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+ m_Name: Float (4)
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+ m_Icon: {fileID: 0}
+ m_NavMeshLayer: 0
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+ m_Mesh: {fileID: 4300000, guid: 77d4b5d6e9e84794383ac9531cb04cae, type: 2}
--- !u!114 &8143692206562876326
MonoBehaviour:
m_ObjectHideFlags: 0
@@ -6359,6 +7051,22 @@ SphereCollider:
serializedVersion: 3
m_Radius: 0.003
m_Center: {x: 0, y: -0.0015, z: 0}
+--- !u!1 &8188637675592362683
+GameObject:
+ m_ObjectHideFlags: 0
+ m_CorrespondingSourceObject: {fileID: 0}
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+ m_PrefabAsset: {fileID: 0}
+ serializedVersion: 6
+ m_Component:
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+ m_Name: _waterline
+ m_TagString: Untagged
+ m_Icon: {fileID: 0}
+ m_NavMeshLayer: 0
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+ m_IsActive: 1
--- !u!224 &8263689906767965056
RectTransform:
m_ObjectHideFlags: 0
@@ -6496,18 +7204,41 @@ MonoBehaviour:
m_Script: {fileID: 11500000, guid: 6f273ba33ebe49cd8b31b92db8288a90, type: 3}
m_Name:
m_EditorClassIdentifier: Assembly-CSharp::Buoyancy
- _water: {fileID: 0}
+ _water: {fileID: 2531380344179187550}
includeDeformation: 1
- sphereRadiusApproximation: 0.1
- waveForceMultiplier: 0.01
- currentSpeedMultiplier: 0.01
+ sphereRadiusApproximation: 0.25
+ waveForceMultiplier: 1
+ currentSpeedMultiplier: 1
dragMultiplier: 1
- defaultRigidbodyDrag: 5
- underwaterRigidbodyAngularDrag: 5
- overwaterRigidbodyAngularDrag: 1
+ defaultRigidbodyDrag: 0.1
+ underwaterRigidbodyAngularDrag: 1
+ overwaterRigidbodyAngularDrag: 0.05
surfaceTensionDamping: 10
applyForceWithRandomOffset: 0
drawDebug: 1
+--- !u!136 &8264424693587136968
+CapsuleCollider:
+ m_ObjectHideFlags: 0
+ m_CorrespondingSourceObject: {fileID: 0}
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+ serializedVersion: 2
+ m_Radius: 0.004
+ m_Height: 0.025
+ m_Direction: 1
+ m_Center: {x: 0, y: 0.04, z: 0}
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ConfigurableJoint:
m_ObjectHideFlags: 0
@@ -6610,6 +7341,33 @@ ConfigurableJoint:
m_EnablePreprocessing: 0
m_MassScale: 1
m_ConnectedMassScale: 1
+--- !u!54 &8380770180143436832
+Rigidbody:
+ m_ObjectHideFlags: 0
+ m_CorrespondingSourceObject: {fileID: 0}
+ m_PrefabInstance: {fileID: 0}
+ m_PrefabAsset: {fileID: 0}
+ m_GameObject: {fileID: 8129510738604895356}
+ serializedVersion: 5
+ m_Mass: 0.1
+ m_LinearDamping: 5
+ m_AngularDamping: 0.1
+ m_CenterOfMass: {x: 0, y: 0, z: 0}
+ m_InertiaTensor: {x: 0.001, y: 0.001, z: 0.001}
+ m_InertiaRotation: {x: 0, y: 0, z: 0, w: 1}
+ m_IncludeLayers:
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+ m_Interpolate: 0
+ m_Constraints: 0
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--- !u!120 &8514482975972367959
LineRenderer:
serializedVersion: 2
@@ -6992,6 +7750,21 @@ LineRenderer:
m_UseWorldSpace: 1
m_Loop: 0
m_ApplyActiveColorSpace: 1
+--- !u!4 &9066712976035742038
