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浮漂测试代码1

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This commit is contained in:
BobSong
2026-03-01 08:51:19 +08:00
parent 7ea3a7868c
commit 01a1c1c341
4 changed files with 246 additions and 34 deletions
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111
Assets/Scripts/Test/BobberBuoyancyStable.cs
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@@ -27,11 +27,11 @@ public class BobberBuoyancyStable : MonoBehaviour
[Header("Center Of Mass")]
public bool driveCenterOfMassFromCapsule = true;
public Vector3 extraCenterOfMassOffset = new Vector3(0f, -0.01f, 0f);
public Vector3 extraCenterOfMassOffset = new Vector3(0f, -0.01f, 0f); // 恢复原来的重心下移
[Header("Righting")]
public float rightingTorque = 1.5f;
public float rightingDamping = 0.5f;
public float rightingTorque = 3f; // 适中的归正扭矩
public float rightingDamping = 0.8f;
Rigidbody rb;
CapsuleCollider cap;
@@ -50,6 +50,7 @@ public class BobberBuoyancyStable : MonoBehaviour
ApplyCenterOfMass();
rb.maxAngularVelocity = 50f;
// 移除了强制设置物理参数的代码，保留用户在Inspector中的设置
}
void FixedUpdate()
@@ -60,57 +61,76 @@ public class BobberBuoyancyStable : MonoBehaviour
float bottomY = b.min.y;
float topY = b.max.y;
// 用“底部点”判定是否真正入水（必须超过阈值）
float bottomSubmersion = waterLevelY - bottomY; // >0 表示底部在水下
// 用"底部点"判定是否真正入水
float bottomSubmersion = waterLevelY - bottomY;
if (bottomSubmersion <= enterWaterDepth)
{
// 认为未入水：不施加浮力，恢复空气阻尼
rb.linearDamping = airLinearDamping;
rb.angularDamping = airAngularDamping;
return;
}
// 进入水中：阻尼随浸入增强
// 这里用一个0~1的平滑权重，避免刚入水就“猛顶”
float w = Smooth01((bottomSubmersion - enterWaterDepth) / Mathf.Max(1e-4f, smoothDepth));
rb.linearDamping = airLinearDamping + extraLinearDampingInWater * w;
rb.angularDamping = airAngularDamping + extraAngularDampingInWater * w;
// 垂直速度（用刚体自身速度就够稳定）
float vY = rb.linearVelocity.y;
// 弹簧+阻尼浮力（仅向上）
float forceY = buoyancySpring * bottomSubmersion - buoyancyDamping * vY;
if (forceY < 0f) forceY = 0f;
// 平滑权重：刚入水时逐渐接管
forceY *= w;
// 限制最大上浮加速度（可选）
// 关键修正：正确的浮力计算
float volume = Mathf.PI * cap.radius * cap.radius * cap.height;
float submergedVolume = volume * Mathf.Clamp01(bottomSubmersion / cap.height);
// 浮力 = 排开液体重量 = 体积 × 密度 × 重力
float buoyantForce = submergedVolume * 1000f * 9.81f;
// 物体重量
float weight = rb.mass * 9.81f;
// 净浮力（浮力 - 重量）
float netBuoyancy = buoyantForce - weight;
// 添加弹簧阻尼系统
float velocity = Vector3.Dot(rb.linearVelocity, Vector3.up);
float springForce = buoyancySpring * bottomSubmersion;
float dampingForce = buoyancyDamping * velocity;
float totalForce = netBuoyancy + springForce - dampingForce;
totalForce *= w; // 平滑过渡
// 限制向上的力
if (totalForce < 0) totalForce = 0;
// 限制最大加速度
if (maxUpAcceleration > 0f)
{
float maxForce = rb.mass * maxUpAcceleration;
if (forceY > maxForce) forceY = maxForce;
if (totalForce > maxForce) totalForce = maxForce;
}
// 浮力作用点：必须放在水面下（否则会出现奇怪力矩）
float buoyY = Mathf.Min(waterLevelY - 0.001f, topY); // 强制在水面下1mm
buoyY = Mathf.Max(buoyY, bottomY); // 不低于底部
// 浮力作用点
float buoyY = Mathf.Min(waterLevelY - 0.001f, topY);
