浮漂2
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@@ -5,179 +5,144 @@
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[RequireComponent(typeof(CapsuleCollider))]
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public class BobberBuoyancyStable : MonoBehaviour
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{
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[Header("Water")]
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public float waterLevelY = 0f;
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[Header("Water Physics")] public float waterLevel = 0f;
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[Tooltip("必须至少浸入这么深才开始产生浮力（防止还没入水就被顶）")]
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public float enterWaterDepth = 0.003f; // 3mm（按你的尺度改）
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[Tooltip("浮力倍数 (建议1.0-1.5)")] public float buoyancyMultiplier = 1.2f;
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[Tooltip("在这个深度范围内做平滑过渡（越大越软）")]
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public float smoothDepth = 0.02f;
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[Tooltip("阻尼系数")] public float dampingFactor = 0.3f;
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[Header("Buoyancy Spring")]
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public float buoyancySpring = 30f;
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public float buoyancyDamping = 8f;
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[Header("Debug")] public bool showDebugInfo = true;
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[Tooltip("最大上浮加速度限制(0=不限制)")]
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public float maxUpAcceleration = 0f;
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[Header("Water Drag")]
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public float extraLinearDampingInWater = 2f;
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public float extraAngularDampingInWater = 2f;
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[Header("Center Of Mass")]
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public bool driveCenterOfMassFromCapsule = true;
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public Vector3 extraCenterOfMassOffset = new Vector3(0f, -0.01f, 0f); // 恢复原来的重心下移
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[Header("Righting")]
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public float rightingTorque = 3f; // 适中的归正扭矩
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public float rightingDamping = 0.8f;
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Rigidbody rb;
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CapsuleCollider cap;
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float airLinearDamping;
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float airAngularDamping;
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private Rigidbody rb;
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private CapsuleCollider capsule;
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void Awake()
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{
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rb = GetComponent<Rigidbody>();
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cap = GetComponent<CapsuleCollider>();
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capsule = GetComponent<CapsuleCollider>();
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rb.useGravity = true;
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airLinearDamping = rb.linearDamping;
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airAngularDamping = rb.angularDamping;
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ApplyCenterOfMass();
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rb.maxAngularVelocity = 50f;
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// 移除了强制设置物理参数的代码，保留用户在Inspector中的设置
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if (showDebugInfo)
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{
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Debug.Log($"Initial mass: {rb.mass}kg, Volume: {CalculateTotalVolume():F6}m³");
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}
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}
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void FixedUpdate()
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{
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ApplyCenterOfMass();
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ApplyCorrectedBuoyancy();
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}
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Bounds b = cap.bounds;
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float bottomY = b.min.y;
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float topY = b.max.y;
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void ApplyCorrectedBuoyancy()
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{
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// 使用本地坐标系计算边界，支持任意旋转角度
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Vector3 localUp = transform.up; // 获取物体的本地向上向量
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Vector3 localDown = -localUp;
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// 用"底部点"判定是否真正入水
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float bottomSubmersion = waterLevelY - bottomY;
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if (bottomSubmersion <= enterWaterDepth)
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{
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rb.linearDamping = airLinearDamping;
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rb.angularDamping = airAngularDamping;
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return;
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}
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// 正确获取世界坐标下的胶囊体边界（考虑旋转）
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Vector3 worldBottom = transform.TransformPoint(capsule.center +
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localDown * (capsule.height * 0.5f));
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Vector3 worldTop = transform.TransformPoint(capsule.center +
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localUp * (capsule.height * 0.5f));
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// 进入水中：阻尼随浸入增强
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float w = Smooth01((bottomSubmersion - enterWaterDepth) / Mathf.Max(1e-4f, smoothDepth));
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rb.linearDamping = airLinearDamping + extraLinearDampingInWater * w;
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rb.angularDamping = airAngularDamping + extraAngularDampingInWater * w;
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float bottomY = worldBottom.y;
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float topY = worldTop.y;
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float totalHeight = Mathf.Abs(topY - bottomY); // 使用绝对值确保高度为正
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// 关键修正：正确的浮力计算
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float volume = Mathf.PI * cap.radius * cap.radius * cap.height;
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float submergedVolume = volume * Mathf.Clamp01(bottomSubmersion / cap.height);
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// 浮力 = 排开液体重量 = 体积 × 密度 × 重力
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float buoyantForce = submergedVolume * 1000f * 9.81f;
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// 物体重量
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// 计算浸入深度
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float immersionDepth = Mathf.Max(0, waterLevel - bottomY);
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if (immersionDepth <= 0) return;
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// 计算浸入比例
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float immersionRatio = Mathf.Clamp01(immersionDepth / totalHeight);
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// 计算总重量
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float weight = rb.mass * 9.81f;
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// 净浮力（浮力 - 重量）
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float netBuoyancy = buoyantForce - weight;
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// 添加弹簧阻尼系统
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float velocity = Vector3.Dot(rb.linearVelocity, Vector3.up);
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float springForce = buoyancySpring * bottomSubmersion;
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float dampingForce = buoyancyDamping * velocity;
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float totalForce = netBuoyancy + springForce - dampingForce;
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totalForce *= w; // 平滑过渡
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// 限制向上的力
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if (totalForce < 0) totalForce = 0;
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// 限制最大加速度
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if (maxUpAcceleration > 0f)
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// 计算排水体积（关键修正）
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float totalVolume = CalculateTotalVolume();
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float displacedVolume = totalVolume * immersionRatio;
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if (displacedVolume < 0)
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{
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float maxForce = rb.mass * maxUpAcceleration;
