private void UpdateJoints()
{
for (int i = 0; i < joints.Length; ++i)
{
if (joints[i] != null && links[i].body != null && links[i + 1].body != null)
{
CableJoint joint = joints[i];
Vector3 t1, t2;
FindCommonTangents(links[i], links[i + 1], out t1, out t2);
Vector2 currentT1 = joint.body1.WorldSpaceToCablePlane(joint.WorldSpaceAttachment1);
Vector2 currentT2 = joint.body2.WorldSpaceToCablePlane(joint.WorldSpaceAttachment2);
// Get surface distances between old and new tangents:
float d1 = joint.body1.SurfaceDistance(currentT1, joint.body1.WorldSpaceToCablePlane(t1), links[i].orientation);
float d2 = joint.body2.SurfaceDistance(currentT2, joint.body2.WorldSpaceToCablePlane(t2), links[i + 1].orientation);
// Update stored lengths:
links[i].storedCable -= d1;
links[i + 1].storedCable += d2;
// Update rest lengths:
joint.restLength += d1;
joint.restLength -= d2;
// Update tangent points:
joint.offset1 = joint.body1.transform.InverseTransformPoint(t1 - joint.body1.GetCablePlaneNormal() * links[i].storedCable * links[i].spoolSeparation);
joint.offset2 = joint.body2.transform.InverseTransformPoint(t2 - joint.body2.GetCablePlaneNormal() * links[i + 1].storedCable * links[i + 1].spoolSeparation);
}
}
}
public void Setup()
{
joints = null;
if (links != null && links.Length > 0)
{
joints = new CableJoint[links.Length - 1];
for (int i = 0; i < links.Length - 1; ++i)
{
if (links[i].body != null && links[i + 1].body != null)
{
Vector3 t1, t2;
FindCommonTangents(links[i], links[i + 1], out t1, out t2);
t1 -= links[i].body.GetCablePlaneNormal() * links[i].storedCable * links[i].spoolSeparation;
t2 -= links[i + 1].body.GetCablePlaneNormal() * links[i + 1].storedCable * links[i + 1].spoolSeparation;
joints[i] = new CableJoint(links[i].body, links[i + 1].body,
links[i].body.transform.InverseTransformPoint(t1),
links[i + 1].body.transform.InverseTransformPoint(t2),
(t2 - t1).magnitude);
}
}
}
CalculateRestLength();
}
private void CalculateRestLength()
{
restLength = 0;
if (joints == null)
{
return;
}
bool closed = (links[0].body == links[links.Count - 1].body);
for (int i = 0; i < links.Count; ++i)
{
Link link = links[i];
if (link.body != null)
{
CableJoint prevJoint = GetPreviousJoint(i, closed);
CableJoint nextJoint = GetNextJoint(i, closed);
if (nextJoint != null && prevJoint != null && (!(i == 0 && closed)))
{
link.storedCable = Mathf.Abs(link.body.SurfaceDistance(link.body.WorldSpaceToCablePlane(prevJoint.WorldSpaceAttachment2),
link.body.WorldSpaceToCablePlane(nextJoint.WorldSpaceAttachment1),
link.orientation));
restLength += link.storedCable;
}
else if (link.type == Link.LinkType.Hybrid)
{
restLength += link.storedCable;
if (nextJoint != null)
{
Vector2 tangent = link.body.WorldSpaceToCablePlane(nextJoint.WorldSpaceAttachment1);
int j = 0;
link.outAnchor = link.body.transform.InverseTransformPoint(link.body.SurfacePointAtDistance(tangent, link.storedCable, link.orientation, out j));
}
else if (prevJoint != null)
{
Vector2 tangent = link.body.WorldSpaceToCablePlane(prevJoint.WorldSpaceAttachment2);
int j = 0;
link.inAnchor = link.body.transform.InverseTransformPoint(link.body.SurfacePointAtDistance(tangent, link.storedCable, !link.orientation, out j));
}
}
if (i < links.Count - 1 && joints[i] != null)
{
restLength += joints[i].restLength;
}
}
links[i] = link;
}
}
private void SampleLink(CableJoint prevJoint, Link link, CableJoint nextJoint)
{
Vector3?t1 = null, t2 = null;
if (prevJoint != null)
{
t1 = prevJoint.body2.WorldToCable(prevJoint.WorldSpaceAttachment2);
}
if (nextJoint != null)
{
t2 = nextJoint.body1.WorldToCable(nextJoint.WorldSpaceAttachment1);
}
// Hybrid links (only at the start or the end of the cable)
if (link.type == Link.LinkType.Hybrid)
{
if (t1.HasValue)
{
link.body.AppendSamples(sampledCable, t1.Value, link.storedCable, link.spoolSeparation, false, link.orientation);
}
else if (t2.HasValue)
{
link.body.AppendSamples(sampledCable, t2.Value, link.storedCable, link.spoolSeparation, true, link.orientation);
}
}
// Rolling links (only mid-cable)
else if (link.type == Link.LinkType.Rolling)
