内容提交

2026-02-28 17:45:08 +08:00
parent 47be63d324
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--- a/Assets/Scenes/GaiaTest.unity.meta
+++ b/Assets/Scenes/GaiaTest.unity.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 57e93090c20de5540b06fbb7d4da5d3b
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
--- a/Assets/Scripts/Test/BobberBuoyancyStable.cs
+++ b/Assets/Scripts/Test/BobberBuoyancyStable.cs
@@ -0,0 +1,130 @@
+using UnityEngine;
+
+[DisallowMultipleComponent]
+[RequireComponent(typeof(Rigidbody))]
+[RequireComponent(typeof(CapsuleCollider))]
+public class BobberBuoyancyStable : MonoBehaviour
+{
+    [Header("Water")]
+    public float waterLevelY = 0f;
+
+    [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）")]
+    public float enterWaterDepth = 0.003f; // 3mm（按你的尺度改）
+
+    [Tooltip("在这个深度范围内做平滑过渡（越大越软）")]
+    public float smoothDepth = 0.02f;
+
+    [Header("Buoyancy Spring")]
+    public float buoyancySpring = 30f;
+    public float buoyancyDamping = 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;
+    public Vector3 extraCenterOfMassOffset = new Vector3(0f, -0.01f, 0f);
+
+    [Header("Righting")]
+    public float rightingTorque = 1.5f;
+    public float rightingDamping = 0.5f;
+
+    Rigidbody rb;
+    CapsuleCollider cap;
+
+    float airLinearDamping;
+    float airAngularDamping;
+
+    void Awake()
+    {
+        rb = GetComponent<Rigidbody>();
+        cap = GetComponent<CapsuleCollider>();
+        rb.useGravity = true;
+
+        airLinearDamping = rb.linearDamping;
+        airAngularDamping = rb.angularDamping;
+
+        ApplyCenterOfMass();
+        rb.maxAngularVelocity = 50f;
+    }
+
+    void FixedUpdate()
+    {
+        ApplyCenterOfMass();
+
+        Bounds b = cap.bounds;
+        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
+        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）
+        if (maxUpAcceleration > 0f)
+        {
+            float maxForce = rb.mass * maxUpAcceleration;
+            if (forceY > maxForce) forceY = 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
+        Vector3 buoyPoint = new Vector3(b.center.x, buoyY, b.center.z);
+
+        rb.AddForceAtPosition(Vector3.up * forceY, buoyPoint, ForceMode.Force);
+
+        // 归正扭矩（只在水里生效）
+        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 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);
+        // smoothstep
+        return t * t * (3f - 2f * t);
+    }
+}
--- a/Assets/Scripts/Test/BobberBuoyancyStable.cs.meta
+++ b/Assets/Scripts/Test/BobberBuoyancyStable.cs.meta
@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 976f4f103cc04f34a8a81bd4abba2244
+timeCreated: 1772269304
--- a/Assets/Scripts/Test/BobberFloating.cs
+++ b/Assets/Scripts/Test/BobberFloating.cs
@@ -1,126 +1,68 @@
-using System;
-using System.Collections.Generic;
-using UnityEngine;
+using UnityEngine;
 using WaveHarmonic.Crest;

 namespace NBF
 {
-    /// <summary>
-    /// 小型浮漂/小物体：基于 Crest 的浮力（自动从多个 CapsuleCollider 计算尺寸与探针）
-    /// - 自动收集自身与子物体上的 CapsuleCollider（可多个）
-    /// - 计算整体长轴、长度、最大直径、底部高度
-    /// - 自动设置 Crest 查询尺度 _ObjectWidth（与直径同量级）
-    /// - 自动生成 5 个探针：底部四周 + 底部中心（更稳）
-    /// - 浮力：弹簧(k) + 阻尼(c)，ForceMode.Force（质量参与）
-    /// </summary>
    public sealed class BobberFloating : MonoBehaviour
    {
-        [Header("Crest")]
        public WaterRenderer _water;

        [SerializeField] Rigidbody _RigidBody;

-        [Tooltip("要瞄准哪一层水的碰撞层。")]
-        [SerializeField] CollisionLayer _Layer = CollisionLayer.AfterAnimatedWaves;
+        [Tooltip("要瞄准哪一层水的碰撞层。")] [SerializeField]
+        CollisionLayer _Layer = CollisionLayer.AfterAnimatedWaves;

-        // -----------------------------
-        // 自动从 CapsuleCollider 计算
-        // -----------------------------
-        [Header("Auto from CapsuleColliders")]
-        [Tooltip("自动扫描自己与子物体的 CapsuleCollider，并计算尺寸/探针/采样尺度。")]
-        [SerializeField] bool _AutoFromCapsules = true;
+        [Header("浮力")]
+        [Header("力强度")]
+        [Tooltip("对于探测器而言，大致为 100 比 1 的质量与力的比例，以使质心保持在表面附近。对于“对齐法线”，默认值适用于具有默认刚体的默认球体。")]
+        [SerializeField]
+        float _BuoyancyForceStrength = 10f;

-        [Tooltip("仅使用 enabled 的 CapsuleCollider。")]
-        [SerializeField] bool _OnlyEnabledCapsules = true;
+        [Header("扭矩强度")] [Tooltip("使船体方向与水的法线方向一致时所施加扭矩的大小。")] [SerializeField]
+        float _BuoyancyTorqueStrength = 8f;

-        [Tooltip("运行时也会每隔一定时间重建（应对浮漂缩放/更换碰撞体）。0 表示仅 Start/OnValidate 时重建。")]
-        [SerializeField] float _RuntimeRebuildInterval = 0f;
+        [Header("最大力矩")] [Tooltip("将浮力值固定在此数值上。\n\n适用于处理完全浸没的物体。")] [SerializeField]
+        float _MaximumBuoyancyForce = 100f;

-        [Tooltip("给估算出来的直径乘一个系数，用于更稳的 Crest 查询与阻尼。通常 1.0~2.0。")]
-        [Range(0.5f, 3f)]
-        [SerializeField] float _WidthMultiplier = 1.2f;
+        [Header("高度偏移")] [Tooltip("从变换中心到船体底部的高度偏移（如果存在）。\n\n默认值适用于默认球体。该值无需精确测量从中心到底部的距离。")] [SerializeField]
+        float _CenterToBottomOffset = -1f;

-        [Tooltip("探针半径比例（相对估算半径）。越大越“撑开”，越抗翻滚，但也更容易被浪抬。建议 0.6~0.9")]
-        [Range(0.1f, 1.2f)]
-        [SerializeField] float _ProbeRadiusRatio = 0.75f;
+        [Tooltip("顺着波浪 “冲浪” 的近似流体动力学效果。")] [Range(0, 1)] [SerializeField]
+        float _AccelerateDownhill;

