Static(ForceGenerator.GenerateForce_Normal(ForceGenerator.GenerateForce_Gravity(Mass, kGravity, Vector2.up), surfaceNormalUnit), f_opposing, frictionCoefficientStatic));
}
if (forcetype == forcegen.Friction_Kinetic)
{
AddForce(ForceGenerator.GenerateForce_Friction_Kinetic(ForceGenerator.GenerateForce_Normal(ForceGenerator.GenerateForce_Gravity(Mass, kGravity, Vector2.up), surfaceNormalUnit), velocity, frictionCoefficientKinetic));
}
if (forcetype == forcegen.Drag)
{
AddForce(ForceGenerator.GenerateForce_Sliding(ForceGenerator.GenerateForce_Gravity(Mass, kGravity, Vector2.up), ForceGenerator.GenerateForce_Normal(ForceGenerator.GenerateForce_Gravity(Mass, kGravity, Vector2.up), surfaceNormalUnit)));
AddForce(ForceGenerator.GenerateForce_Drag(velocity, fluidVelocity, fluidDensity, objectAreaCrossSection, objectDragCoefficient));
}
if (forcetype == forcegen.Spring)
{
//AddForce(ForceGenerator.GenerateForce_Spring(position, anchorPosition, springRestingLength,springStiffnessCoefficient));
AddForce(ForceGenerator.GenerateForce_Gravity(Mass, kGravity, Vector2.up));
AddForce(ForceGenerator.GenerateForce_Spring(position, -position, springRestingLength, springStiffnessCoefficient));
}
if (forcetype == forcegen.None)
{
}
if (forcetype == forcegen.SphereRoll)
{
AddForce(ForceGenerator.GenerateForce_Gravity(Mass, kGravity, Vector2.up));
AddForce(ForceGenerator.GenerateForce_Normal(ForceGenerator.GenerateForce_Gravity(Mass, kGravity, Vector2.up), surfaceNormalUnit));
AddForce(ForceGenerator.GenerateForce_Friction_Static(ForceGenerator.GenerateForce_Normal(ForceGenerator.GenerateForce_Gravity(Mass, kGravity, Vector2.up), surfaceNormalUnit), f_opposing, frictionCoefficientStatic));
}
}
void UpdateForce()
{
// Lab 2 Step 3
//f_gravity = f = mg = ma
Vector3 f_gravity = forces.mass * new Vector3(0.0f, -9.8f);
Vector3 f_normal = ForceGenerator.GenerateForce_Normal(f_gravity, transform.up);
// AddForce(f_gravity); // works
if (forces.generateGravity)
{
AddForce(ForceGenerator.GenerateForce_Gravity(forces.mass, -9.8f, Vector3.up));
}
if (forces.generateNormal)
{
AddForce(ForceGenerator.GenerateForce_Normal(f_gravity, forces.surfaceNormal_unit)); // works? more testing (surface normal is 0, 1)
}
if (forces.generateSliding)
{
AddForce(ForceGenerator.GenerateForce_Sliding(f_gravity, f_normal)); // (surface normal is 0,1)
}
if (forces.generateStaticsFriction)
{
AddForce(ForceGenerator.GenerateForce_Friction_Static(f_normal, forces.frictionOpposingForce, forces.frictionCoeff_static)); // works (surface normal is 1,1) FOF = (-3,0) FCS = 0.9
}
if (forces.generateKineticFriction)
{
AddForce(ForceGenerator.GenerateForce_Friction_Kinetic(f_normal, particle3DTransform.velocity, forces.frictionCoeff_kinetic)); // works surface = (1,1) initVel = 15 FCK = 0.3
}
if (forces.generateDrag)
{
AddForce(ForceGenerator.GenerateForce_Drag(particle3DTransform.velocity, forces.fluidVelocity, forces.fluidDensity, forces.objArea_CrossSection, forces.objDragCoeff)); // not sure if this works ask dan... IV = 1, FV = 1, FD = 1, OACS = 1.5, ODC=1.05
}
if (forces.generateSpring && particle3DTransform.position.magnitude != 0)
{
AddForce(ForceGenerator.GenerateForce_Spring(particle3DTransform.position, forces.anchorPos, forces.springRestingLength, forces.springStiffnesCoeff)); // pos = 0,100 , AP = 0,0 , SRL = 0.1, SSC = 3 , fricCoKin = 0.15 (turn on gravity and kin fric
}
AddForce(forces.basicForce);
}
private void FixedUpdate()
{
switch (positionType)
{
case PosIntegrationType.EulerExplicit:
UpdatePositionEulerExplicit(Time.fixedDeltaTime);
break;
default:
UpdatePositionKinematic(Time.fixedDeltaTime);
break;
}
switch (rotationType)
{
case RotIntegrationType.EulerExplicit:
UpdateRotationEulerExplicit(Time.fixedDeltaTime);
break;
default:
UpdateRotationKinematic(Time.fixedDeltaTime);
break;
}
//lab03
UpdateAngularAcceleration();
