Add collision tests

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/CollisionSolvingStep.cs

@@ -54,10 +54,10 @@ namespace GuidewireSim
             }
 
             // Pauses the simulation after the first collision has been resolved.
-            if (collisionHandler.registeredCollisions.Count >= 1)
-            {
-                Time.timeScale = 0f;
-            }
+            // if (collisionHandler.registeredCollisions.Count >= 1)
+            // {
+            //     Time.timeScale = 0f;
+            // }
         }
 
         // @attention Current calculation of the normal only works for spheres.
@@ -184,7 +184,7 @@ namespace GuidewireSim
         protected void DrawCollisionInformation(Vector3 spherePositionPrediction, ContactPoint contactPoint, Vector3 otherPosition,
                                               Vector3 closestSurfacePoint, Vector3 normalVector)
         {
-            Debug.DrawLine(closestSurfacePoint, closestSurfacePoint + 20f * normalVector, Color.blue, 2f);
+            Debug.DrawLine(closestSurfacePoint, closestSurfacePoint + 10f * normalVector, Color.blue, 2f);
             // Debug.DrawLine(otherPosition, spherePositionPrediction, Color.yellow, 2f);
 
             DebugExtension.DrawPoint(spherePositionPrediction, Color.white);

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/CollisionTestPerformer.cs

@@ -14,6 +14,7 @@ public class CollisionTestPerformer : MonoBehaviour
     [SerializeField] bool doCollisionTestOne = false;
     [SerializeField] bool doCollisionTestTwo = false;
     [SerializeField] bool doCollisionTestThree = false;
+    [SerializeField] bool doCollisionTestFour = false;
     float startTime = 0f;
 
     private void Awake()
@@ -36,6 +37,7 @@ public class CollisionTestPerformer : MonoBehaviour
         if (doCollisionTestOne) PerformCollisionTestOne();
         else if (doCollisionTestTwo) StartCoroutine(PerformCollisionTestTwo());
         else if (doCollisionTestThree) StartCoroutine(PerformCollisionTestThree());
+        else if (doCollisionTestFour) StartCoroutine(PerformCollisionTestFour());
     }
 
     /**
@@ -91,5 +93,23 @@ public class CollisionTestPerformer : MonoBehaviour
         Debug.Log("Velocity at test end: " + simulationLoop.sphereVelocities[1].ToString("e2"));
         Debug.Log("End of Pull Phase of Collision Test Three");
     }
+
+    // force gets applied for the whole time
+    private IEnumerator PerformCollisionTestFour(float pullForceFactor = 0.3f)
+    {
+        float appliedPullForce = pullForceFactor * pullForce.z;
+        
+        Debug.Log("Start of Collision Test Four");
+        Debug.Log("Pull Force: " + appliedPullForce);
+
+        for (int sphereIndex = 0; sphereIndex < (simulationLoop.SpheresCount - 1); sphereIndex++)
+        {
+            simulationLoop.sphereExternalForces[sphereIndex] = Vector3.zero;
+        }
+
+        simulationLoop.sphereExternalForces[simulationLoop.SpheresCount - 1] = pullForceFactor * pullForce;
+
+        yield return null;
+    }
 }
 }
\ No newline at end of file

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/CollisionTestScene_10Spheres_PrimitiveMeshPipe_UnityVariant.unity.meta

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GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/CollisionTestScene_2Spheres_PrimitiveMeshPipe.unity

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+      propertyPath: doCollisionTestFour
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-    m_RemovedComponents: []
+    m_RemovedComponents:
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+  m_LocalPosition: {x: 33.2, y: 8.28, z: 25.1}
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-  m_LocalPosition: {x: 12, y: 9.3, z: 30}
+  m_LocalPosition: {x: 12, y: 9.3, z: 18.4}
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GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/CollisionTestScene_2Spheres_PrimitiveMeshPipe_UnityVariant.unity.meta

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GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/SimulationLoop.cs

@@ -71,10 +71,6 @@ public class SimulationLoop : MonoBehaviour
                                        *   E.g. the first basis vector is (1, 0, 0), the second (0, 1, 0) and the third (0, 0, 1).
                                        */
 
-    public int ConstraintSolverSteps { get; set; } = 1000; /**< How often the constraint solver iterates over each constraint during
-                                                          *   the Constraint Solving Step.
-                                                          *   @attention This value must be positive.
-                                                          */
     public bool ExecuteSingleLoopTest { get; set; } = false; /**< Whether or not to execute the Single Loop Test, in which the outer simulation loop
                                                               *   is exactly executed once. 
                                                               */
@@ -88,6 +84,13 @@ public class SimulationLoop : MonoBehaviour
                                 *   @attention Make sure that the guidewire setup fulfilles that the distance between two adjacent
                                 *   spheres is #rodElementLength.
                                 */
+
+    [SerializeField] [Range(1, 1000)] int constraintSolverSteps = 1000; /**< How often the constraint solver iterates over each constraint during
+                                                                                 *   the Constraint Solving Step.
+                                                                                 *   @attention This value must be positive.
+                                                                                 */
+    public int ConstraintSolverSteps { get { return constraintSolverSteps; }
+                                       set { constraintSolverSteps = value; } }
     [SerializeField] [Range(0.002f, 0.04f)] float timeStep = 0.01f; /**< The fixed time step in seconds at which the simulation runs.
                                                                       *  @note A lower timestep than 0.002 can not be guaranteed by
                                                                       *  the test hardware to be executed in time. Only choose a lower timestep if

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