-        [Tooltip("探针在底部之上的抬高（米）。用于避免探针刚好在最底点导致抖动。建议：半径的 5%~20%。")]
-        [SerializeField] float _ProbeLiftMeters = 0.0f;

-        [Tooltip("探针权重分配：四周总权重（其余给中心）。建议 0.6~0.9")]
-        [Range(0f, 1f)]
-        [SerializeField] float _RingWeight = 0.75f;
+        [Header("拖拽")] [Tooltip("在水中时使用拖拽功能。\n将此属性添加到刚体所声明的拖拽力上。")] [SerializeField]
+        Vector3 _Drag = new(2f, 3f, 1f);

-        // -----------------------------
-        // 物理参数（吃水可控）
-        // -----------------------------
-        [Header("Buoyancy (controllable submergence)")]
-        [Tooltip("目标吃水比例：以“直径”为尺度。\n例：0.30 表示目标吃水深度约 = 直径*0.30。\n对小浮漂非常好调：想更浮（露更多）-> 降低；想更沉 -> 提高。")]
-        [Range(0.05f, 1.2f)]
-        [SerializeField] float _TargetSubmergenceRatio = 0.30f;
+        [Tooltip("在水中会产生旋转阻力。\n\n将此阻力添加到刚体上已声明的旋转阻力值之上。")] [SerializeField]
+        float _AngularDrag = 0.2f;

-        [Tooltip("浮力阻尼比（0~2 常用）。越大越不抖，但会显得黏。推荐 0.7~1.2")]
-        [Range(0f, 2f)]
-        [SerializeField] float _DampingRatio = 0.95f;
+        [Tooltip("施加拉力的位置的垂直偏移量。")] [SerializeField]
+        float _ForceHeightOffset;

-        [Tooltip("最大总浮力（N）保护。若为 Infinity 则不限制。")]
-        [SerializeField] float _MaximumBuoyancyForce = 50f;

-        [Tooltip("吃水偏移（米）。用于校准 pivot/碰撞体中心误差。\n>0 更容易浮起（等效更浅），<0 更沉。")]
-        [SerializeField] float _SubmergenceOffset = 0f;
+        [Header("波响应")] [Tooltip("用于物理计算的物体宽度。\n\n此值越大，波响应的滤波效果和平滑程度就越高。如果无法对较大波长进行滤波，则应增加 LOD 级别。")] [SerializeField]
+        float _ObjectWidth = 3f;

-        [Header("Water drag (relative to water surface velocity/flow)")]
-        [Tooltip("相对水的线性阻力（N per m/s）。小浮漂建议从 (0.2, 0.6, 0.2) 起。")]
-        [SerializeField] Vector3 _Drag = new(0.2f, 0.6f, 0.2f);

-        [Tooltip("角阻力（N*m per rad/s）。小浮漂建议 0.01~0.05。")]
-        [SerializeField] float _AngularDrag = 0.03f;
-
-        [Header("Optional downhill acceleration")]
-        [Range(0, 1)]
-        [SerializeField] float _AccelerateDownhill = 0f;
-
-        [Header("Force application height offset")]
-        [SerializeField] float _ForceHeightOffset = 0f;
-
-        // -----------------------------
-        // 自动生成的“几何结果”
-        // -----------------------------
-        [Header("Computed (read-only)")]
-        [SerializeField] float _ComputedLength = 0.1f;
-        [SerializeField] float _ComputedDiameter = 0.04f;
-        [SerializeField] Vector3 _ComputedAxisLocal = Vector3.up; // 刚体局部坐标中的长轴（单位向量）
-        [SerializeField] float _ComputedBottomLocalY = -0.02f;     // 刚体局部坐标中“整体最低点”的 y（沿长轴方向投影不是y；这里是按 rb local Y，仅用于Debug显示）
-
-        [Header("Wave response / query scale")]
-        [Tooltip("用于 Crest 查询的物体宽度（米）。会自动从 Capsule 直径推算。")]
-        [SerializeField] float _ObjectWidth = 0.04f;
-
-        // -----------------------------
        // Debug
-        // -----------------------------
-        [Space(10)]
-        [SerializeField] DebugFields _Debug = new();
+        [Space(10)] [SerializeField] DebugFields _Debug = new();

-        [Serializable]
+        [System.Serializable]
        sealed class DebugFields
        {
-            [SerializeField] internal bool _DrawProbes = false;
-            [SerializeField] internal bool _DrawForces = false;
+            [SerializeField] internal bool _DrawQueries = false;
        }

-        /// <summary>是否有任意探针入水</summary>
+        internal const string k_FixedUpdateMarker = "Crest.FloatingObject.FixedUpdate";
+
+        static Unity.Profiling.ProfilerMarker s_FixedUpdateMarker = new(k_FixedUpdateMarker);
+
+        /// <summary>
+        /// 这个物体的任何部分是否浸泡在水中？
+        /// </summary>
        public bool InWater { get; private set; }

-        // 探针（刚体局部空间，相对 worldCenterOfMass）
-        struct Probe
-        {
-            public Vector3 localOffsetFromCOM;
-            public float weight;
-        }
-
-        Probe[] _Probes = Array.Empty<Probe>();
-
        readonly SampleFlowHelper _SampleFlowHelper = new();

        Vector3[] _QueryPoints;
@@ -128,436 +70,152 @@ namespace NBF
        Vector3[] _QueryResultVelocities;
        Vector3[] _QueryResultNormal;

-        float _NextRebuildTime = 0f;
+        // internal FloatingObjectProbe[] _Probe = new FloatingObjectProbe[] { new() { _Weight = 1f } };

-        void Reset()
-        {
-            if (_RigidBody == null) TryGetComponent(out _RigidBody);
-        }
+        public FloatingObjectProbe[] Probe = new FloatingObjectProbe[] { new() { _Weight = 1f } };

-        void OnValidate()
-        {
-            _ObjectWidth = Mathf.Max(0.001f, _ObjectWidth);
-            _RuntimeRebuildInterval = Mathf.Max(0f, _RuntimeRebuildInterval);
-            _ProbeLiftMeters = Mathf.Max(0f, _ProbeLiftMeters);

-            if (!Application.isPlaying)
-            {
-                if (_AutoFromCapsules)
-                {
-                    TryRebuildFromCapsules(editor: true);
-                }
-                AllocateQueryArrays();
-            }
-        }
-
-        void Start()
+        private void Start()
        {
            if (_RigidBody == null) TryGetComponent(out _RigidBody);