buoyY = Mathf.Max(buoyY, bottomY);
Vector3 buoyPoint = new Vector3(b.center.x, buoyY, b.center.z);
rb.AddForceAtPosition(Vector3.up * forceY, buoyPoint, ForceMode.Force);
rb.AddForceAtPosition(Vector3.up * totalForce, buoyPoint, ForceMode.Force);
// 归正扭矩（只在水里生效）
// 简化的归正扭矩系统
SimpleRightingSystem(w);
}
void SimpleRightingSystem(float weight)
{
Vector3 up = transform.up;
Vector3 axis = Vector3.Cross(up, Vector3.up);
float mag = axis.magnitude;
if (mag > 1e-4f)
{
axis /= mag;
float angle = Mathf.Asin(Mathf.Clamp(mag, -1f, 1f));
float angle = Mathf.Asin(Mathf.Clamp(mag, -1f, 1f)) * Mathf.Rad2Deg;
float angVelOnAxis = Vector3.Dot(rb.angularVelocity, axis);
float torque = (rightingTorque * angle - rightingDamping * angVelOnAxis) * w;
// 归正扭矩
float torque = (rightingTorque * angle - rightingDamping * angVelOnAxis) * weight;
rb.AddTorque(axis * torque, ForceMode.Acceleration);
}
}
@@ -124,7 +144,40 @@ public class BobberBuoyancyStable : MonoBehaviour
static float Smooth01(float t)
{
t = Mathf.Clamp01(t);
// smoothstep
return t * t * (3f - 2f * t);
}
}
void OnDrawGizmos()
{
if (cap == null) return;
Gizmos.color = Color.blue;
Bounds bounds = cap.bounds;
// 绘制浸入部分
float bottomY = bounds.min.y;
float submergedHeight = Mathf.Max(0, waterLevelY - bottomY);
Vector3 submergedCenter = new Vector3(
bounds.center.x,
bottomY + submergedHeight * 0.5f,
bounds.center.z
);
Vector3 submergedSize = new Vector3(
bounds.size.x,
submergedHeight,
bounds.size.z
);
Gizmos.DrawWireCube(submergedCenter, submergedSize);
// 显示重心
if (rb != null)
{
Gizmos.color = Color.red;
Vector3 comWorld = transform.TransformPoint(rb.centerOfMass);
Gizmos.DrawSphere(comWorld, 0.005f);
}
}
}

155
Assets/Scripts/Test/BobberBuoyancyStable_MultiPoint.cs Normal file
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@@ -0,0 +1,155 @@
using UnityEngine;
[DisallowMultipleComponent]
[RequireComponent(typeof(Rigidbody))]
[RequireComponent(typeof(CapsuleCollider))]
public class BobberBuoyancyStable_MultiPoint : MonoBehaviour
{
[Header("Water")]
public float waterLevelY = 0f;
public float enterWaterDepth = 0.003f;
public float smoothDepth = 0.02f;
[Header("Per-Point Buoyancy Spring (IMPORTANT)")]
[Tooltip("每个采样点的弹簧系数(N/m)。总浮力刚度≈ringPoints * perPointSpring")]
public float perPointSpring = 60f;
[Tooltip("每个采样点的阻尼(N·s/m)，用点的竖直速度做阻尼")]
public float perPointDamping = 8f;
[Tooltip("最大上浮加速度限制(0=不限制)")]
public float maxUpAcceleration = 0f;
[Header("Water Drag")]
public float extraLinearDampingInWater = 2f;
public float extraAngularDampingInWater = 2f;
[Header("Center Of Mass")]
public bool driveCenterOfMassFromCapsule = true;
[Tooltip("想更容易躺漂：把y调成正数(上移重心)。想更站漂：y调成负数(下移重心)。")]
public Vector3 extraCenterOfMassOffset = new Vector3(0f, 0.00f, 0f);
[Header("Sample Ring")]
[Range(4, 12)] public int ringPoints = 4;
[Range(0.2f, 1.2f)] public float ringRadiusScale = 0.9f;
[Tooltip("采样环离最低点的高度(米)。0=贴底；建议 0.001~0.003")]
public float ringLiftFromBottom = 0.0015f;
[Header("Righting (建议先关)")]
public float rightingTorque = 0f;
public float rightingDamping = 0f;