+Transform:
+ m_ObjectHideFlags: 0
+ m_CorrespondingSourceObject: {fileID: 0}
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+ m_PrefabAsset: {fileID: 0}
+ m_GameObject: {fileID: 167656693566734254}
+ serializedVersion: 2
+ m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+ m_LocalPosition: {x: 0, y: 0.055, z: 0}
+ m_LocalScale: {x: 1, y: 1, z: 1}
+ m_ConstrainProportionsScale: 0
+ m_Children: []
+ m_Father: {fileID: 584816677121546027}
+ m_LocalEulerAnglesHint: {x: 0, y: -0, z: -0}
--- !u!1 &9157164589531290079
GameObject:
m_ObjectHideFlags: 0
@@ -7032,6 +7805,23 @@ MonoBehaviour:
m_DefaultSpriteDPI: 96
m_DynamicPixelsPerUnit: 1
m_PresetInfoIsWorld: 0
+--- !u!1 &9204150256481453776
+GameObject:
+ m_ObjectHideFlags: 0
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+ m_PrefabInstance: {fileID: 0}
+ m_PrefabAsset: {fileID: 0}
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+ m_Layer: 0
+ m_Name: _stick
+ m_TagString: Untagged
+ m_Icon: {fileID: 0}
+ m_NavMeshLayer: 0
+ m_StaticEditorFlags: 0
+ m_IsActive: 1
--- !u!1660057539 &9223372036854775807
SceneRoots:
m_ObjectHideFlags: 0
@@ -7044,5 +7834,7 @@ SceneRoots:
- {fileID: 909052972}
- {fileID: 668361904}
- {fileID: 154764977}
- - {fileID: 7909769884836788113}
+ - {fileID: 389927712696538647}
+ - {fileID: 7542518911993633412}
- {fileID: 5388330205210097294}
+ - {fileID: 820800910}
diff --git a/Assets/Scripts/Test/BuoyancyBody.cs b/Assets/Scripts/Test/BuoyancyBody.cs
index 7de55839a..990222bb3 100644
--- a/Assets/Scripts/Test/BuoyancyBody.cs
+++ b/Assets/Scripts/Test/BuoyancyBody.cs
@@ -2,17 +2,7 @@
using System.Collections.Generic;
using UnityEngine;
-public interface IWaterProvider
-{
- /// 返回该世界坐标下的水面高度
- float GetWaterHeight(Vector3 worldPos);
- /// 可选：水面法线（没有就返回 Vector3.up）
- Vector3 GetWaterNormal(Vector3 worldPos);
-
- /// 可选：水流速度（没有就返回 Vector3.zero）
- Vector3 GetWaterVelocity(Vector3 worldPos);
-}
///
/// 多点采样浮力：考虑形状(采样点分布)、重心(Rigidbody.centerOfMass)、扭矩(在点上施力)。
diff --git a/Assets/Scripts/Test/BuoyancyCapsuleSphere.cs b/Assets/Scripts/Test/BuoyancyCapsuleSphere.cs
new file mode 100644
index 000000000..fb75698f1
--- /dev/null
+++ b/Assets/Scripts/Test/BuoyancyCapsuleSphere.cs
@@ -0,0 +1,224 @@
+using UnityEngine;
+
+public interface IWaterProvider
+{
+ float GetWaterHeight(Vector3 worldPos);
+ Vector3 GetWaterNormal(Vector3 worldPos);
+ Vector3 GetWaterVelocity(Vector3 worldPos);
+}
+
+///
+/// 稳定优先的浮力（只支持 CapsuleCollider / SphereCollider）
+/// - 竖直方向：目标吃水深度 + PD 控制（稳定，不抖、不弹飞）
+/// - 姿态：Righting Torque 扶正（受 Rigidbody.centerOfMass 影响）
+/// - 入水比例：带平滑（避免水面附近开关抖动）
+///
+[DisallowMultipleComponent]
+[RequireComponent(typeof(Rigidbody))]
+public class BuoyancyCapsuleSphere : MonoBehaviour
+{
+ [Header("Collider (choose one)")]
+ public CapsuleCollider capsule;
+ public SphereCollider sphere;
+
+ [Header("Water")]
+ public MonoBehaviour waterProviderBehaviour; // 可选
+ private IWaterProvider waterProvider;
+
+ [Tooltip("没有 provider 时的水面高度")]
+ public float waterLevel = 0f;