-            if (_AutoFromCapsules)
-            {
-                TryRebuildFromCapsules(editor: false);
-            }
-
-            AllocateQueryArrays();
+            var points = Probe;
+            // Advanced 还需要为中心增设一个位置。
+            var length = points.Length;
+            _QueryPoints = new Vector3[length];
+            _QueryResultDisplacements = new Vector3[length];
+            _QueryResultVelocities = new Vector3[length];
+            _QueryResultNormal = new Vector3[length];
        }

-        void FixedUpdate()
+        private void FixedUpdate()
        {
-            if (_water == null || _RigidBody == null) return;
+            s_FixedUpdateMarker.Begin(this);

-            if (_AutoFromCapsules && _RuntimeRebuildInterval > 0f && Time.time >= _NextRebuildTime)
-            {
-                _NextRebuildTime = Time.time + _RuntimeRebuildInterval;
-                TryRebuildFromCapsules(editor: false);
-                AllocateQueryArrays();
-            }
-
-            if (_Probes == null || _Probes.Length == 0) return;
-
-            // Crest provider
+            var points = Probe;
+            
+            // 查询
            var collisions = _water.AnimatedWavesLod.Provider;
-
-            int probeCount = _Probes.Length;
-            int centerIndex = probeCount; // 最后一个点用于中心采样（表面速度/法线）
-
-            Vector3 comWorld = _RigidBody.worldCenterOfMass;
-
-            // Build query points
-            for (int i = 0; i < probeCount; i++)
+            
+            // 更新查询点。
+            for (var i = 0; i < points.Length; i++)
            {
-                _QueryPoints[i] = comWorld + transform.TransformVector(_Probes[i].localOffsetFromCOM);
+                var point = points[i];
+                _QueryPoints[i] =
+                    transform.TransformPoint(point._Position + new Vector3(0, _RigidBody.centerOfMass.y, 0));
            }
-            _QueryPoints[centerIndex] = comWorld;
-
-            // Query waves
-            collisions.Query(
-                GetHashCode(),
-                _ObjectWidth,
-                _QueryPoints,
-                _QueryResultDisplacements,
-                _QueryResultNormal,
-                _QueryResultVelocities,
-                _Layer
-            );
-
-            // Surface velocity + flow
-            Vector3 surfaceVelocity = _QueryResultVelocities[centerIndex];
+            
+            _QueryPoints[^1] = transform.position + new Vector3(0, _RigidBody.centerOfMass.y, 0);
+            
+            collisions.Query(GetHashCode(), _ObjectWidth, _QueryPoints, _QueryResultDisplacements,
+                _QueryResultNormal, _QueryResultVelocities, _Layer);
+            
+            
+            //我们可以将表面速度过滤为最近两帧中的较小值。
+            //存在一种极端情况：当波长被开启 / 关闭时，会产生单帧速度尖峰——
+            //因为此时水面确实会发生极快的运动。
+            var surfaceVelocity = _QueryResultVelocities[^1];
            _SampleFlowHelper.Sample(transform.position, out var surfaceFlow, minimumLength: _ObjectWidth);
-            surfaceVelocity += new Vector3(surfaceFlow.x, 0f, surfaceFlow.y);
-
-            // Compute buoyancy coefficients
-            float g = Mathf.Abs(Physics.gravity.y);
-
-            // 目标吃水深度（米）：按直径比例
-            float targetSubmergence = Mathf.Max(0.0005f, _ComputedDiameter * _TargetSubmergenceRatio);
-
-            // 总弹簧系数：k ≈ m*g / targetSubmergence
-            float kTotal = (_RigidBody.mass * g) / targetSubmergence;
-
-            // 总阻尼：c = 2*sqrt(k*m)*dampingRatio
-            float cTotal = 2f * Mathf.Sqrt(Mathf.Max(0.0001f, kTotal * _RigidBody.mass)) * _DampingRatio;
-
-            InWater = false;
-            float totalBuoyMag = 0f;
-
-            // Apply distributed buoyancy
-            for (int i = 0; i < probeCount; i++)
+            surfaceVelocity += new Vector3(surfaceFlow.x, 0, surfaceFlow.y);
+            
+            if (_Debug._DrawQueries)
            {
-                Vector3 p = _QueryPoints[i];
-                float waterHeight = _QueryResultDisplacements[i].y + _water.SeaLevel;
-
-                // depth: positive means submerged
-                float depth = (waterHeight - p.y) + _SubmergenceOffset;
-                if (depth <= 0f) continue;
-
-                InWater = true;
-
-                float w = Mathf.Max(0.0001f, _Probes[i].weight);
-
-                // spring
-                float FiSpring = (kTotal * w) * depth;
-
-                // damping (vertical relative velocity)
-                Vector3 pointVel = _RigidBody.GetPointVelocity(p);
-                float vRel = Vector3.Dot(pointVel - surfaceVelocity, Vector3.up);
-                float FiDamp = -(cTotal * w) * vRel;
-
-                float Fi = FiSpring + FiDamp;
-                if (Fi < 0f) Fi = 0f;
-
-                totalBuoyMag += Fi;
-
-                Vector3 force = Fi * Vector3.up;
-                _RigidBody.AddForceAtPosition(force, p, ForceMode.Force);
-
-                if (_Debug._DrawForces)
-                {
-                    Debug.DrawLine(p, p + force * 0.02f, Color.cyan);
-                }
+                Debug.DrawLine(transform.position + 5f * Vector3.up,
+                    transform.position + 5f * Vector3.up + surfaceVelocity, new(1, 1, 1, 0.6f));
            }

-            if (!InWater) return;

-            // Clamp buoyancy (simple safety)
-            if (_MaximumBuoyancyForce < Mathf.Infinity && totalBuoyMag > _MaximumBuoyancyForce)
+            var height = _QueryResultDisplacements[0].y + _water.SeaLevel;
+            var bottomDepth = height - transform.position.y - _CenterToBottomOffset;
+            var normal = _QueryResultNormal[0];
+
+            if (_Debug._DrawQueries)
            {
-                float excess = totalBuoyMag - _MaximumBuoyancyForce;
-                _RigidBody.AddForce(-excess * Vector3.up, ForceMode.Force);
+                var surfPos = transform.position;
+                surfPos.y = height;
+                DebugUtility.DrawCross(Debug.DrawLine, surfPos, normal, 1f, Color.red);
            }

-            // Optional downhill acceleration (usually 0 for bobber)
-            if (_AccelerateDownhill > 0f)
+            InWater = bottomDepth > 0f;
+            if (!InWater)
            {
-                Vector3 normal = _QueryResultNormal[centerIndex];
-                _RigidBody.AddForce(_AccelerateDownhill * g * new Vector3(normal.x, 0f, normal.z), ForceMode.Force);
+                s_FixedUpdateMarker.End();
+                return;
            }

