浮漂测试代码1

Assets/Scripts/Test/BobberBuoyancyStable.cs

@@ -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);
+        }
+    }
+}