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CollisionTestPerformer.cs

@@ -34,6 +34,7 @@ public class CollisionTestPerformer : MonoBehaviour
      */
     private void PerformCollisionTests()
     {
+        
         if (doCollisionTestOne) PerformCollisionTestOne();
         else if (doCollisionTestTwo) StartCoroutine(PerformCollisionTestTwo());
         else if (doCollisionTestThree) StartCoroutine(PerformCollisionTestThree());
@@ -54,7 +55,7 @@ public class CollisionTestPerformer : MonoBehaviour
     }
 
     // force gets applied for a fixed time
-    private IEnumerator PerformCollisionTestTwo(float applyForceTime = 1.5f)
+    private IEnumerator PerformCollisionTestTwo(float applyForceTime = 0.0000001f)
     {
         for (int sphereIndex = 0; sphereIndex < (simulationLoop.SpheresCount - 1); sphereIndex++)
         {
@@ -74,7 +75,7 @@ public class CollisionTestPerformer : MonoBehaviour
     }
 
     // force gets applied until a fixed velocity is reached
-    private IEnumerator PerformCollisionTestThree(float exitVelocity = 4f)
+    private IEnumerator PerformCollisionTestThree(float exitVelocity = 40f)
     {
         for (int sphereIndex = 0; sphereIndex < (simulationLoop.SpheresCount - 1); sphereIndex++)
         {
@@ -95,7 +96,7 @@ public class CollisionTestPerformer : MonoBehaviour
     }
 
     // force gets applied for the whole time
-    private IEnumerator PerformCollisionTestFour(float pullForceFactor = 0.3f)
+    private IEnumerator PerformCollisionTestFour(float pullForceFactor = 1f)
     {
         float appliedPullForce = pullForceFactor * pullForce.z;
         
@@ -107,9 +108,10 @@ public class CollisionTestPerformer : MonoBehaviour
             simulationLoop.sphereExternalForces[sphereIndex] = Vector3.zero;
         }
 
-        simulationLoop.sphereExternalForces[simulationLoop.SpheresCount - 1] = pullForceFactor * pullForce;
+        simulationLoop.sphereExternalForces[0] = pullForceFactor * pullForce;
 
         yield return null;
-    }
 }
 }
+}
+

ConstraintSolvingStep.cs

@@ -3,6 +3,7 @@ using System.Collections.Generic;
 using UnityEngine;
 using UnityEngine.Assertions;
 using BSM = BulletSharp.Math;
+using System.IO; 
 
 namespace GuidewireSim
 {
@@ -18,8 +19,14 @@ public class ConstraintSolvingStep : MonoBehaviour
     BSM.Quaternion deltaOrientation = new BSM.Quaternion(); //!< The correction of @p orientation in method SolveStretchConstraint().
     BSM.Quaternion deltaOrientationOne = new BSM.Quaternion(); //!< The correction of @p orientationOne in method SolveBendTwistConstraint().
     BSM.Quaternion deltaOrientationTwo = new BSM.Quaternion(); //!< The correction of @p orientationTwo in method SolveBendTwistConstraint().
+    private List<Vector3> allDeltaPositionOnes = new List<Vector3>();
+    private List<Vector3> allDeltaPositionTwos = new List<Vector3>();
+    private List<BSM.Quaternion> allDeltaOrientations = new List<BSM.Quaternion>();
+    private List<BSM.Quaternion> allDeltaOrientationOnes = new List<BSM.Quaternion>();
+    private List<BSM.Quaternion> allDeltaOrientationTwos = new List<BSM.Quaternion>();
 
-    float stretchStiffness = 0.1f;
+
+    float stretchStiffness = 0.1f; 
     float bendStiffness = 0.1f;
 