-            // Angular drag
-            if (_AngularDrag > 0f)
+            var buoyancy = _BuoyancyForceStrength * bottomDepth * bottomDepth * bottomDepth *
+                           -Physics.gravity.normalized;
+            if (_MaximumBuoyancyForce < Mathf.Infinity)
            {
-                _RigidBody.AddTorque(-_AngularDrag * _RigidBody.angularVelocity, ForceMode.Force);
+                buoyancy = Vector3.ClampMagnitude(buoyancy, _MaximumBuoyancyForce);
            }

-            // Linear drag relative to water
+            _RigidBody.AddForce(buoyancy, ForceMode.Acceleration);
+
+            // // 在水面上滑行的近似流体动力学
+            // if (_AccelerateDownhill > 0f)
+            // {
+            //     _RigidBody.AddForce(_AccelerateDownhill * -Physics.gravity.y * new Vector3(normal.x, 0f, normal.z),
+            //         ForceMode.Acceleration);
+            // }
+            //
+            //
+            // // 朝向
+            // // 与水面垂直。默认使用一个垂直方向，但也可以使用单独的垂直方向。
+            // // 根据船的长度与宽度的比例。这会根据船只的不同而产生不同的旋转效果。
+            // // dimensions.
+            // {
+            //     var normalLatitudinal = normal;
+            //
+            //     if (_Debug._DrawQueries)
+            //         Debug.DrawLine(transform.position, transform.position + 5f * normalLatitudinal, Color.green);
+            //
+            //     var torqueWidth = Vector3.Cross(transform.up, normalLatitudinal);
+            //     _RigidBody.AddTorque(torqueWidth * _BuoyancyTorqueStrength, ForceMode.Acceleration);
+            //     _RigidBody.AddTorque(-_AngularDrag * _RigidBody.angularVelocity);
+            // }
+            //
+            //
+            // 相对于水进行拖拽操作
            if (_Drag != Vector3.zero)
            {
-                Vector3 velocityRelativeToWater = _RigidBody.linearVelocity - surfaceVelocity;
-                Vector3 forcePosition = _RigidBody.worldCenterOfMass + _ForceHeightOffset * Vector3.up;
-
+                var velocityRelativeToWater = _RigidBody.linearVelocity - surfaceVelocity;
+            
+                var forcePosition = _RigidBody.worldCenterOfMass + _ForceHeightOffset * Vector3.up;
                _RigidBody.AddForceAtPosition(
-                    _Drag.x * Vector3.Dot(transform.right, -velocityRelativeToWater) * transform.right,
-                    forcePosition,
-                    ForceMode.Force);
-
-                _RigidBody.AddForceAtPosition(
-                    _Drag.y * Vector3.Dot(Vector3.up, -velocityRelativeToWater) * Vector3.up,
-                    forcePosition,
-                    ForceMode.Force);
-
+                    _Drag.x * Vector3.Dot(transform.right, -velocityRelativeToWater) * transform.right, forcePosition,
+                    ForceMode.Acceleration);
+                _RigidBody.AddForceAtPosition(_Drag.y * Vector3.Dot(Vector3.up, -velocityRelativeToWater) * Vector3.up,
+                    forcePosition, ForceMode.Acceleration);
                _RigidBody.AddForceAtPosition(
                    _Drag.z * Vector3.Dot(transform.forward, -velocityRelativeToWater) * transform.forward,
-                    forcePosition,
-                    ForceMode.Force);
+                    forcePosition, ForceMode.Acceleration);
            }

-            if (_Debug._DrawProbes)
-            {
-                for (int i = 0; i < probeCount; i++)
-                {
-                    Debug.DrawLine(_QueryPoints[i], _QueryPoints[i] + Vector3.up * 0.05f, Color.yellow);
-                }
-            }
+            s_FixedUpdateMarker.End();
+        }
+    }
+
+    static class DebugUtility
+    {
+        public delegate void DrawLine(Vector3 position, Vector3 up, Color color, float duration);
+
+        public static void DrawCross(DrawLine draw, Vector3 position, float r, Color color, float duration = 0f)
+        {
+            draw(position - Vector3.up * r, position + Vector3.up * r, color, duration);
+            draw(position - Vector3.right * r, position + Vector3.right * r, color, duration);
+            draw(position - Vector3.forward * r, position + Vector3.forward * r, color, duration);
        }

