Remove execution time measurement

Also add clean code

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/Scripts/CollisionDetectionPrimitive.cs

@@ -7,6 +7,10 @@ using UnityEngine.Assertions;
 
 namespace GuidewireSim
 {
+    /**
+     * This class is responsible for tracking collisions of the object it is attached to. Attach this component only to sphere objects
+     * of the guidewire.
+     */
     public class CollisionDetectionPrimitive : MonoBehaviour
     {
         SimulationLoop simulationLoop; //!< The SimulationLoop component in the Simulation GameObject
@@ -31,6 +35,9 @@ namespace GuidewireSim
             AssignSphereID();
         }
 
+        /**
+         * Assigns the unique ID of the object sphere it is attached to to #sphereID.
+         */
         private void AssignSphereID()
         {
             GameObject thisSphere = this.transform.gameObject;
@@ -47,6 +54,9 @@ namespace GuidewireSim
             Debug.LogWarning("No sphereID could be assigned.");
         }
 
+        /**
+         * Registers a collision that Unity's collision detection detected.
+         */
         private void OnCollisionEnter(Collision other)
         {
             Debug.Log("trigger " + transform.name);
@@ -54,90 +64,14 @@ namespace GuidewireSim
             collisionHandler.RegisterCollision(this.transform, other, sphereID);
         }
 
+        /**
+         * Registers a collision that Unity's collision detection detected.
+         */
         private void OnCollisionStay(Collision other)
         {
             Debug.Log("trigger " + transform.name);
 
             collisionHandler.RegisterCollision(this.transform, other, sphereID);
         }
-
-
-
-
-
-
-
-
-
-
-        // private void OnTriggerEnter(Collider other)
-        // {
-        //     Debug.Log("trigger " + transform.name);
-        //     if (!insideCollision)
-        //     {
-
-        //         collisionHandler.RegisterCollision(this.transform, other, sphereID);
-        //         Debug.Log("pos" + this.transform.position);
-        //         Debug.Log("colpos" + this.transform.GetComponent<SphereCollider>().center);
-        //         Debug.Log("otherpos" + other.transform.position);
-        //         Vector3 otherClosestPoint = other.ClosestPoint(this.transform.position);
-        //         Debug.Log("otherclosestpoint" + otherClosestPoint.ToString("e4"));
-        //         Debug.Log("thisclosestpoint" + this.transform.GetComponent<SphereCollider>().ClosestPoint(otherClosestPoint).ToString("e4"));
-        //         Vector3 thisclosestpoint2 = this.transform.GetComponent<SphereCollider>().ClosestPoint(other.transform.position);
-        //         Debug.Log("thisclosestpoint2" + thisclosestpoint2.ToString("e4"));
-        //         Vector3 DiffCollisionPointToCenter = thisclosestpoint2 - (this.transform.position + this.transform.GetComponent<SphereCollider>().center);
-        //         Debug.Log("DiffCollisionPointToCenter" + DiffCollisionPointToCenter.ToString("e4"));
-        //     }
-        // }
-
-        // private void OnTriggerStay(Collider other)
-        // {
-        //     Debug.Log("trigger " + transform.name);
-        //     if (!insideCollision)
-        //     {
-
-        //         collisionHandler.RegisterCollision(this.transform, other, sphereID);
-        //     }
-        // }
-
-        // private void OnTriggerExit(Collider other)
-        // {
-        //     if (insideCollision)
-        //     {
-        //         Debug.Log("trigger " + transform.name);
-
-        //         collisionHandler.RegisterCollision(this.transform, other, sphereID);                
-        //     }
-        // }
-
-        // private void OnCollisionEnter(Collision other)
-        // {
-        //     Debug.Log("trigger " + transform.name);
-        //     // needed to use ClosestPoint().
-        //     // other.collider.GetComponent<MeshCollider>().convex = true;
-
-        //     collisionHandler.RegisterCollision(this.transform, other, sphereID);
-        //     // Debug.Log(other.GetContact(0).normal.ToString("e2"));
-
-
-        //     // if (!insideCollision)
-        //     // {
-        //     //     collisionHandler.RegisterCollision(this.transform, other, sphereID);
-        //     //     Debug.Log("pos" + this.transform.position);
-        //     //     Debug.Log("colpos" + this.transform.GetComponent<SphereCollider>().center);
-        //     //     Debug.Log("otherpos" + other.transform.position);
-
-        //     //     other.collider.GetComponent<MeshCollider>().convex = true;
-        //     //     Vector3 otherClosestPoint = other.collider.ClosestPoint(this.transform.position);
-
-        //     //     Debug.Log("otherclosestpoint" + otherClosestPoint.ToString("e4"));
-        //     //     Debug.Log("thisclosestpoint" + this.transform.GetComponent<SphereCollider>().ClosestPoint(otherClosestPoint).ToString("e4"));
-        //     //     Vector3 thisclosestpoint2 = this.transform.GetComponent<SphereCollider>().ClosestPoint(other.transform.position);
-        //     //     Debug.Log("thisclosestpoint2" + thisclosestpoint2.ToString("e4"));
-        //     //     Vector3 DiffCollisionPointToCenter = thisclosestpoint2 - (this.transform.position + this.transform.GetComponent<SphereCollider>().center);
-        //     //     Debug.Log("DiffCollisionPointToCenter" + DiffCollisionPointToCenter.ToString("e4"));
-        //     // }
-
-        // }
     }
 }
\ No newline at end of file