     [Tooltip("Whether to solve both constraints in bilateral interleaving order. Naive order is used when false.")]
@@ -281,8 +288,8 @@ public class ConstraintSolvingStep : MonoBehaviour
      */
     public void SolveStretchConstraint(Vector3 particlePositionOne, Vector3 particlePositionTwo, BSM.Quaternion orientation,
                                        BSM.Quaternion e_3, float rodElementLength, out Vector3 deltaPositionOne,
-                                       out Vector3 deltaPositionTwo, out BSM.Quaternion deltaOrientation, float inverseMassOne = 1f,
-                                       float inverseMassTwo = 1f, float inertiaWeight = 1f)
+                                       out Vector3 deltaPositionTwo, out BSM.Quaternion deltaOrientation, float inverseMassOne = 1000f,
+                                       float inverseMassTwo = 1000f, float inertiaWeight = 1f)
     {
         Assert.AreApproximatelyEqual(1f, mathHelper.QuaternionLength(orientation), tolerance: 0.01f);
         Assert.AreApproximatelyEqual(1f, mathHelper.QuaternionLength(e_3), tolerance: 0.01f);
@@ -351,19 +358,28 @@ public class ConstraintSolvingStep : MonoBehaviour
      * @req The relevant entries of @p cylinderOrientationPredictions should be unit quaternions, i.e. have length approximately equal to one.
      * @req After the quaternion prediction got corrected, it should again be a unit quaternions, i.e. have length approximately equal to one.
      */
-    private void CorrectStretchPredictions(int sphereIndex, Vector3[] spherePositionPredictions, BSM.Quaternion[] cylinderOrientationPredictions)
+private void CorrectStretchPredictions(int sphereIndex, Vector3[] spherePositionPredictions, BSM.Quaternion[] cylinderOrientationPredictions)
+{
+    Assert.IsTrue(sphereIndex >= 0);
+    Assert.AreApproximatelyEqual(1f, mathHelper.QuaternionLength(cylinderOrientationPredictions[sphereIndex]), tolerance: 0.01f);
+
+    string path = "/home/akreibich/TestRobinCode37/LogConstraints.txt";
+
+    using (StreamWriter writer = new StreamWriter(path, true)) // true to append data to the file
     {
-        Assert.IsTrue(sphereIndex >= 0);
-        Assert.AreApproximatelyEqual(1f, mathHelper.QuaternionLength(cylinderOrientationPredictions[sphereIndex]), tolerance: 0.01f);
+        // Log the deltaPositionOne and deltaPositionTwo to the file
+        writer.WriteLine($"Delta Position One: {deltaPositionOne}");
+        writer.WriteLine($"Delta Position Two: {deltaPositionTwo}");
+    }
 
-        spherePositionPredictions[sphereIndex] += stretchStiffness * deltaPositionOne;
-        spherePositionPredictions[sphereIndex + 1] += stretchStiffness * deltaPositionTwo;
-        cylinderOrientationPredictions[sphereIndex] += stretchStiffness * deltaOrientation;
+    spherePositionPredictions[sphereIndex] += stretchStiffness * deltaPositionOne;
+    spherePositionPredictions[sphereIndex + 1] += stretchStiffness * deltaPositionTwo;
+    cylinderOrientationPredictions[sphereIndex] += stretchStiffness * deltaOrientation;
 
-        cylinderOrientationPredictions[sphereIndex].Normalize();
+    cylinderOrientationPredictions[sphereIndex].Normalize();
 
-        Assert.AreApproximatelyEqual(1f, mathHelper.QuaternionLength(cylinderOrientationPredictions[sphereIndex]), tolerance: 0.01f);
-    }
+    Assert.AreApproximatelyEqual(1f, mathHelper.QuaternionLength(cylinderOrientationPredictions[sphereIndex]), tolerance: 0.01f);
+}
 
     /**
      * Corrects the predictions of the bend twist constraint by adding @p deltaOrientationOne and @p deltaOrientationTwo.
@@ -387,6 +403,13 @@ public class ConstraintSolvingStep : MonoBehaviour
 
         Assert.AreApproximatelyEqual(1f, mathHelper.QuaternionLength(cylinderOrientationPredictions[cylinderIndex]), tolerance: 0.01f);
         Assert.AreApproximatelyEqual(1f, mathHelper.QuaternionLength(cylinderOrientationPredictions[cylinderIndex + 1]), tolerance: 0.01f);
+        allDeltaOrientationOnes.Add(deltaOrientationOne);
+        allDeltaOrientationTwos.Add(deltaOrientationTwo);
     }
+            public List<Vector3> GetAllDeltaPositionOnes() => allDeltaPositionOnes;
+        public List<Vector3> GetAllDeltaPositionTwos() => allDeltaPositionTwos;
+        public List<BSM.Quaternion> GetAllDeltaOrientations() => allDeltaOrientations;
+        public List<BSM.Quaternion> GetAllDeltaOrientationOnes() => allDeltaOrientationOnes;
+        public List<BSM.Quaternion> GetAllDeltaOrientationTwos() => allDeltaOrientationTwos;
+}
 }
-}
\ No newline at end of file