-        void AllocateQueryArrays()
+        public static void DrawCross(DrawLine draw, Vector3 position, Vector3 up, float r, Color color,
+            float duration = 0f)
        {
-            int probeCount = _Probes?.Length ?? 0;
-            int n = probeCount + 1; // +1 center sample
-            if (n <= 1) n = 2;
-
-            if (_QueryPoints != null && _QueryPoints.Length == n) return;
-
-            _QueryPoints = new Vector3[n];
-            _QueryResultDisplacements = new Vector3[n];
-            _QueryResultVelocities = new Vector3[n];
-            _QueryResultNormal = new Vector3[n];
-        }
-
-        /// <summary>
-        /// 公开按钮：手动重建（你也可以在 Inspector 右键脚本 -> Reset，然后 Play）
-        /// </summary>
-        [ContextMenu("Rebuild From CapsuleColliders")]
-        public void RebuildFromCapsules()
-        {
-            TryRebuildFromCapsules(editor: Application.isEditor && !Application.isPlaying);
-            AllocateQueryArrays();
-        }
-
-        bool TryRebuildFromCapsules(bool editor)
-        {
-            var capsules = GetComponentsInChildren<CapsuleCollider>(includeInactive: true);
-            if (capsules == null || capsules.Length == 0)
-            {
-                // 没胶囊就不改
-                return false;
-            }
-
-            // 收集点（在刚体局部空间）
-            List<Vector3> ptsLocal = new List<Vector3>(capsules.Length * 8);
-
-            // 同时估算“长轴”：取所有胶囊在 rb local 的端点云，计算 AABB 最大跨度轴
-            // 这比“看某个 Capsule.direction”更鲁棒（因为你说可能多个、分布复杂）
-            foreach (var cap in capsules)
-            {
-                if (cap == null) continue;
-                if (_OnlyEnabledCapsules && !cap.enabled) continue;
-
-                AddCapsuleSamplePointsInRbLocal(cap, ptsLocal);
-            }
-
-            if (ptsLocal.Count < 2) return false;
-
-            // AABB in rb local
-            Vector3 min = ptsLocal[0];
-            Vector3 max = ptsLocal[0];
-            for (int i = 1; i < ptsLocal.Count; i++)
-            {
-                min = Vector3.Min(min, ptsLocal[i]);
-                max = Vector3.Max(max, ptsLocal[i]);
-            }
-
-            Vector3 size = max - min;
-
-            // 估算长轴：取跨度最大的轴
-            // 注意：这是 rb local 坐标的轴（x/y/z），足够用于“尺寸”和“探针布局”
-            int axis = 0;
-            float spanX = size.x;
-            float spanY = size.y;
-            float spanZ = size.z;
-            if (spanY >= spanX && spanY >= spanZ) axis = 1;
-            else if (spanZ >= spanX && spanZ >= spanY) axis = 2;
-            else axis = 0;
-
-            Vector3 axisLocal = axis == 0 ? Vector3.right : axis == 1 ? Vector3.up : Vector3.forward;
-
-            // length along that axis
-            float length = axis == 0 ? spanX : axis == 1 ? spanY : spanZ;
-
-            // diameter：取另外两轴的最大跨度（更保守）
-            float dia;
-            if (axis == 0) dia = Mathf.Max(spanY, spanZ);
-            else if (axis == 1) dia = Mathf.Max(spanX, spanZ);
-            else dia = Mathf.Max(spanX, spanY);
-
-            dia = Mathf.Max(0.001f, dia);
-
-            _ComputedLength = length;
-            _ComputedDiameter = dia;
-            _ComputedAxisLocal = axisLocal;
-
-            // Crest 查询尺度：直径同量级 * multiplier，且给下限
-            _ObjectWidth = Mathf.Max(0.002f, _ComputedDiameter * _WidthMultiplier);
-
-            // 估算“底部位置”（用于探针 y）
-            // 我们按“长轴”方向找最小投影的点作为底部
-            float minProj = float.PositiveInfinity;
-            Vector3 bottom = ptsLocal[0];
-            for (int i = 0; i < ptsLocal.Count; i++)
-            {
-                float proj = Vector3.Dot(ptsLocal[i], axisLocal);
-                if (proj < minProj)
-                {
-                    minProj = proj;
-                    bottom = ptsLocal[i];
-                }
-            }
-
-            // 这个值只是给你在 Inspector 看一眼，不参与计算
-            _ComputedBottomLocalY = bottom.y;
-
-            // 生成探针：以“底部附近”一圈 + 中心
-            BuildDefaultProbes(axisLocal, bottom, _ComputedDiameter);
-
-            if (!editor)
-            {
-                // 运行时也确保 query arrays 充足
-                AllocateQueryArrays();
-            }
-
-            return true;
-        }
-
-        void BuildDefaultProbes(Vector3 axisLocal, Vector3 bottomLocal, float diameter)
-        {
-            // 以刚体局部空间为准，探针 offset 是“相对 COM 的局部偏移”
-            // 我们把探针放在 “底部投影点附近”，并沿“横向平面”撑开
-            float radius = diameter * 0.5f;
-            float ringR = radius * _ProbeRadiusRatio;
-
-            // 底部沿长轴方向略抬高，避免探针刚好在最底点导致 jitter
-            // 这里用“长轴”方向抬高，而不是简单的 localY
-            float lift = _ProbeLiftMeters;
-            if (lift <= 0f)
-            {
-                // 默认：半径的 10%
-                lift = radius * 0.10f;
-            }
-
-            Vector3 basePoint = bottomLocal + axisLocal * lift;
-
-            // 需要在“横向平面”找两条正交方向（在 rb local 坐标中）
-            // 任意取一个与 axisLocal 不平行的向量，构造正交基
-            Vector3 t1 = Vector3.Cross(axisLocal, Vector3.up);
-            if (t1.sqrMagnitude < 1e-6f) t1 = Vector3.Cross(axisLocal, Vector3.right);
-            t1.Normalize();
-            Vector3 t2 = Vector3.Cross(axisLocal, t1).normalized;
-
-            // 权重分配
-            float ringTotal = Mathf.Clamp01(_RingWeight);
-            float centerW = 1f - ringTotal;
-            float eachRingW = ringTotal / 4f;
-
-            // 探针点（rb local），最后转成 “相对 COM 的 local offset”
-            // 注意：我们使用 worldCenterOfMass 作为基准，所以这里要把 basePoint（rb local）转换成 offset-from-COM
-            Vector3 comLocal = transform.InverseTransformPoint(_RigidBody.worldCenterOfMass);
-
-            var probes = new Probe[5];
-
-            // 四周
-            probes[0] = new Probe { localOffsetFromCOM = (basePoint + t1 * ringR) - comLocal, weight = eachRingW };
-            probes[1] = new Probe { localOffsetFromCOM = (basePoint - t1 * ringR) - comLocal, weight = eachRingW };
-            probes[2] = new Probe { localOffsetFromCOM = (basePoint + t2 * ringR) - comLocal, weight = eachRingW };
-            probes[3] = new Probe { localOffsetFromCOM = (basePoint - t2 * ringR) - comLocal, weight = eachRingW };
-
-            // 底部中心
-            probes[4] = new Probe { localOffsetFromCOM = basePoint - comLocal, weight = Mathf.Max(0.0001f, centerW) };