+
+ [Header("Density -> Draft")]
+ [Tooltip("水密度 kg/m^3（淡水约1000）")]
+ public float waterDensity = 1000f;
+
+ [Tooltip("物体等效密度 kg/m^3。越小越浮。浮漂可 80~400 之间调")]
+ public float objectDensity = 250f;
+
+ [Tooltip("额外浮力比例（手感调整）。1=按密度算")]
+ public float buoyancyScale = 1f;
+
+ [Header("Vertical PD (Stability key)")]
+ [Tooltip("竖直弹簧强度（越大越“顶住”目标吃水）")]
+ public float verticalKp = 35f;
+
+ [Tooltip("竖直阻尼（越大越不弹、不抖）")]
+ public float verticalKd = 12f;
+
+ [Tooltip("最大向上加速度 m/s^2（防止从高处落下入水被顶飞）")]
+ public float maxUpAccel = 25f;
+
+ [Tooltip("最大向下加速度 m/s^2（防止强行拉下去造成抖动）")]
+ public float maxDownAccel = 10f;
+
+ [Header("Submergence smoothing")]
+ [Tooltip("入水比例变化速度（1/s）。越大越快响应，越小越稳")]
+ public float submergenceSpeed = 8f;
+
+ [Tooltip("水面外的缓冲(m)，让浮力更平滑接管")]
+ public float surfaceMargin = 0.01f;
+
+ [Header("Righting (Rotation)")]
+ [Tooltip("扶正强度（把 transform.up 拉向水面法线/世界上）")]
+ public float rightingKp = 8f;
+
+ [Tooltip("扶正阻尼（抑制旋转抖动）")]
+ public float rightingKd = 3f;
+
+ [Header("Water drag (optional but helpful)")]
+ [Tooltip("入水时额外线阻尼（通过 rb.drag 混合）")]
+ public float extraLinearDragInWater = 2.5f;
+
+ [Tooltip("入水时额外角阻尼（通过 rb.angularDrag 混合）")]
+ public float extraAngularDragInWater = 2.0f;
+
+ [Header("Center of Mass")]
+ [Tooltip("本地重心偏移：例如 (0,-0.02,0) 让底部更重、更容易站漂")]
+ public Vector3 centerOfMassOffset = Vector3.zero;
+
+ private Rigidbody rb;
+ private float baseDrag, baseAngularDrag;
+
+ // 关键：入水比例必须有“记忆”（滤波），否则水面边界必抖
+ private float subFiltered = 0f;
+
+ void Reset()
+ {
+ rb = GetComponent();
+ rb.useGravity = true;
+ rb.interpolation = RigidbodyInterpolation.Interpolate;
+ rb.collisionDetectionMode = CollisionDetectionMode.Continuous;
+
+ capsule = GetComponent();
+ sphere = GetComponent();
+ }
+
+ void Awake()
+ {
+ rb = GetComponent();
+ rb.centerOfMass = centerOfMassOffset;
+
+ baseDrag = rb.linearDamping;
+ baseAngularDrag = rb.angularDamping;
+
+ waterProvider = waterProviderBehaviour as IWaterProvider;
+
+ // 只允许一个
+ if (capsule != null && sphere != null)
+ sphere = null;
+ }
+
+ void OnValidate()
+ {
+ objectDensity = Mathf.Max(1e-3f, objectDensity);
+ waterDensity = Mathf.Max(1e-3f, waterDensity);
+ submergenceSpeed = Mathf.Max(0.1f, submergenceSpeed);
+ surfaceMargin = Mathf.Max(0f, surfaceMargin);
+ maxUpAccel = Mathf.Max(0f, maxUpAccel);
+ maxDownAccel = Mathf.Max(0f, maxDownAccel);
+ }
+
+ void FixedUpdate()
+ {
+ if (!capsule && !sphere) return;
+
+ waterProvider = waterProviderBehaviour as IWaterProvider;
+
+ // 取“浮体中心点”作为控制点（稳定，不戳点）
+ Vector3 centerWorld;
+ float shapeHeight; // 近似“高度”（sphere=直径，capsule=高度）
+ GetCenterAndHeight(out centerWorld, out shapeHeight);
+
+ // 水面信息
+ float waterH = (waterProvider != null) ? waterProvider.GetWaterHeight(centerWorld) : waterLevel;
+ Vector3 waterN = (waterProvider != null) ? waterProvider.GetWaterNormal(centerWorld) : Vector3.up;
+ if (waterN.sqrMagnitude < 1e-6f) waterN = Vector3.up;
+ waterN.Normalize();
+
+ // 当前中心“浸没深度”(>0 表示中心在水下)
+ float centerDepth = waterH - centerWorld.y;