CreationScript.cs

@@ -4,35 +4,48 @@ using GuidewireSim;
 
 public class CreationScript : MonoBehaviour
 {
-    public GameObject spherePrefab;
-    public GameObject cylinderPrefab;
-    private int spheresCount;
-    private int cylinderCount;
-    private GameObject[] spheres;
-    private GameObject[] cylinders;
-
+    private string logFilePath = "";    
+    public GameObject spherePrefab; //This is for choosing a Prefab for the sphere element. One can directly gain this in Robins code from: Assets/Guidewire_Assets/Prefabs
+    public GameObject cylinderPrefab; //This is for choosing a Prefab for the cylinder element. One can directly gain this in Robins code from: Assets/Guidewire_Assets/Prefabs
+    private int spheresCount; //This variable is used to store the number of spheres in the guidewire, so the script can keep knowledge on how many spheres were created
+    private GameObject[] spheres; //This array is used to store references to the sphere game objects in the guidewire. //This array is used to store references to the sphere game objects in the guidewire. 
+    private GameObject[] cylinders; //-''- 
     private SimulationLoop simulationLoop;
 
     void Start()
     {
         simulationLoop = GameObject.Find("Simulation").GetComponent<SimulationLoop>();
+        InvokeRepeating("SavePositionsToFile", 0f, 1f);
     }
 
-    void FixedUpdate()
+    private void Awake()
     {
-        SavePositionsToFile();
+        string[] args = System.Environment.GetCommandLineArgs();
+        for (int i = 0; i < args.Length; i++)
+        {
+            if (args[i] == "-logFilePath" && args.Length > i + 1)
+            {
+                logFilePath = args[i + 1];
+            }
+        }
     }
 
+    void FixedUpdate()
+    {
+        //SavePositionsToFile();
+    }
+//This code segment is responsible for creating and positioning the spheres and cylinders 
     public void CreateGuidewire(int numberElements)
     {
         spheres = new GameObject[numberElements];
         cylinders = new GameObject[numberElements - 1];
+        //Here we use GetComponent to recieve the value of the variable rodElementLength that is stored in the SimulationLoop script. As this variable needs to be private, we use a getter Method and therefore also call this instead of calling the variable directly.
         float rEL = simulationLoop.GetRodElementLength();
 
         for (int i = 0; i < numberElements; ++i)
         {
             GameObject sphere = Instantiate(spherePrefab);
-            sphere.transform.position = new Vector3(0, 7, -1000 + i * rEL);
+            sphere.transform.position = new Vector3(0, 0, -2000 + i * rEL);
             sphere.transform.parent = this.transform;
 
             spheres[i] = sphere;
@@ -52,28 +65,25 @@ public class CreationScript : MonoBehaviour
         simulationLoop.SetSpheres(spheres);
         simulationLoop.SetCylinders(cylinders);
     }
-
+     //Here I save the positions of the spheres to a .txt file. The file path has to be adapted to the local network for the file one wants to save the positons to
     public void SavePositionsToFile()
     {
-    	string path = "/home/akreibich/TestRobinCode22/PositionTest22_2.txt";
-    	StreamWriter writer = new StreamWriter(path, true);
-
-    	if (spheresCount > 0)
-    	{
-        	Vector3 firstSpherePosition = spheres[0].transform.position;
-        	writer.WriteLine("First Sphere: " + firstSpherePosition.x + "," + firstSpherePosition.y + "," + firstSpherePosition.z);
-
-        	if (spheresCount > 1)
-        	{
-            	Vector3 lastSpherePosition = spheres[spheresCount - 1].transform.position;
-            	writer.WriteLine("Last Sphere: " + lastSpherePosition.x + "," + lastSpherePosition.y + "," + lastSpherePosition.z);
-        	}
-    	}
-
-    	writer.Close();
+        using (StreamWriter writer = new StreamWriter(logFilePath, true))
+        {
+            if (spheres != null && spheres.Length > 0)
+            {
+                Vector3 firstSpherePosition = spheres[0].transform.position;
+                writer.WriteLine("First Sphere: " + firstSpherePosition.x + "," + firstSpherePosition.y + "," + firstSpherePosition.z);
+
+                if (spheres.Length > 1)
+                {
+                    Vector3 lastSpherePosition = spheres[spheres.Length - 1].transform.position;
+                    writer.WriteLine("Last Sphere: " + lastSpherePosition.x + "," + lastSpherePosition.y + "," + lastSpherePosition.z);
+                }
+            }
+        }
     }
 