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/Scripts/CollisionDetectionVessel.cs

@@ -5,6 +5,10 @@ using UnityEngine.Assertions;
 
 namespace GuidewireSim
 {
+    /**
+     * Similarly to CollisionDetectionPrimitive, this class is responsible for tracking collisions of the object it is attached to.
+     * Attach this component only to blood vessel objects.
+     */
     public class CollisionDetectionVessel : MonoBehaviour
     {
         SimulationLoop simulationLoop; //!< The SimulationLoop component in the Simulation GameObject
@@ -18,6 +22,7 @@ namespace GuidewireSim
             collisionHandler = FindObjectOfType<CollisionHandler>();
             Assert.IsNotNull(collisionHandler);
         }
+
         // private void OnCollisionEnter(Collision other)
         // {
         //     // ContactPoint contactPoint = other.GetContact(0);

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/Scripts/CollisionHandler.cs

@@ -6,6 +6,9 @@ using UnityEngine.Assertions;
 
 namespace GuidewireSim
 {
+    /**
+     * This class manages all collisions that should be resolved, i.e. the collisions of the last frame.
+     */
     public class CollisionHandler : MonoBehaviour
     {
         public List<CollisionPair> registeredCollisions; //!< All collisions that occured between the last and the current frame in OnTriggerEnter.
@@ -17,30 +20,43 @@ namespace GuidewireSim
                                                       */
 
         float sphereRadius = 5f; //!< The radius of the sphere elements of the guidewire.
-        public bool collided = false;
 
         private void Start()
         {
             registeredCollisions = new List<CollisionPair>();    
         }
 
-        public void RegisterCollision(Transform sphere, Collision vesselCollider, int sphereID)
+        /**
+         * Registers a collision by adding it to #registeredCollisions.
+         * @param sphere The sphere of the guidewire that collided.
+         * @param collision The Collision instance.
+         * @param sphereID The unique ID of @p sphere.
+         */
+        public void RegisterCollision(Transform sphere, Collision collision, int sphereID)
         {
-            CollisionPair registeredCollision = new CollisionPair(sphere, vesselCollider, sphereID);
+            CollisionPair registeredCollision = new CollisionPair(sphere, collision, sphereID);
             registeredCollisions.Add(registeredCollision);
-            collided = true;
         }
 
+        /**
+         * Clears the list of all registered collisions.
+         */
         public void ResetRegisteredCollisions()
         {
             registeredCollisions.Clear();
         }
 
+        /**
+         * Sets the position of the collider of each sphere to the sphere's position prediction.
+         * @note The position of the collider is implicitly set by setting the colliders center argument.
+         * @param spheresCount The count of all spheres of the guidewire. Equals the length of @p spherePositionPredictions.
+         * @param spherePositionPredictions The prediction of the position at the current frame of each sphere (in this case of the last frame).
+         * @param spherePositions The position at the current frame of each sphere.
+         */
         public void SetCollidersToPredictions(int spheresCount, Vector3[] spherePositionPredictions, Vector3[] spherePositions)
         {
             for (int sphereIndex = 0; sphereIndex < spheresCount; sphereIndex++)
             {
-                // Siehe Blatt 10 für die Berechnung von .center
                 Vector3 centerPosition = (spherePositionPredictions[sphereIndex] - spherePositions[sphereIndex]) / (2 * sphereRadius);
                 sphereColliders[sphereIndex].center = centerPosition;
             }