+
+ // 近似入水比例：centerDepth = -H/2 -> 0; centerDepth = +H/2 -> 1
+ float rawSub = Mathf.Clamp01((centerDepth + (shapeHeight * 0.5f) + surfaceMargin) / (shapeHeight + 2f * surfaceMargin));
+
+ // 入水比例滤波（非常关键）
+ float dt = Time.fixedDeltaTime;
+ subFiltered = Mathf.MoveTowards(subFiltered, rawSub, submergenceSpeed * dt);
+
+ // 混合拖拽（让水中更稳）
+ rb.linearDamping = Mathf.Lerp(baseDrag, baseDrag + extraLinearDragInWater, subFiltered);
+ rb.angularDamping = Mathf.Lerp(baseAngularDrag, baseAngularDrag + extraAngularDragInWater, subFiltered);
+
+ if (subFiltered <= 1e-4f)
+ return; // 基本没入水，不做任何浮力/扶正
+
+ // 目标吃水比例：理想静态平衡 ≈ objectDensity / waterDensity（<1 才会浮）
+ float desiredSub = Mathf.Clamp01((objectDensity / waterDensity) * buoyancyScale);
+
+ // 把 desiredSub 转成目标中心深度
+ // desiredSub=0 -> centerDepthTarget = -H/2（完全出水）
+ // desiredSub=1 -> centerDepthTarget = +H/2（完全入水）
+ float centerDepthTarget = desiredSub * shapeHeight - shapeHeight * 0.5f;
+
+ // 竖直 PD：只沿“世界上/重力反方向”控制，最稳
+ Vector3 up = (-Physics.gravity).sqrMagnitude > 1e-6f ? (-Physics.gravity).normalized : Vector3.up;
+ float vUp = Vector3.Dot(rb.linearVelocity, up);
+
+ float error = centerDepth - centerDepthTarget; // 深了为正 -> 需要向上推
+ float accelUp = (-verticalKp * error) - (verticalKd * vUp);
+
+ // 限制上下加速度，避免顶飞或强拉抖动
+ accelUp = Mathf.Clamp(accelUp, -maxDownAccel, maxUpAccel);
+
+ // 随入水比例渐入（避免水面边界突然接管）
+ accelUp *= subFiltered;
+
+ // 施加竖直加速度（Acceleration 不受质量影响，更稳定）
+ rb.AddForce(up * accelUp, ForceMode.Acceleration);
+
+ // 扶正力矩：把物体 up 拉向 waterN（平静水就是 Vector3.up）
+ // 注意：这个扶正与重心偏移一起工作，会形成“站漂/躺漂”的稳定姿态
+ Vector3 currentUp = transform.up;
+ Vector3 axis = Vector3.Cross(currentUp, waterN);
+
+ // 小角度近似：axis 的大小约等于 sin(theta)
+ // 扶正加速度型扭矩（同样用 Acceleration，减少质量/惯量差带来的抖动）
+ Vector3 angVel = rb.angularVelocity;
+ Vector3 torqueAccel = axis * rightingKp - angVel * rightingKd;
+
+ torqueAccel *= subFiltered;
+
+ rb.AddTorque(torqueAccel, ForceMode.Acceleration);
+ }
+
+ private void GetCenterAndHeight(out Vector3 centerWorld, out float heightWorld)
+ {
+ if (sphere)
+ {
+ // sphere：center + 半径*缩放（近似取最大缩放）
+ Transform t = sphere.transform;
+ centerWorld = t.TransformPoint(sphere.center);
+
+ Vector3 s = t.lossyScale;
+ float r = sphere.radius * Mathf.Max(Mathf.Abs(s.x), Mathf.Abs(s.y), Mathf.Abs(s.z));
+ heightWorld = Mathf.Max(1e-6f, r * 2f);
+ return;
+ }
+
+ // capsule
+ Transform ct = capsule.transform;
+ centerWorld = ct.TransformPoint(capsule.center);
+
+ Vector3 ls = ct.lossyScale;
+ float sx = Mathf.Abs(ls.x), sy = Mathf.Abs(ls.y), sz = Mathf.Abs(ls.z);
+
+ float heightScale = capsule.direction switch
+ {
+ 0 => sx,
+ 1 => sy,
+ _ => sz,
+ };
+
+ heightWorld = Mathf.Max(1e-6f, capsule.height * heightScale);
+ }
+}
\ No newline at end of file
diff --git a/Assets/Scripts/Test/BuoyancyCapsuleSphere.cs.meta b/Assets/Scripts/Test/BuoyancyCapsuleSphere.cs.meta
new file mode 100644
index 000000000..b45fa287e
--- /dev/null
+++ b/Assets/Scripts/Test/BuoyancyCapsuleSphere.cs.meta