-
     
 
     public GameObject GetLastSphere()

ForceTestPerformer.cs

@@ -74,7 +74,7 @@ public class ForceTestPerformer : MonoBehaviour
      */
     private void PerformForceTestTwo()
     {
-        Vector3 pullForce = new Vector3(0f, 0.3f, 0f);
+        Vector3 pullForce = new Vector3(0f, 0f, 15f);
 
         for (int sphereIndex = 0; sphereIndex < (simulationLoop.SpheresCount - 1); sphereIndex++)
         {
@@ -160,4 +160,4 @@ public class ForceTestPerformer : MonoBehaviour
                   + Vector3.Distance(simulationLoop.spherePositions[0], simulationLoop.spherePositions[simulationLoop.SpheresCount - 1]));
     }
 }
-}
\ No newline at end of file
+}

GuidewireCreateManager.cs

@@ -23,17 +23,18 @@ public class GuidewireCreateManager : MonoBehaviour
             return; // Exit if SimulationLoop is not found
         }
 
-        // Get the Rod Element Length
+        //again we need to get the rod element length from the simulation loop script; 
         REL = simulationLoop.GetRodElementLength();
-        int numberOfElements = (int)(L_0 / REL) + 1; // Calculate the desired number of elements
+        int numberOfElements = (int)(L_0 / REL) + 1;//This calculates the number of elements that now make up the discretized guidewire. The number of elements depends on the rod element length 
 
-        // Find the CreationScript component in the scene
+        //now find the CreationScript component in the scene, to create the guidewire with the wanted number of elements and rod element length.
+        //This will cause the total length of the guidewire to stay the same
         creationScript = FindObjectOfType<CreationScript>();
         if (creationScript != null)
         {
             creationScript.CreateGuidewire(numberOfElements);
 
-            // Get the created spheres and cylinders from the CreationScript
+            //Get the created spheres and cylinders from the CreationScript
             GameObject[] createdSpheres = creationScript.GetSpheres();
             GameObject[] createdCylinders = creationScript.GetCylinders();
 

InitializationStep.cs

@@ -17,7 +17,7 @@ namespace GuidewireSim
         private MathHelper mathHelper;
 
         [Range(1000f, 10000f)]
-        private float materialDensity = 7860;
+        private float materialDensity =7600;
 
         [Range(0.0001f, 1f)]
         private float materialRadius = 0.001f;
@@ -65,14 +65,14 @@ namespace GuidewireSim
     }
 
     /**
-     * Initializes @p sphereInverseMasses with the default value of one at the start of the simulation.
+     * Initializes @p sphereInverseMasses with the default value of one at the start of the simulation. Edit: I (Alex Kreibich) adapt this so the total mass stays the same. The idea for how this works is described in my Bachelorthesis in the Methods Chapter
      * @param spheresCount The count of all spheres of the guidewire. Equals the length of @p spherePositionPredictions.
      * @param[out] sphereInverseMasses The constant inverse masses  of each sphere.
      */
     public void InitSphereInverseMasses(int spheresCount, out float[] sphereInverseMasses)
     {
         sphereInverseMasses = new float[spheresCount];
-        float inverseMassValue = ((2500/rodElementLength)+1)/2; 
+        float inverseMassValue = ((2000/rodElementLength)+1)/50; 
 
         for (int sphereIndex = 0; sphereIndex < spheresCount; sphereIndex++)
         {
@@ -159,7 +159,7 @@ namespace GuidewireSim
 
         for (int cylinderIndex = 0; cylinderIndex < cylinderCount; cylinderIndex++)
         {
-            cylinderScalarWeights[cylinderIndex] = 1f;
+            cylinderScalarWeights[cylinderIndex] = 1f; //(50/(500/rodElementLength)-1);
         }
     }
 