-
-            _Probes = probes;
-        }
-
-        void AddCapsuleSamplePointsInRbLocal(CapsuleCollider cap, List<Vector3> outPtsRbLocal)
-        {
-            // 计算胶囊端点（世界） + 若干“半径点”，再转换到 rb local
-            // 胶囊在 cap.transform local：center, direction(0=x 1=y 2=z), height, radius
-            Transform ct = cap.transform;
-
-            Vector3 centerW = ct.TransformPoint(cap.center);
-
-            // direction axis in world
-            Vector3 axisW =
-                cap.direction == 0 ? ct.right :
-                cap.direction == 1 ? ct.up :
-                ct.forward;
-
-            axisW.Normalize();
-
-            // 处理缩放：radius 取垂直于轴的最大缩放分量（保守）
-            Vector3 s = ct.lossyScale;
-            float sx = Mathf.Abs(s.x);
-            float sy = Mathf.Abs(s.y);
-            float sz = Mathf.Abs(s.z);
-
-            float radiusScale;
-            float heightScale;
-
-            if (cap.direction == 0)
-            {
-                heightScale = sx;
-                radiusScale = Mathf.Max(sy, sz);
-            }
-            else if (cap.direction == 1)
-            {
-                heightScale = sy;
-                radiusScale = Mathf.Max(sx, sz);
-            }
-            else
-            {
-                heightScale = sz;
-                radiusScale = Mathf.Max(sx, sy);
-            }
-
-            float r = Mathf.Max(0.0005f, cap.radius * radiusScale);
-            float h = Mathf.Max(0.001f, cap.height * heightScale);
-
-            // 圆柱部分半长（端点到端点的距离为 h-2r）
-            float half = Mathf.Max(0f, (h * 0.5f) - r);
-
-            Vector3 p0W = centerW + axisW * half;
-            Vector3 p1W = centerW - axisW * half;
-
-            // 在世界空间构造两个与 axisW 正交的方向
-            Vector3 n1 = Vector3.Cross(axisW, Vector3.up);
-            if (n1.sqrMagnitude < 1e-6f) n1 = Vector3.Cross(axisW, Vector3.right);
-            n1.Normalize();
-            Vector3 n2 = Vector3.Cross(axisW, n1).normalized;
-
-            // 采样点：两个端点 + 端点的四周半径点 + 中心四周半径点（足够稳定估算整体 AABB）
-            AddWorldPoint(p0W, outPtsRbLocal);
-            AddWorldPoint(p1W, outPtsRbLocal);
-
-            AddWorldPoint(p0W + n1 * r, outPtsRbLocal);
-            AddWorldPoint(p0W - n1 * r, outPtsRbLocal);
-            AddWorldPoint(p0W + n2 * r, outPtsRbLocal);
-            AddWorldPoint(p0W - n2 * r, outPtsRbLocal);
-
-            AddWorldPoint(p1W + n1 * r, outPtsRbLocal);
-            AddWorldPoint(p1W - n1 * r, outPtsRbLocal);
-            AddWorldPoint(p1W + n2 * r, outPtsRbLocal);
-            AddWorldPoint(p1W - n2 * r, outPtsRbLocal);
-
-            AddWorldPoint(centerW + n1 * r, outPtsRbLocal);
-            AddWorldPoint(centerW - n1 * r, outPtsRbLocal);
-            AddWorldPoint(centerW + n2 * r, outPtsRbLocal);
-            AddWorldPoint(centerW - n2 * r, outPtsRbLocal);
-        }
-
-        void AddWorldPoint(Vector3 world, List<Vector3> outPtsRbLocal)
-        {
-            // rb local（即本脚本 transform 的 local）
-            // 注意：这里假设脚本挂在 Rigidbody 所在物体上（通常是这样）
-            outPtsRbLocal.Add(transform.InverseTransformPoint(world));
+            up.Normalize();
+            var right = Vector3.Normalize(Vector3.Cross(up, Vector3.forward));
+            var forward = Vector3.Cross(up, right);
+            draw(position - up * r, position + up * r, color, duration);
+            draw(position - right * r, position + right * r, color, duration);
+            draw(position - forward * r, position + forward * r, color, duration);
        }
    }
 }
--- a/Assets/Scripts/Test/BobberFloatingTest.cs
+++ b/Assets/Scripts/Test/BobberFloatingTest.cs
@@ -0,0 +1,9 @@
+using UnityEngine;
+
+namespace NBF
+{
+    public class BobberFloatingTest : MonoBehaviour
+    {
+        
+    }
+}
--- a/Assets/Scripts/Test/BobberFloatingTest.cs.meta
+++ b/Assets/Scripts/Test/BobberFloatingTest.cs.meta
@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 75d9ef57b5894116b65988fda7760fc6
+timeCreated: 1772260103
--- a/Assets/Scripts/Test/CentimeterBuoyancy.cs
+++ b/Assets/Scripts/Test/CentimeterBuoyancy.cs
@@ -0,0 +1,317 @@
+using UnityEngine;
+
+[RequireComponent(typeof(Rigidbody))]
+[RequireComponent(typeof(Collider))]
+public class CentimeterBuoyancy : MonoBehaviour
+{
+    [Header("浮力设置")]
+    [SerializeField] private float waterDensity = 1000f; // 水的密度 kg/m³
+    [SerializeField] private float buoyancyScale = 1f; // 浮力缩放系数
+    [SerializeField] private float dragScale = 1f; // 水中阻力系数
+    
+    [Header("水面设置")]
+    [SerializeField] private float waterLevel = 0f; // 水面高度
+    [SerializeField] private LayerMask waterLayer; // 水体层级
+    
+    [Header("调试")]
+    [SerializeField] private bool showDebugInfo = true;
+    [SerializeField] private Color debugColor = Color.cyan;
+    
+    private Rigidbody rb;
+    private Collider objCollider;
+    private float volumeInCm;
+    private Vector3[] samplePoints;
+    private Bounds localBounds;
+    
+    void Start()
+    {
+        rb = GetComponent<Rigidbody>();
+        objCollider = GetComponent<Collider>();
+        
+        // 计算物体体积（立方厘米）
+        volumeInCm = CalculateVolumeInCm();
+        
+        // 计算局部空间的包围盒
+        CalculateLocalBounds();
+        
+        if (showDebugInfo)
+        {
+            Debug.Log($"物体体积: {volumeInCm:F2} cm³，质量: {rb.mass * 1000:F2} g");
+            Debug.Log($"局部包围盒: 中心 {localBounds.center}, 大小 {localBounds.size}");
+        }
+        
+        // 初始化采样点
+        InitializeSamplePoints();
+    }
+    
+    void FixedUpdate()
+    {
+        ApplyBuoyancy();
+        ApplyWaterDrag();
+    }
+    
+    // 计算局部空间的包围盒
+    void CalculateLocalBounds()
+    {
+        // 获取碰撞器的局部空间边界
+        if (objCollider is BoxCollider box)
+        {
+            localBounds = new Bounds(box.center, box.size);
+        }
+        else if (objCollider is SphereCollider sphere)
+        {
+            Vector3 size = Vector3.one * sphere.radius * 2;
+            localBounds = new Bounds(sphere.center, size);
+        }
+        else if (objCollider is CapsuleCollider capsule)
+        {
+            float radius = capsule.radius;
+            float height = capsule.height;
+            Vector3 size;
+            
+            // 根据胶囊方向确定尺寸