@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: bad586cd447d4271b97ce1cf1c81897a
+timeCreated: 1772460028
\ No newline at end of file
diff --git a/Assets/Scripts/Test/CapsuleBuoyancy.cs b/Assets/Scripts/Test/CapsuleBuoyancy.cs
new file mode 100644
index 000000000..3fe7fdb32
--- /dev/null
+++ b/Assets/Scripts/Test/CapsuleBuoyancy.cs
@@ -0,0 +1,95 @@
+using UnityEngine;
+
+[RequireComponent(typeof(Rigidbody))]
+[RequireComponent(typeof(CapsuleCollider))]
+public class CapsuleBuoyancy : MonoBehaviour
+{
+ [Header("Water Settings")]
+ public float waterHeight = 0f; // 水面高度
+ public float waterDensity = 1000f; // 水密度
+
+ [Header("Buoyancy Settings")]
+ public int samplePoints = 8; // 采样点数量
+ public float buoyancyMultiplier = 1.0f; // 浮力强度调节
+ public float waterDrag = 1.5f; // 水阻力
+ public float waterAngularDrag = 1.5f; // 水角阻力
+
+ private Rigidbody rb;
+ private CapsuleCollider capsule;
+
+ private float capsuleVolume;
+ private float gravity;
+
+ void Start()
+ {
+ rb = GetComponent();
+ capsule = GetComponent();
+
+ gravity = Physics.gravity.magnitude;
+
+ CalculateCapsuleVolume();
+ }
+
+ void FixedUpdate()
+ {
+ ApplyBuoyancy();
+ }
+
+ void CalculateCapsuleVolume()
+ {
+ float radius = capsule.radius * Mathf.Max(transform.localScale.x, transform.localScale.z);
+ float height = Mathf.Max(0, capsule.height * transform.localScale.y - 2f * radius);
+
+ float cylinderVolume = Mathf.PI * radius * radius * height;
+ float sphereVolume = (4f / 3f) * Mathf.PI * radius * radius * radius;
+
+ capsuleVolume = cylinderVolume + sphereVolume;
+ }
+
+ void ApplyBuoyancy()
+ {
+ float submergedRatioTotal = 0f;
+
+ for (int i = 0; i < samplePoints; i++)
+ {
+ float t = (float)i / (samplePoints - 1);
+ Vector3 localPoint = Vector3.up * Mathf.Lerp(
+ -capsule.height * 0.5f + capsule.radius,
+ capsule.height * 0.5f - capsule.radius,
+ t);
+
+ Vector3 worldPoint = transform.TransformPoint(localPoint);
+
+ float depth = waterHeight - worldPoint.y;
+
+ if (depth > 0f)
+ {
+ float normalizedDepth = Mathf.Clamp01(depth / (capsule.height / samplePoints));
+ submergedRatioTotal += normalizedDepth;
+
+ float forceMagnitude =
+ waterDensity *
+ gravity *
+ (capsuleVolume / samplePoints) *
+ normalizedDepth *
+ buoyancyMultiplier;
+
+ Vector3 buoyancyForce = Vector3.up * forceMagnitude;
+
+ rb.AddForceAtPosition(buoyancyForce, worldPoint, ForceMode.Force);
+ }
+ }
+
+ // 如果在水中，加阻力
+ if (submergedRatioTotal > 0f)
+ {
+ rb.linearDamping = waterDrag;
+ rb.angularDamping = waterAngularDrag;
+ }
+ else
+ {
+ rb.linearDamping = 0f;
+ rb.angularDamping = 0.05f;
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/Scripts/Test/CapsuleBuoyancy.cs.meta b/Assets/Scripts/Test/CapsuleBuoyancy.cs.meta
new file mode 100644
index 000000000..08709b72f
--- /dev/null
+++ b/Assets/Scripts/Test/CapsuleBuoyancy.cs.meta
@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 3137aa469d6440af8cdeaa03a4c272d1
+timeCreated: 1772464119
\ No newline at end of file