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if (totalForce > maxForce) totalForce = maxForce;
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Debug.LogError($"入水深度异常={displacedVolume}");
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displacedVolume = 0;
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}
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// 计算浮力
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float buoyantForce = displacedVolume * 1000f * 9.81f * buoyancyMultiplier;
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// 净浮力 = 浮力 - 重量
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float netForce = buoyantForce - weight;
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// 浮力作用点
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float buoyY = Mathf.Min(waterLevelY - 0.001f, topY);
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buoyY = Mathf.Max(buoyY, bottomY);
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Vector3 buoyPoint = new Vector3(b.center.x, buoyY, b.center.z);
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float buoyancyY = bottomY + (immersionDepth * 0.5f);
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Vector3 buoyancyPoint = new Vector3(transform.position.x, buoyancyY, transform.position.z);
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rb.AddForceAtPosition(Vector3.up * totalForce, buoyPoint, ForceMode.Force);
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// 应用力
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rb.AddForceAtPosition(Vector3.up * netForce, buoyancyPoint, ForceMode.Force);
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// 简化的归正扭矩系统
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SimpleRightingSystem(w);
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}
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// 添加阻尼稳定浮动
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Vector3 velocity = rb.GetPointVelocity(buoyancyPoint);
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Vector3 dampingForce = -velocity * dampingFactor * immersionRatio;
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rb.AddForceAtPosition(dampingForce, buoyancyPoint, ForceMode.Force);
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void SimpleRightingSystem(float weight)
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{
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Vector3 up = transform.up;
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Vector3 axis = Vector3.Cross(up, Vector3.up);
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float mag = axis.magnitude;
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if (mag > 1e-4f)
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if (showDebugInfo)
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{
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axis /= mag;
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float angle = Mathf.Asin(Mathf.Clamp(mag, -1f, 1f)) * Mathf.Rad2Deg;
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float angVelOnAxis = Vector3.Dot(rb.angularVelocity, axis);
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// 归正扭矩
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float torque = (rightingTorque * angle - rightingDamping * angVelOnAxis) * weight;
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rb.AddTorque(axis * torque, ForceMode.Acceleration);
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Debug.Log($"Immersion: {immersionRatio:P1}, " +
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$"DispVol: {displacedVolume:F6}m³, " +
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$"Buoyancy: {buoyantForce:F2}N, " +
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$"NetForce: {netForce:F2}N");
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}
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}
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void ApplyCenterOfMass()
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float CalculateTotalVolume()
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{
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if (!driveCenterOfMassFromCapsule) return;
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rb.centerOfMass = cap.center + extraCenterOfMassOffset;
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// 胶囊体总体积 = 圆柱体 + 两个半球
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float radius = capsule.radius;
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float cylinderHeight = capsule.height - (2 * radius); // 减去两端球冠
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// 圆柱体积
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float cylinderVolume = Mathf.PI * radius * radius * cylinderHeight;
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// 两个半球 = 一个完整球体
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float sphereVolume = (4f / 3f) * Mathf.PI * Mathf.Pow(radius, 3);
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float totalVolume = cylinderVolume + sphereVolume;
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return totalVolume;
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}
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static float Smooth01(float t)
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{
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t = Mathf.Clamp01(t);
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return t * t * (3f - 2f * t);
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}
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void OnDrawGizmos()
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{
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if (cap == null) return;
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Gizmos.color = Color.blue;
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Bounds bounds = cap.bounds;
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// 绘制浸入部分
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float bottomY = bounds.min.y;
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float submergedHeight = Mathf.Max(0, waterLevelY - bottomY);
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Vector3 submergedCenter = new Vector3(
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bounds.center.x,
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bottomY + submergedHeight * 0.5f,
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bounds.center.z
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);
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Vector3 submergedSize = new Vector3(
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bounds.size.x,
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submergedHeight,
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bounds.size.z
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);
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Gizmos.DrawWireCube(submergedCenter, submergedSize);
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// 显示重心
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if (rb != null)
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if (capsule == null) return;
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// 显示胶囊体边界
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Vector3 worldBottom = transform.TransformPoint(capsule.center -
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Vector3.up * (capsule.height * 0.5f));
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Vector3 worldTop = transform.TransformPoint(capsule.center +
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Vector3.up * (capsule.height * 0.5f));
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Gizmos.color = Color.white;
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Gizmos.DrawLine(worldBottom, worldTop);
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// 显示浸入部分
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float immersion = Mathf.Max(0, waterLevel - worldBottom.y);
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if (immersion > 0)
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{
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Gizmos.color = Color.red;
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Vector3 comWorld = transform.TransformPoint(rb.centerOfMass);
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Gizmos.DrawSphere(comWorld, 0.005f);
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Gizmos.color = new Color(0, 0, 1, 0.3f);
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float submergedHeight = Mathf.Min(immersion, capsule.height);
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Vector3 submergedCenter = new Vector3(
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transform.position.x,
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worldBottom.y + submergedHeight * 0.5f,
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transform.position.z
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);
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Gizmos.DrawSphere(submergedCenter, capsule.radius);
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}
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// 显示水面
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Gizmos.color = Color.blue;
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Vector3 waterPos = new Vector3(transform.position.x, waterLevel, transform.position.z);
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Gizmos.DrawWireSphere(waterPos, 0.05f);
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}
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}
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}
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