+            switch (capsule.direction)
+            {
+                case 0: // X轴
+                    size = new Vector3(height, radius * 2, radius * 2);
+                    break;
+                case 1: // Y轴
+                    size = new Vector3(radius * 2, height, radius * 2);
+                    break;
+                case 2: // Z轴
+                    size = new Vector3(radius * 2, radius * 2, height);
+                    break;
+                default:
+                    size = new Vector3(radius * 2, height, radius * 2);
+                    break;
+            }
+            localBounds = new Bounds(capsule.center, size);
+        }
+        else
+        {
+            // 对于复杂碰撞器，使用世界边界转换到局部空间
+            Bounds worldBounds = objCollider.bounds;
+            localBounds = new Bounds(
+                transform.InverseTransformPoint(worldBounds.center),
+                transform.InverseTransformVector(worldBounds.size)
+            );
+        }
+    }
+    
+    // 计算体积（立方厘米）
+    float CalculateVolumeInCm()
+    {
+        Bounds bounds = objCollider.bounds;
+        Vector3 sizeInCm = bounds.size * 100f; // 转换为厘米
+        
+        // 根据不同碰撞器类型估算体积
+        if (objCollider is BoxCollider)
+        {
+            return sizeInCm.x * sizeInCm.y * sizeInCm.z;
+        }
+        else if (objCollider is SphereCollider)
+        {
+            float radiusInCm = bounds.extents.x * 100f;
+            return (4f / 3f) * Mathf.PI * Mathf.Pow(radiusInCm, 3);
+        }
+        else if (objCollider is CapsuleCollider)
+        {
+            CapsuleCollider capsule = objCollider as CapsuleCollider;
+            float radiusInCm = capsule.radius * 100f;
+            float heightInCm = capsule.height * 100f;
+            return Mathf.PI * radiusInCm * radiusInCm * heightInCm;
+        }
+        else
+        {
+            // 对于复杂碰撞器，使用边界框估算
+            return sizeInCm.x * sizeInCm.y * sizeInCm.z * 0.5f;
+        }
+    }
+    
+    // 初始化采样点
+    void InitializeSamplePoints()
+    {
+        int sampleCount = 3; // 每个维度采样点数（减少采样点以提高性能）
+        
+        // 创建网格采样点用于检测浸入深度
+        samplePoints = new Vector3[sampleCount * sampleCount * sampleCount];
+        
+        int index = 0;
+        for (int x = 0; x < sampleCount; x++)
+        {
+            for (int y = 0; y < sampleCount; y++)
+            {
+                for (int z = 0; z < sampleCount; z++)
+                {
+                    // 生成 -0.5 到 0.5 范围内的归一化坐标
+                    float nx = (float)x / (sampleCount - 1) - 0.5f;
+                    float ny = (float)y / (sampleCount - 1) - 0.5f;
+                    float nz = (float)z / (sampleCount - 1) - 0.5f;
+                    
+                    samplePoints[index] = new Vector3(nx, ny, nz);
+                    index++;
+                }
+            }
+        }
+    }
+    
+    void ApplyBuoyancy()
+    {
+        float immersedVolume = 0f;
+        float totalImmersedDepth = 0f;
+        int immersedPoints = 0;
+        Vector3 buoyancyCenter = Vector3.zero;
+        
+        // 计算浸入体积
+        foreach (Vector3 normalizedPoint in samplePoints)
+        {
+            // 将归一化坐标转换为局部空间坐标
+            Vector3 localPoint = new Vector3(
+                localBounds.center.x + normalizedPoint.x * localBounds.size.x,
+                localBounds.center.y + normalizedPoint.y * localBounds.size.y,
+                localBounds.center.z + normalizedPoint.z * localBounds.size.z
+            );
+            
+            // 转换到世界空间
+            Vector3 worldPoint = transform.TransformPoint(localPoint);
+            
+            // 调试：打印第一个点的坐标
+            if (showDebugInfo && immersedPoints == 0 && samplePoints.Length > 0)
+            {
+                Debug.DrawLine(worldPoint, worldPoint + Vector3.up * 0.01f, Color.red, 0.1f);
+            }
+            
+            if (worldPoint.y < waterLevel)
+            {
+                immersedVolume += 1f;
+                totalImmersedDepth += (waterLevel - worldPoint.y);
+                buoyancyCenter += worldPoint;
+                immersedPoints++;
+            }
+        }
+        
+        // 计算浸入比例
+        float immersedRatio = (float)immersedPoints / samplePoints.Length;
+        
+        if (immersedRatio < 0.01f)
+            return; // 几乎没有浸入，不施加浮力
+        
+        // 计算平均浸入深度
+        float averageImmersedDepth = immersedPoints > 0 ? totalImmersedDepth / immersedPoints : 0;
+        
+        // 计算浮力中心
+        if (immersedPoints > 0)
+        {
+            buoyancyCenter /= immersedPoints;
+        }
+        
+        // 计算实际浸入体积（立方厘米）
+        float actualImmersedVolumeCm = volumeInCm * immersedRatio;
+        
+        // 转换为立方米（1 m³ = 1,000,000 cm³）
+        float actualImmersedVolumeM = actualImmersedVolumeCm / 1000000f;
+        
+        // 计算浮力 = 水的密度 * 重力加速度 * 浸入体积
+        // 水的密度默认 1000 kg/m³，重力加速度 9.8 m/s²
+        float buoyancyForceMagnitude = waterDensity * Physics.gravity.magnitude * actualImmersedVolumeM * buoyancyScale;
+        
+        // 根据浸入深度调整浮力（更深的地方浮力更大）
+        float depthFactor = Mathf.Clamp01(averageImmersedDepth * 10f); // 每10cm深度增加一倍
+        buoyancyForceMagnitude *= (1f + depthFactor);
+        
+        // 施加浮力
+        Vector3 buoyancyForce = Vector3.up * buoyancyForceMagnitude;
+        rb.AddForceAtPosition(buoyancyForce, buoyancyCenter, ForceMode.Force);
+        
+        // 施加浮力产生的扭矩（使物体自然上浮）
+        Vector3 torque = Vector3.Cross(buoyancyCenter - rb.worldCenterOfMass, buoyancyForce);
+        rb.AddTorque(torque * 0.1f);
+        
+        if (showDebugInfo)
+        {
+            // 绘制浮力线
+            Debug.DrawLine(buoyancyCenter, buoyancyCenter + buoyancyForce * 0.001f, debugColor, 0.1f);
+            
+            // 绘制浸没点
+            foreach (Vector3 normalizedPoint in samplePoints)
+            {
+                Vector3 localPoint = new Vector3(
+                    localBounds.center.x + normalizedPoint.x * localBounds.size.x,
+                    localBounds.center.y + normalizedPoint.y * localBounds.size.y,
+                    localBounds.center.z + normalizedPoint.z * localBounds.size.z
+                );
