Add TimeStep

Performed debugging to understand the impact of the timestep on constraint solving

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/CollisionTestPerformer.cs

@@ -67,5 +67,24 @@ public class CollisionTestPerformer : MonoBehaviour
         Debug.Log("Velocity at test end: " + simulationLoop.sphereVelocities[1].ToString("e2"));
         Debug.Log("End of Pull Phase of Collision Test Two");
     }
+
+    // private IEnumerator PerformCollisionTestThree(float exitVelocity = 4f)
+    // {
+    //     for (int sphereIndex = 0; sphereIndex < (simulationLoop.SpheresCount - 1); sphereIndex++)
+    //     {
+    //         simulationLoop.sphereExternalForces[sphereIndex] = Vector3.zero;
+    //     }
+
+    //     simulationLoop.sphereExternalForces[simulationLoop.SpheresCount - 1] = pullForce;
+
+    //     yield return new WaitForSeconds(applyForceTime);
+
+    //     simulationLoop.sphereExternalForces[simulationLoop.SpheresCount - 1] = Vector3.zero;
+
+    //     float timeDiff = Time.time - startTime;
+    //     Debug.Log("Elapsed time of collision test: " + timeDiff);
+    //     Debug.Log("Velocity at test end: " + simulationLoop.sphereVelocities[1].ToString("e2"));
+    //     Debug.Log("End of Pull Phase of Collision Test Two");
+    // }
 }
 }
\ No newline at end of file

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/CollisionTestScene_2Spheres_CustomPipe.unity

@@ -415,7 +415,7 @@ PrefabInstance:
       objectReference: {fileID: 0}
     - target: {fileID: 4233146888435007091, guid: 0e128b35dc3ea6746b6de609560d672d, type: 3}
       propertyPath: timeStep
-      value: 0.04
+      value: 0.002
       objectReference: {fileID: 0}
     - target: {fileID: 4233146888435007091, guid: 0e128b35dc3ea6746b6de609560d672d, type: 3}
       propertyPath: fixedTimeStep
@@ -435,7 +435,7 @@ PrefabInstance:
       objectReference: {fileID: 152071858}
     - target: {fileID: 4233146888435007091, guid: 0e128b35dc3ea6746b6de609560d672d, type: 3}
       propertyPath: solveStretchConstraints
-      value: 0
+      value: 1
       objectReference: {fileID: 0}
     - target: {fileID: 4233146888435007091, guid: 0e128b35dc3ea6746b6de609560d672d, type: 3}
       propertyPath: solveBendTwistConstraints

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/PredictionStep.cs

@@ -31,15 +31,15 @@ public class PredictionStep : MonoBehaviour
     {
         // Debug.Log("dt " + Time.deltaTime + " fdt " + Time.fixedDeltaTime);
         Vector3 calc = Time.deltaTime * sphereInverseMasses[1] * sphereExternalForces[1];
-        Debug.Log("dt " + Time.deltaTime + " invMass " + sphereInverseMasses[1] + " extF " + sphereExternalForces[1].ToString("e3")
-                  + " calc " + calc.ToString("e3") + " vorherigeVel " + sphereVelocities[1].ToString("e3"));
+        // Debug.Log("dt " + Time.deltaTime + " invMass " + sphereInverseMasses[1] + " extF " + sphereExternalForces[1].ToString("e3")
+        //           + " calc " + calc.ToString("e3") + " vorherigeVel " + sphereVelocities[1].ToString("e3"));
 
         for (int sphereIndex = 0; sphereIndex < sphereVelocities.Length; sphereIndex++)
         {
             sphereVelocities[sphereIndex] += Time.deltaTime * sphereInverseMasses[sphereIndex] * sphereExternalForces[sphereIndex];
         }
 
-        Debug.Log("velocity " + sphereVelocities[1].ToString("e3"));
+        // Debug.Log("velocity " + sphereVelocities[1].ToString("e3"));
 
         return sphereVelocities;
     }

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/SimulationLoop.cs

@@ -88,13 +88,16 @@ public class SimulationLoop : MonoBehaviour
                                 *   @attention Make sure that the guidewire setup fulfilles that the distance between two adjacent
                                 *   spheres is #rodElementLength.
                                 */
-    [SerializeField] [Range(0.001f, 0.04f)] float timeStep = 0.01f; //!< The fixed time step in seconds at which the simulation runs.
+    [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
+                                                                      *  you are certain your hardware can handle it.
+                                                                      */
+    public float TimeStep { get { return timeStep; }}
 
     public int SpheresCount { get; private set; } //!< The count of all #spheres of the guidewire.
     public int CylinderCount { get; private set; } //!< The count of all #cylinders of the guidewire.
 
-    int counter = 0;
-
     private void Awake()
     {
         Assert.IsFalse(spheres.Length == 0);
@@ -142,12 +145,9 @@ public class SimulationLoop : MonoBehaviour
      */
     private void FixedUpdate()
     {
-        if (counter > 2) return;
         if (ExecuteSingleLoopTest) return;
 
         PerformSimulationLoop();
-
-        counter++;
     }
 
     /**