{
if (t1.HasValue && t2.HasValue)
{
float distance = link.body.SurfaceDistance(t1.Value, t2.Value, !link.orientation, false);
link.body.AppendSamples(sampledCable, t1.Value, distance, 0, false, link.orientation);
}
}
// Attachment, source and pinhole links:
else
{
if (t1.HasValue)
{
sampledCable.AppendSample(prevJoint.body2.transform.TransformPoint(link.inAnchor));
}
if (t1.HasValue && t2.HasValue && t1.Value != t2.Value)
{
sampledCable.NewSegment();
}
if (t2.HasValue)
{
sampledCable.AppendSample(nextJoint.body1.transform.TransformPoint(link.outAnchor));
}
}
}
private void SampleJoint(CableJoint joint)
{
Vector3 p1 = joint.WorldSpaceAttachment1;
Vector3 p2 = joint.WorldSpaceAttachment2;
if (joint.length < joint.restLength)
{
Vector3 point = p2 - p1;
Vector3 dir = Vector3.Scale(point, new Vector3(1, 0, 1));
if (loosenessScale > 0)
{
float sampledLength = Mathf.Lerp(joint.length, Mathf.Min(joint.restLength, joint.length + maxLooseCable), loosenessScale);
if (dir.sqrMagnitude > verticalThreshold)
{
Quaternion rot = Quaternion.LookRotation(dir);
Quaternion irot = Quaternion.Inverse(rot);
Vector3 n = irot * point;
if (Utils.Catenary(Vector2.zero, new Vector2(n.z, n.y), sampledLength, ref catenaryBuffer))
{
for (int j = 1; j < catenaryBuffer.Length - 1; ++j)
{
sampledCable.AppendSample(p1 + rot * new Vector3(0, catenaryBuffer[j].y, catenaryBuffer[j].x));
}
}
}
else
{
if (Utils.Sinusoid(p1, point, sampledLength, verticalCurlyness, ref sinusoidBuffer))
{
for (int j = 1; j < sinusoidBuffer.Length - 1; ++j)
{
sampledCable.AppendSample(sinusoidBuffer[j]);
}
}
}
}
}
}
private void UpdatePinhole(CableJoint joint1, CableJoint joint2)
{
if (joint1 != null && joint2 != null)
{
float restLenght1 = joint1.restLength;
float restLength2 = joint2.restLength;
if (joint1.length > restLenght1)
{
float delta = joint1.length - restLenght1;
joint1.restLength += delta;
joint2.restLength -= delta;
}
if (joint2.length > restLength2)
{
float delta = joint2.length - restLength2;
joint1.restLength -= delta;
joint2.restLength += delta;
}
}
}
private void Update()
{
sampledCable.Clear();
if (joints == null || links.Length == 0)
{
return;
}
bool closed = (links[0].body == links[links.Length - 1].body);
for (int i = 0; i < links.Length; ++i)
{
if (links[i].body != null)
{
CableJoint prevJoint = GetPreviousJoint(i, closed);
CableJoint nextJoint = GetNextJoint(i, closed);
// Sample the link, except if the cable is closed and this is the first link.
if (!(i == 0 && closed) || links[i].type == Link.LinkType.Attachment || links[i].type == Link.LinkType.Pinhole)
{
SampleLink(prevJoint, links[i], nextJoint);
}
// Sample the joint (only adds sample points if cable is not tense):
if (i < joints.Length && joints[i] != null)
{
SampleJoint(joints[i]);
}
}
}
if (closed)
{
sampledCable.Close();
}
}
private void SplitMerge()
{
if (!dynamicSplitMerge)
{
return;
}
// merge links with negative stored cable:
for (int i = 1; i < links.Count - 1; ++i)
{
CableJoint prevJoint = joints[i - 1];
CableJoint nextJoint = joints[i];
if (links[i].type == Link.LinkType.Rolling && links[i].body != null && prevJoint != null && nextJoint != null)
{
if (links[i].storedCable < 0)
{
prevJoint.restLength += nextJoint.restLength;
prevJoint.Body2 = nextJoint.Body2;
// Update joint attachment points:
Vector3 t1, t2;
FindCommonTangents(links[i - 1], links[i + 1], out t1, out t2);
prevJoint.offset1 = prevJoint.Body1.transform.InverseTransformPoint(t1);
prevJoint.offset2 = prevJoint.Body2.transform.InverseTransformPoint(t2);
prevJoint.Initialize();
links.RemoveAt(i);
joints.RemoveAt(i);
}
}
}
// split joints that intersect a body:
for (int i = 0; i < joints.Count; ++i)
{
CableJoint currentJoint = joints[i];
if (currentJoint != null)
{
RaycastHit hit;
if (Physics.Raycast(new Ray(currentJoint.WorldSpaceAttachment1, currentJoint.WorldSpaceAttachment2 - currentJoint.WorldSpaceAttachment1), out hit, currentJoint.length))
{
CableBody body = hit.collider.GetComponent <CableBody>();
// Only split if the body is a disc or a convex shape, and the raycast hit is sane.
