浮漂测试代码1

Assets/Scenes/BobberTest.unity

@@ -193,7 +193,7 @@ Rigidbody:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 154764976}
   serializedVersion: 5
-  m_Mass: 0.01
+  m_Mass: 0.1
   m_LinearDamping: 0
   m_AngularDamping: 0.05
   m_CenterOfMass: {x: 0, y: 0, z: 0}
@@ -250,15 +250,16 @@ MonoBehaviour:
   waterLevelY: 0
   enterWaterDepth: 0.003
   smoothDepth: 0.02
-  buoyancySpring: 30
+  buoyancySpring: 100
   buoyancyDamping: 8
   maxUpAcceleration: 0
   extraLinearDampingInWater: 2
   extraAngularDampingInWater: 2
-  driveCenterOfMassFromCapsule: 1
+  driveCenterOfMassFromCapsule: 0
-  extraCenterOfMassOffset: {x: 0, y: -0.01, z: 0}
+  extraCenterOfMassOffset: {x: 0, y: 0, z: 0}
   rightingTorque: 1.5
   rightingDamping: 0.5
+  buoyancyOffset: 0.02
 --- !u!1 &203844586
 GameObject:
   m_ObjectHideFlags: 0
@@ -3419,7 +3420,7 @@ GameObject:
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
-  m_IsActive: 0
+  m_IsActive: 1
 --- !u!1 &1065788238234039155
 GameObject:
   m_ObjectHideFlags: 0

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 rightingTorque = 3f; // 适中的归正扭矩
-    public float rightingDamping = 0.5f;
+    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）
+        // 用"底部点"判定是否真正入水
-        float bottomSubmersion = waterLevelY - bottomY; // >0 表示底部在水下
+        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）
+        // 关键修正：正确的浮力计算
-        float vY = rb.linearVelocity.y;
+        float volume = Mathf.PI * cap.radius * cap.radius * cap.height;
-
+        float submergedVolume = volume * Mathf.Clamp01(bottomSubmersion / cap.height);
-        // 弹簧+阻尼浮力（仅向上）
+        
-        float forceY = buoyancySpring * bottomSubmersion - buoyancyDamping * vY;
+        // 浮力 = 排开液体重量 = 体积 × 密度 × 重力
-        if (forceY < 0f) forceY = 0f;
+        float buoyantForce = submergedVolume * 1000f * 9.81f;
-
+        
-        // 平滑权重：刚入水时逐渐接管
+        // 物体重量
-        forceY *= w;
+        float weight = rb.mass * 9.81f;
-
+        
-        // 限制最大上浮加速度（可选）
+        // 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）
+        // 浮力作用点
-        float buoyY = Mathf.Min(waterLevelY - 0.001f, topY); // 强制在水面下1mm
+        float buoyY = Mathf.Min(waterLevelY - 0.001f, topY);
-        buoyY = Mathf.Max(buoyY, bottomY);                  // 不低于底部
+        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);
+        }
+    }
+}

Assets/Scripts/Test/BobberBuoyancyStable_MultiPoint.cs

@@ -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);
+    }
+}

Assets/Scripts/Test/BobberBuoyancyStable_MultiPoint.cs.meta

@@ -0,0 +1,3 @@
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+guid: d18347d6a7a44aa8be1ea374a3d9067d
+timeCreated: 1772295188