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/Scripts/CollisionPair.cs

@@ -4,11 +4,14 @@ using UnityEngine;
 
 namespace GuidewireSim
 {
+    /**
+     * Carries all information of a collision that occured.
+     */
     public struct CollisionPair
     {
-        public Transform sphere;
-        public Collision vesselCollider;
-        public int sphereID;
+        public Transform sphere; //!< The sphere object of the guidewire that was part of the collision.
+        public Collision vesselCollider; //!< The blood vessel object that was part of the collision.
+        public int sphereID; //!< The ID of the sphere object of the guidewire that was part of the collision.
 
         public CollisionPair(Transform sphere, Collision vesselCollider, int sphereID)
         {

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/Scripts/CollisionSolvingStep_UnityVariant.cs

@@ -4,6 +4,9 @@ using UnityEngine;
 
 namespace GuidewireSim
 {
+    /**
+     * A specilization of CollisionSolvingStep that uses Unity's provided collision data.
+     */
     public class CollisionSolvingStep_UnityVariant : CollisionSolvingStep
     {
         protected override void SolveCollisionConstraint(Vector3 spherePositionPrediction, CollisionPair collisionPair, int solverStep,
@@ -13,11 +16,7 @@ namespace GuidewireSim
             Vector3 otherPosition = contactPoint.otherCollider.transform.position;
 
             Vector3 closestSurfacePoint = contactPoint.point;
-            // Vector3 normalVector = (closestSurfacePoint - otherPosition).normalized;
             Vector3 normalVector = contactPoint.normal;
-            // Debug.Log(normalVector.ToString("e2"));
-            // Debug.Log(closestSurfacePoint.ToString("e5"));
-            // Debug.Log((40-Mathf.Sqrt(50)  - closestSurfacePoint[2]).ToString("e5"));
 
             if (solverStep == 0)
             {
@@ -25,10 +24,6 @@ namespace GuidewireSim
             }
 
             deltaPosition = CalculateDeltaPosition(spherePositionPrediction, closestSurfacePoint, normalVector);
-
-            // Vector3 correction = spherePositionPrediction + 0.001f * deltaPosition;
-            // float difference = Vector3.Distance(spherePositionPrediction, correction);
-            // Debug.Log(difference.ToString("e3"));
         }
     }
 }
\ No newline at end of file

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/Scripts/ConstraintSolvingStep.cs

@@ -356,18 +356,10 @@ public class ConstraintSolvingStep : MonoBehaviour
         Assert.IsTrue(sphereIndex >= 0);
         Assert.AreApproximatelyEqual(1f, mathHelper.QuaternionLength(cylinderOrientationPredictions[sphereIndex]), tolerance: 0.01f);
 
-        // spherePositionPredictions[sphereIndex] += Mathf.Pow(1 - (1 - stretchStiffness), 1 / 1000f) * deltaPositionOne;
-        // spherePositionPredictions[sphereIndex + 1] += Mathf.Pow(1 - (1 - stretchStiffness), 1 / 1000f) * deltaPositionTwo;
-        // cylinderOrientationPredictions[sphereIndex] += Mathf.Pow(1 - (1 - stretchStiffness), 1 / 1000f) * deltaOrientation;
-
         spherePositionPredictions[sphereIndex] += stretchStiffness * deltaPositionOne;
         spherePositionPredictions[sphereIndex + 1] += stretchStiffness * deltaPositionTwo;
         cylinderOrientationPredictions[sphereIndex] += stretchStiffness * deltaOrientation;
 
-        // spherePositionPredictions[sphereIndex] += deltaPositionOne;
-        // spherePositionPredictions[sphereIndex + 1] += deltaPositionTwo;
-        // cylinderOrientationPredictions[sphereIndex] += deltaOrientation;
-
         cylinderOrientationPredictions[sphereIndex].Normalize();
 
         Assert.AreApproximatelyEqual(1f, mathHelper.QuaternionLength(cylinderOrientationPredictions[sphereIndex]), tolerance: 0.01f);
@@ -387,15 +379,9 @@ 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);
 
-        // cylinderOrientationPredictions[cylinderIndex] += Mathf.Pow(1 - (1 - bendStiffness), 1 / 1000f) * deltaOrientationOne;
-        // cylinderOrientationPredictions[cylinderIndex + 1] += Mathf.Pow(1 - (1 - bendStiffness), 1 / 1000f) * deltaOrientationTwo;
-
         cylinderOrientationPredictions[cylinderIndex] += bendStiffness * deltaOrientationOne;
         cylinderOrientationPredictions[cylinderIndex + 1] += bendStiffness * deltaOrientationTwo;
 