+                Vector3 worldPoint = transform.TransformPoint(localPoint);
+                
+                if (worldPoint.y < waterLevel)
+                {
+                    Debug.DrawLine(worldPoint, worldPoint + Vector3.up * 0.005f, debugColor, 0.1f);
+                }
+            }
+        }
+    }
+    
+    void ApplyWaterDrag()
+    {
+        float immersedRatio = CalculateImmersedRatio();
+        
+        if (immersedRatio > 0.01f)
+        {
+            // 线性阻力
+            Vector3 dragForce = -rb.linearVelocity * dragScale * immersedRatio * 10f;
+            rb.AddForce(dragForce, ForceMode.Force);
+            
+            // 角阻力
+            Vector3 angularDrag = -rb.angularVelocity * dragScale * immersedRatio * 5f;
+            rb.AddTorque(angularDrag, ForceMode.Force);
+        }
+    }
+    
+    float CalculateImmersedRatio()
+    {
+        int immersedPoints = 0;
+        
+        foreach (Vector3 normalizedPoint in samplePoints)
+        {
+            Vector3 localPoint = new Vector3(
+                localBounds.center.x + normalizedPoint.x * localBounds.size.x,
+                localBounds.center.y + normalizedPoint.y * localBounds.size.y,
+                localBounds.center.z + normalizedPoint.z * localBounds.size.z
+            );
+            Vector3 worldPoint = transform.TransformPoint(localPoint);
+            
+            if (worldPoint.y < waterLevel)
+            {
+                immersedPoints++;
+            }
+        }
+        
+        return (float)immersedPoints / samplePoints.Length;
+    }
+    
+    void OnDrawGizmosSelected()
+    {
+        if (!showDebugInfo || !Application.isPlaying) return;
+        
+        // 绘制局部包围盒
+        Gizmos.color = Color.yellow;
+        Vector3[] corners = new Vector3[8];
+        
+        // 计算局部包围盒的8个角在世界空间的位置
+        for (int i = 0; i < 8; i++)
+        {
+            Vector3 localCorner = localBounds.center;
+            localCorner.x += (i & 1) == 0 ? -localBounds.extents.x : localBounds.extents.x;
+            localCorner.y += (i & 2) == 0 ? -localBounds.extents.y : localBounds.extents.y;
+            localCorner.z += (i & 4) == 0 ? -localBounds.extents.z : localBounds.extents.z;
+            
+            corners[i] = transform.TransformPoint(localCorner);
+        }
+        
+        // 绘制包围盒的边
+        int[] edges = new int[] { 0,1, 1,3, 3,2, 2,0, 4,5, 5,7, 7,6, 6,4, 0,4, 1,5, 2,6, 3,7 };
+        for (int i = 0; i < edges.Length; i += 2)
+        {
+            Gizmos.DrawLine(corners[edges[i]], corners[edges[i + 1]]);
+        }
+    }
+}
--- a/Assets/Scripts/Test/CentimeterBuoyancy.cs.meta
+++ b/Assets/Scripts/Test/CentimeterBuoyancy.cs.meta
@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 3481fc2889d14a00a9de205cc39d9c33
+timeCreated: 1772262032
--- a/Assets/Scripts/Test/FloatBobberController.cs
+++ b/Assets/Scripts/Test/FloatBobberController.cs
@@ -0,0 +1,105 @@
+using UnityEngine;
+
+public class FloatBobberController : MonoBehaviour
+{
+    [SerializeField] private Rigidbody _rigidbody;
+    [Header("水属性")] public float waterLevel = 0f;
+
+    [Header("浮漂最大浮力")] public float bobberVolume = 30f; // 浮漂最大浮力 (cm³)
+
+    public float bobberHeight = 0.25f; // 浮漂长度，用来决定躺漂角度
+
+    [Header("配件重量")] public float sinkerWeight = 2f;
+    public float baitWeight = 0.5f;
+    public float hookWeight = 0.2f;
+
+    [Header("Behaviour")] public float fallSpeed = 8f;
+    public float riseSpeed = 3f;
+    // public float smoothDamping = 8f; // 插值平滑
+
+    [Header("Noise")] public float noiseAmp = 0.015f;
+    public float noiseFreq = 1.5f;
+
+    float impulseForce = 0f;
+    float impulseDecay = 4f;
+
+    void FixedUpdate()
+    {
+        SimulateBobber();
+    }
+
+    void SimulateBobber()
+    {
+        if (!_rigidbody.isKinematic) return;
+        float totalDownwardWeight = sinkerWeight + baitWeight + hookWeight;
+
+        float maxBuoyancy = bobberVolume; // 最大浮力 = 体积
+        float netBuoyancy = maxBuoyancy - totalDownwardWeight;
+
+        float targetY;
+
+        // -------------------------
+        // 1. 判断浮漂应该沉多少（吃水深度）
+        // -------------------------
+        if (netBuoyancy > 0)
+        {
+            float buoyPercent = Mathf.Clamp01(netBuoyancy / maxBuoyancy);
+            float rise = buoyPercent * 0.1f; // 浮漂露出水面的高度
+
+            targetY = waterLevel + rise;
+        }
+        else
+        {
+            // 净浮力为负 → 说明浮漂整体被拉下，沉入水中
+            float sinkDistance = Mathf.Abs(netBuoyancy) * 0.03f;
+            targetY = waterLevel - sinkDistance;
+        }
+
+        targetY += Mathf.Sin(Time.time * noiseFreq) * noiseAmp; // 微扰模拟波浪
+
+        // 顿口/顶漂力
+        if (impulseForce != 0f)
+        {
+            targetY += impulseForce * Time.deltaTime;
+            impulseForce = Mathf.Lerp(impulseForce, 0, Time.deltaTime * impulseDecay);
+        }
+
+        // -----------------------------
+        // ③ 上浮 / 下沉差速
+        // -----------------------------
+        float y = transform.position.y;
+        float diff = targetY - y;
+
+        if (diff > 0) // 上浮
+            y += diff * Time.deltaTime * riseSpeed;
+        else
+            y += diff * Time.deltaTime * fallSpeed;
+
+        transform.position = new Vector3(transform.position.x, y, transform.position.z);
+    }
+
+
+    // ----------------------------------------
+    // 外部控制接口
+    // ----------------------------------------
+
+    public void TriggerDownPulse(float s = 0.8f)
+    {
+        impulseForce -= Mathf.Abs(s);
+    }
+
+    public void TriggerUpPulse(float s = 0.8f)
+    {
+        impulseForce += Mathf.Abs(s);
+    }
+
+    public void AddFishPull(float v)
+    {
+        sinkerWeight += v;
+    }
+
+    public void ReleaseFishPull(float v)
+    {
+        sinkerWeight -= v;
+    }
+}
--- a/Assets/Scripts/Test/FloatBobberController.cs.meta
+++ b/Assets/Scripts/Test/FloatBobberController.cs.meta
@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: f32660b4549141fbb754dfef9a523eda
+timeCreated: 1772264277
--- a/Fishing2.sln.DotSettings.user
+++ b/Fishing2.sln.DotSettings.user
@@ -52,6 +52,7 @@
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-    RecentlyUsedSceneGuid-4:
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