UpdateAcceleration();
transform.position = position;
Vector2 gravitationalForce = ForceGenerator.GenerateForce_Gravity(mass, -9.8f, Vector2.up);
Vector2 normalForce = ForceGenerator.GenerateForce_Normal(-gravitationalForce, testFloor.transform.up);
Vector2 slideForce = ForceGenerator.GenerateForce_Sliding(gravitationalForce, normalForce);
Vector2 frictionForce = ForceGenerator.GenerateForce_Friction(normalForce, slideForce, velocity, frictionStatic, frictionKinetic);
Vector2 dragForce = ForceGenerator.GenerateForce_Drag(velocity, new Vector2(0.2f, 0.0f), 10.0f, 10.0f, 4.0f);
Vector2 springForce = ForceGenerator.GenerateForce_Spring(transform.position, testSpringAnchor.position, springRestingLength, springStrength * springStrength);
Vector2 springDampForce = ForceGenerator.GenerateForce_SpringDamping(mass, velocity, springStrength, 5.0f);
Vector2 springMaxLengthForce = ForceGenerator.GenerateForce_SpringWithMax(transform.position, testSpringAnchor.position, springRestingLength, springStrength * springStrength, maxSpringLength);
switch (forceType)
{
case ForceType.gravity:
AddForce(gravitationalForce);
break;
case ForceType.normal:
AddForce(normalForce);
break;
case ForceType.slide:
AddForce(slideForce);
break;
case ForceType.friction:
AddForce(slideForce);
AddForce(frictionForce);
break;
case ForceType.drag:
AddForce(dragForce);
break;
case ForceType.spring:
AddForce(springForce);
break;
case ForceType.springDamping:
AddForce(springForce);
AddForce(springDampForce);
AddForce(gravitationalForce);
break;
case ForceType.springWithMaxLength:
AddForce(springMaxLengthForce);
AddForce(springDampForce);
AddForce(gravitationalForce);
break;
case ForceType.none:
//Debug.Log("We ain't movin chief.");
break;
default:
AddForce(gravitationalForce);
break;
}
//lab03
ApplyTorque(pointApplied, forceApplied);
//clamps rotation to 360
SetRotation(rotation %= 360.0f);
rotAcceleration = angularAccel;
}
/*
* Lab 1
* Integrate user friendly menu.
*/
// Get selectable items from the inspector menu.
private void GetInspectorItems()
{
/*
* Lab 1 Step 3
*/
// Integrate.
if (positionType == PositionType.Euler)
{
UpdatePositionEulerExplicit(Time.fixedDeltaTime);
}
else if (positionType == PositionType.Kinematic)
{
UpdatePositionKinematic(Time.fixedDeltaTime);
}
if (rotationType == RotationType.Euler)
{
UpdateRotationEulerExplicit(Time.fixedDeltaTime);
}
else if (rotationType == RotationType.Kinematic)
{
UpdateRotationKinematic(Time.fixedDeltaTime);
}
if (gravityActive)
{
// Gravity force.
AddForce(ForceGenerator.GenerateForce_Gravity(mass, GRAVITY, Vector2.up));
}
if (springActive)
{
// Spring force.
AddForce(ForceGenerator.GenerateForce_Spring(springAnchor.position, transform.position, springRestLength, springStiffness));
}
if (staticFrictionActive)
{
// Static friction force.
AddForce(ForceGenerator.GenerateForce_Friction_Static(staticFrictionNormal, staticFrictionOpposingForce, staticFrictionCoefficient));
}
if (kinematicFrictionActive)
{
// Kinematic friction force.
AddForce(ForceGenerator.GenerateForce_Friction_Kinetic(kinematicNormalForce, velocity, kinematicFrictionCoefficient));
}
if (slidingActive)
{
// Sliding force.
AddForce(ForceGenerator.GenerateForce_Sliding(ForceGenerator.GenerateForce_Gravity(mass, GRAVITY, worldUp), slidingNormalForce));
}
if (dragActive)
{
// Drag force.
AddForce(ForceGenerator.GenerateForce_Drag(velocity, fluidVelocity, fluidDensity, objectCrossSection, dragCoefficient));
}
if (normalActive)
{
// Normal force.
AddForce(ForceGenerator.GenerateForce_Normal(ForceGenerator.GenerateForce_Gravity(mass, GRAVITY, worldUp), surfaceNormal));
}
if (dampingSpringActive)
{
// Damping spring force.
AddForce(ForceGenerator.GenerateForce_Spring_Damping(position, springAnchor.position, springRestLength, springStiffness, springDamping, springConstant, velocity));
}
return;
}