OBJImport/Samples/MeshImporter3.cs

@@ -15,17 +15,17 @@ public class MeshImporter3 : MonoBehaviour
             string[] args = Environment.GetCommandLineArgs();
             File.AppendAllText(logFilePath, "Received arguments: " + string.Join(", ", args) + "\n");
 
-            string meshPath ="/home/akreibich/Desktop/Bachelor/Data (Binary)/Input/Input_MeshOption/DataForMeshes/Data10/Component1_normals1010_pos.obj";
-            string secondMeshPath =  "/home/akreibich/Desktop/Bachelor/Data (Binary)/Input/Input_MeshOption/DataForMeshes/Data10/Component1_1010_pos.obj";
+            string meshPath ="";
+            string secondMeshPath =  "";
 		//if run via the python loop, it should be like this
-		//Vector3 position = Vector3.zero;
-		//Vector3 scale = Vector3.one;
-		//Vector3 rotation = Vector3.zero;
+		Vector3 position = Vector3.zero;
+		Vector3 scale = Vector3.one;
+		Vector3 rotation = Vector3.zero;
 
 		//Change it to this for testing
-		Vector3 position = new Vector3(1311f, -392f, -1197f);
-		Vector3 scale = new Vector3(27.2f, 27.2f, 27.2f);
-		Vector3 rotation = new Vector3(0f, -86.6f, 0f);
+		//Vector3 position = new Vector3(1311f, -392f, -1197f);
+		//Vector3 scale = new Vector3(27.2f, 27.2f, 27.2f);
+		//Vector3 rotation = new Vector3(0f, -86.6f, 0f);
 
             for (int i = 0; i < args.Length; i++)
             {

SimulationLoop.cs

@@ -5,11 +5,18 @@ using UnityEngine;
 using UnityEngine.Assertions;
 using BSM = BulletSharp.Math;
 using System.IO;
+using System.Diagnostics;
+using Debug = UnityEngine.Debug;
 
 namespace GuidewireSim
 {
+    
     public class SimulationLoop : MonoBehaviour
     {
+
+    		//public int count; //hier aus CreationScript
+    		//CreationScript creationScript; //hier -""-
+    		private Stopwatch stopwatch;
     		public Camera followingCamera;  // Drag your camera here in the Unity Editor
     		private Vector3 cameraOffset = new Vector3(0, 781, 0); // The offset of the camera in the y direction is 781
     		private string logFilePath = "";
@@ -81,7 +88,7 @@ namespace GuidewireSim
     public float GetRodElementLength(){
     	return rodElementLength;
     }   
-    float rodElementLength = 100f;
+    float rodElementLength =10f;
 
 
 
@@ -113,6 +120,15 @@ namespace GuidewireSim
     
     private void Awake()
     {        
+
+    	//GameObject creationObject = GameObject.Find("GameObjectCreationScript");    //hier aus creation script, alle 3 zeilen
+    	//creationScript = creationObject.GetComponent<CreationScript>();
+    	//int count = creationScript.spheresCount;
+
+
+
+    	
+
     	string[] args = System.Environment.GetCommandLineArgs();
     	for (int i = 0; i < args.Length; i++)
     	{
@@ -129,7 +145,7 @@ namespace GuidewireSim
             		else
             		{
                 		Debug.LogError("Failed to parse timeStep from command-line arguments. Using default value.");
-                		timeStep = 0.02f;
+                		timeStep = 0.01f;
             		}
         	}
     	}
@@ -146,10 +162,11 @@ namespace GuidewireSim
             		else
             		{
                 		Debug.LogError("Failed to parse rodElementLength from command-line arguments. Using default value.");
-                		rodElementLength = 100f;
+                		rodElementLength = 10f;
             		}
        	}
     	}            
+            stopwatch = new Stopwatch();
             Assert.IsFalse(spheres.Length == 0);
             Assert.IsFalse(cylinders.Length == 0);
             Assert.IsTrue(spheres.Length == cylinders.Length + 1);
@@ -194,7 +211,7 @@ namespace GuidewireSim
             Time.fixedDeltaTime = timeStep;
 