-        // cylinderOrientationPredictions[cylinderIndex] += deltaOrientationOne;
-        // cylinderOrientationPredictions[cylinderIndex + 1] += deltaOrientationTwo;
-
         cylinderOrientationPredictions[cylinderIndex].Normalize();
         cylinderOrientationPredictions[cylinderIndex + 1].Normalize();
 

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/Scripts/DirectorsDrawer.cs

@@ -35,7 +35,6 @@ public class DirectorsDrawer : MonoBehaviour
         DrawDirectors(simulationLoop.cylinderPositions, simulationLoop.directors);
     }
 
-
     /**
      * Draws the director basis of each orientation element as arrows.
      * @param cylinderPositions The center of mass of each cylinder, i.e. the position of each orientation element.

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/Scripts/PredictionStep.cs

@@ -29,18 +29,13 @@ public class PredictionStep : MonoBehaviour
      */
     public Vector3[] PredictSphereVelocities(Vector3[] sphereVelocities, float[] sphereInverseMasses, Vector3[] sphereExternalForces)
     {
-        // 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"));
 
         for (int sphereIndex = 0; sphereIndex < sphereVelocities.Length; sphereIndex++)
         {
             sphereVelocities[sphereIndex] += Time.deltaTime * sphereInverseMasses[sphereIndex] * sphereExternalForces[sphereIndex];
         }
 
-        // Debug.Log("velocity " + sphereVelocities[1].ToString("e3"));
-
         return sphereVelocities;
     }
 

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/Scripts/SimulationLoop.cs

@@ -101,17 +101,6 @@ public class SimulationLoop : MonoBehaviour
     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.
 
-    float elapsedTime = 0;
-    float timeConstraintSolving = 0;
-    float timeUpdateStep = 0;
-    float timePredictionStep = 0;
-    float timeAdaptCalculationsStep = 0;
-    float timeSetCollidersStep = 0;
-    float timeCompleteFrame = 0;
-    float timeCompleteFrameMeasure = 0;
-    float timeMeasure = 0;
-    float measurePoint = 5f;
-
     private void Awake()
     {
         Assert.IsFalse(spheres.Length == 0);
@@ -162,8 +151,6 @@ public class SimulationLoop : MonoBehaviour
         if (ExecuteSingleLoopTest) return;
 
         PerformSimulationLoop();
-
-        elapsedTime += Time.deltaTime;
     }
 
     /**
@@ -204,49 +191,11 @@ public class SimulationLoop : MonoBehaviour
      */
     public void PerformSimulationLoop()
     {
-        if (collisionHandler.collided)
-        {
-            timeMeasure = Time.realtimeSinceStartup;
-            timeCompleteFrameMeasure = Time.realtimeSinceStartup;
-        }
         PerformConstraintSolvingStep();
-        if (collisionHandler.collided)
-        {
-            timeConstraintSolving = Time.realtimeSinceStartup - timeMeasure;
-            timeMeasure = Time.realtimeSinceStartup;
-        }
         PerformUpdateStep();
-        if (collisionHandler.collided)
-        {
-            timeUpdateStep = Time.realtimeSinceStartup - timeMeasure;
-            timeMeasure = Time.realtimeSinceStartup;
-        }
         PerformPredictionStep();
-        if (collisionHandler.collided)
-        {
-            timePredictionStep = Time.realtimeSinceStartup - timeMeasure;
-            timeMeasure = Time.realtimeSinceStartup;
-        }
         AdaptCalculations();
-        if (collisionHandler.collided)
-        {
-            timeAdaptCalculationsStep = Time.realtimeSinceStartup - timeMeasure;
-            timeMeasure = Time.realtimeSinceStartup;
-        }
         SetCollidersStep();
-        if (collisionHandler.collided)
-        {
-            timeSetCollidersStep = Time.realtimeSinceStartup - timeMeasure;
-            timeCompleteFrame = Time.realtimeSinceStartup - timeCompleteFrameMeasure;
-
-            Time.timeScale = 0f;
-            Debug.Log("execution time constraint solving: " + timeConstraintSolving.ToString("F7"));
-            Debug.Log("execution time update step: " + timeUpdateStep.ToString("F7"));
-            Debug.Log("execution time prediction step: " + timePredictionStep.ToString("F7"));
-            Debug.Log("execution time adapt calculations: " + timeAdaptCalculationsStep.ToString("F7"));
-            Debug.Log("execution time set colliders: " + timeSetCollidersStep.ToString("F7"));
-            Debug.Log("execution time whole frame: " + timeCompleteFrame.ToString("F7"));
-        }
     }
 
     /**