Rigidbody rb;
CapsuleCollider cap;
float airLinearDamping;
float airAngularDamping;
void Awake()
{
rb = GetComponent<Rigidbody>();
cap = GetComponent<CapsuleCollider>();
airLinearDamping = rb.linearDamping;
airAngularDamping = rb.angularDamping;
ApplyCenterOfMass();
rb.maxAngularVelocity = 50f;
}
void FixedUpdate()
{
ApplyCenterOfMass();
// === 1) 用胶囊几何算 bottom/top（不使用 cap.bounds） ===
// 注意：这里假设 Transform 的缩放是等比或至少 x/z 缩放差不多。
Vector3 centerW = transform.TransformPoint(cap.center);
float scaleY = Mathf.Abs(transform.lossyScale.y);
float scaleX = Mathf.Abs(transform.lossyScale.x);
float scaleZ = Mathf.Abs(transform.lossyScale.z);
float radiusW = cap.radius * Mathf.Max(scaleX, scaleZ);
float halfH_W = (cap.height * 0.5f) * scaleY;
float bottomY = centerW.y - halfH_W;
float topY = centerW.y + halfH_W;
// 用“最低点”判定入水
float bottomSub = waterLevelY - bottomY;
if (bottomSub <= enterWaterDepth)
{
rb.linearDamping = airLinearDamping;
rb.angularDamping = airAngularDamping;
return;
}
float w = Smooth01((bottomSub - enterWaterDepth) / Mathf.Max(1e-4f, smoothDepth));
rb.linearDamping = airLinearDamping + extraLinearDampingInWater * w;
rb.angularDamping = airAngularDamping + extraAngularDampingInWater * w;
// === 2) 在胶囊底部附近放一圈采样点（姿态力矩来自这里） ===
// 环中心：在最低点上抬一点（ringLiftFromBottom）
float ringY = bottomY + ringLiftFromBottom;
Vector3 ringCenter = new Vector3(centerW.x, ringY, centerW.z);
float ringR = radiusW * ringRadiusScale;
// 每点加速限制
float maxForcePerPoint = float.PositiveInfinity;
if (maxUpAcceleration > 0f)
maxForcePerPoint = (rb.mass * maxUpAcceleration) / ringPoints;
for (int i = 0; i < ringPoints; i++)
{
float a = (i / (float)ringPoints) * Mathf.PI * 2f;
// 用世界方向的 right/forward（随姿态旋转）
Vector3 offset = (transform.right * Mathf.Cos(a) + transform.forward * Mathf.Sin(a)) * ringR;
Vector3 p = ringCenter + offset;
float sub = waterLevelY - p.y;
if (sub <= enterWaterDepth) continue;
float pw = Smooth01((sub - enterWaterDepth) / Mathf.Max(1e-4f, smoothDepth)) * w;
float vY = rb.GetPointVelocity(p).y;
float fY = perPointSpring * sub - perPointDamping * vY;
if (fY < 0f) fY = 0f;
fY *= pw;
if (fY > maxForcePerPoint) fY = maxForcePerPoint;
rb.AddForceAtPosition(Vector3.up * fY, p, ForceMode.Force);
}
// === 3) 可选：归正（建议最后再加） ===
if (rightingTorque > 0f)
{
Vector3 axis = Vector3.Cross(transform.up, Vector3.up);
float mag = axis.magnitude;
if (mag > 1e-5f)
{
axis /= mag;
float angle = Mathf.Asin(Mathf.Clamp(mag, -1f, 1f));
float angVelOnAxis = Vector3.Dot(rb.angularVelocity, axis);
float torque = (rightingTorque * angle - rightingDamping * angVelOnAxis) * w;
rb.AddTorque(axis * torque, ForceMode.Acceleration);
}
}
}
void ApplyCenterOfMass()
{
if (!driveCenterOfMassFromCapsule) return;
rb.centerOfMass = cap.center + extraCenterOfMassOffset;
}
static float Smooth01(float t)
{
t = Mathf.Clamp01(t);
return t * t * (3f - 2f * t);
}
}

3
Assets/Scripts/Test/BobberBuoyancyStable_MultiPoint.cs.meta Normal file
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@@ -0,0 +1,3 @@
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