             PerformInitializationStep();
-            InvokeRepeating("SavePositionsToFile", 1f, 1f);
+            //InvokeRepeating("SavePositionsToFile", 0f, 1f);
 
             objectSetter.SetCylinderPositions(cylinders, CylinderCount, cylinderPositions);
             objectSetter.SetCylinderOrientations(cylinders, CylinderCount, cylinderOrientations, directors);
@@ -202,10 +219,26 @@ namespace GuidewireSim
 
         private void FixedUpdate()
         {
+            stopwatch.Restart();
             if (ExecuteSingleLoopTest) return;
 
             PerformSimulationLoop();
             UpdateCameraPosition();
+            stopwatch.Stop();
+            long elapsedMilliseconds = stopwatch.ElapsedMilliseconds;
+            UnityEngine.Debug.Log($"FixedUpdate took {elapsedMilliseconds} ms");
+            string filePath = "/home/akreibich/TestRobinCode37/TimeCalculationsFixedUpdate.txt";
+            using (StreamWriter writer = new StreamWriter(filePath, true))  //The 'true" parameter appends to the file
+            {
+            	writer.WriteLine($"FixedUpdate took {elapsedMilliseconds} ms");
+            }
+            string filePath2 = "/home/akreibich/TestRobinCode37/LogConstraints.txt";
+            using (StreamWriter writer = new StreamWriter(filePath2, true)) //same as above
+            {
+            	writer.WriteLine($"FixedUpdate took place");
+            }
+           
+            
         }
 
         public void SavePositionsToFile()
@@ -223,7 +256,7 @@ namespace GuidewireSim
     	{
         	if (spheres != null && spheres.Length > 0)
         	{
-            		GameObject lastSphere = spheres[spheres.Length - 1];
+            		GameObject lastSphere = spheres[0];
             		Vector3 newCameraPosition = lastSphere.transform.position + cameraOffset;
             		followingCamera.transform.position = newCameraPosition;
         	}
@@ -263,7 +296,18 @@ namespace GuidewireSim
             PerformPredictionStep();
             AdaptCalculations();
             SetCollidersStep();
-        }
+    	    if (solveStretchConstraints)
+    	    {
+        	List<Vector3> allDeltaPositionOnes = constraintSolvingStep.GetAllDeltaPositionOnes();
+       	List<Vector3> allDeltaPositionTwos = constraintSolvingStep.GetAllDeltaPositionTwos();
+       	List<BSM.Quaternion> allDeltaOrientations = constraintSolvingStep.GetAllDeltaOrientations();
+        	Debug.Log($"All Stretch Corrections - DeltaPositionOnes: {string.Join(", ", allDeltaPositionOnes)}, DeltaPositionTwos: {string.Join(", ", allDeltaPositionTwos)}, DeltaOrientations: {string.Join(", ", allDeltaOrientations)}");
+    	    }
+    	 }
+
+
+
+        
 
         private void PerformConstraintSolvingStep()
         {
@@ -281,6 +325,14 @@ namespace GuidewireSim
 
             for (int solverStep = 0; solverStep < ConstraintSolverSteps; solverStep++)
             {
+                
+                
+                string filePath = "/home/akreibich/TestRobinCode37/LastSphereConstraintPositions";
+                using (StreamWriter writer = new StreamWriter(filePath, true))  // 'true' parameter appends to the file
+    		{
+        		writer.WriteLine($"Start of Constraint Solving - Last sphere position: {spherePositionPredictions[0]}");
+    		}
+    		Vector3 initialLastSpherePosition = spherePositionPredictions[0];
                 if (solveStretchConstraints)
                 {
                     constraintSolvingStep.SolveStretchConstraints(spherePositionPredictions, cylinderOrientationPredictions, SpheresCount, worldSpaceBasis, rodElementLength);
@@ -295,6 +347,13 @@ namespace GuidewireSim
                 {
                     collisionSolvingStep.SolveCollisionConstraints(spherePositionPredictions, solverStep, ConstraintSolverSteps);
                 }
+                spherePositionPredictions[0] = initialLastSpherePosition;
+                using (StreamWriter writer = new StreamWriter(filePath, true))  // 'true' parameter appends to the file
+    		{
+        		writer.WriteLine($"End of Constraint Solving - Last sphere position: {spherePositionPredictions[0]}");
+    		}
+               
+             
             }
 
             if (solveCollisionConstraints)