if ((body is CableDisc || body is CableShape) && hit.distance > 0.1f && hit.distance + 0.1f < currentJoint.length)
{
float initialRestLength = currentJoint.restLength;
// Create new joint and link:
CableJoint newJoint = new CableJoint(body, currentJoint.Body2, Vector3.zero, Vector3.zero, currentJoint.restLength);
currentJoint.Body2 = body;
Link newLink = new Link();
newLink.type = Link.LinkType.Rolling;
newLink.body = body;
// Calculate orientation.
Vector3 v = body.transform.position - currentJoint.WorldSpaceAttachment1;
Vector3 cross = Vector3.Cross(body.GetCablePlaneNormal(), v);
newLink.orientation = Vector3.Dot(cross, hit.point - currentJoint.WorldSpaceAttachment1) < 0;
// Update joint attachment points:
Vector3 t1, t2;
FindCommonTangents(links[i], newLink, out t1, out t2);
currentJoint.offset1 = currentJoint.Body1.transform.InverseTransformPoint(t1);
currentJoint.offset2 = currentJoint.Body2.transform.InverseTransformPoint(t2);
FindCommonTangents(newLink, links[i + 1], out t1, out t2);
newJoint.offset1 = newJoint.Body1.transform.InverseTransformPoint(t1);
newJoint.offset2 = newJoint.Body2.transform.InverseTransformPoint(t2);
currentJoint.Initialize();
newJoint.Initialize();
// Adjust rest lengths so that tensions are equal:
float tension = initialRestLength / (currentJoint.length + newJoint.length);
currentJoint.restLength = currentJoint.length * tension;
newJoint.restLength = newJoint.length * tension;
// Insert new joint/link:
joints.Insert(i + 1, newJoint);
links.Insert(i + 1, newLink);
}
}
}
}
}
private void UpdateJoints()
{
for (int i = 0; i < joints.Count; ++i)
{
if (joints[i] != null && links[i].body != null && links[i + 1].body != null)
{
CableJoint joint = joints[i];
Link link1 = links[i];
Link link2 = links[i + 1];
Vector3 t1, t2;
FindCommonTangents(links[i], links[i + 1], out t1, out t2);
Vector2 currentT1 = joint.body1.WorldSpaceToCablePlane(joint.WorldSpaceAttachment1);
Vector2 currentT2 = joint.body2.WorldSpaceToCablePlane(joint.WorldSpaceAttachment2);
// Get surface distances between old and new tangents:
float d1 = joint.body1.SurfaceDistance(currentT1, joint.body1.WorldSpaceToCablePlane(t1), links[i].orientation);
float d2 = joint.body2.SurfaceDistance(currentT2, joint.body2.WorldSpaceToCablePlane(t2), links[i + 1].orientation);
// Spawn more cable if necessary
if (links[i].type == Link.LinkType.Attachment)
{
d1 += links[i].cableSpawnSpeed;
restLength += links[i].cableSpawnSpeed;
}
if (links[i + 1].type == Link.LinkType.Attachment)
{
d2 -= links[i + 1].cableSpawnSpeed;
restLength += links[i + 1].cableSpawnSpeed;
}
// Update stored lengths:
link1.storedCable -= d1;
link2.storedCable += d2;
// Update rest lengths:
joint.restLength += d1;
joint.restLength -= d2;
// Update hybrid link attachment points (displace along the plane normal based on amount of stored cable):
if (links[i].type == Link.LinkType.Hybrid)
{
t1 -= joint.body1.GetCablePlaneNormal() * links[i].storedCable * links[i].spoolSeparation;
}
if (links[i + 1].type == Link.LinkType.Hybrid)
{
t2 -= joint.body2.GetCablePlaneNormal() * links[i + 1].storedCable * links[i + 1].spoolSeparation;
}
// Update tangent points:
joint.offset1 = joint.body1.transform.InverseTransformPoint(t1);
joint.offset2 = joint.body2.transform.InverseTransformPoint(t2);
links[i] = link1;
links[i + 1] = link2;
}
}
}
