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你这个现象（**两个角度来回切换/来回摆**）基本就是“**力矩过冲 + 阻尼施加方式不对**”导致的。
我上一版里最明显的问题是：
* **角阻尼 `AddTorque(-angularVelocity * …)` 被我放在每个采样点里执行了 n 次**
→ 等于角阻尼被放大了 n 倍，而且随着浸没点数/深度变化，阻尼强度也在跳，容易出现“卡在两边来回抽”的感觉。
* 浮力点离散 + 过强阻尼/过强浮力，很容易出现**过冲**，然后再被反向力矩拉回 → 看起来像两个角度之间来回切。
下面我给你一个更稳的版本：
✅ **浮力仍然按多点 AddForceAtPosition**（保证重心/姿态能自然翻正）
✅ **角阻尼只加一次**（按总体浸没程度加）
✅ 线性阻尼也更合理（仍然只阻尼“上浮方向分量”，但强度不乱跳）
✅ 增加一个可选的 **“姿态稳定器 Upright Spring”**（很适合浮漂：会更快从躺漂回到竖漂，但不会锁死角度）
---
## CapsuleBuoyancyStable.cs（更稳定版）
```csharp
using UnityEngine;
public interface IWaterProvider
{
float GetWaterHeight(Vector3 worldPos);
Vector3 GetWaterNormal(Vector3 worldPos);
Vector3 GetWaterVelocity(Vector3 worldPos);
}
[DisallowMultipleComponent]
[RequireComponent(typeof(Rigidbody), typeof(CapsuleCollider))]
public class CapsuleBuoyancyStable : MonoBehaviour
{
[Header("References")]
public MonoBehaviour WaterBehaviour; // 实现 IWaterProvider
private IWaterProvider Water => WaterBehaviour as IWaterProvider;
[Header("Buoyancy")]
[Tooltip("完全浸没时总浮力 = mass*g*buoyancyScale。>1 更浮。")]
public float buoyancyScale = 1.6f;
[Tooltip("沿胶囊轴向采样点数量（建议 7~11）。")]
[Range(3, 15)] public int samplePoints = 9;
[Tooltip("浸没比例曲线（0=刚碰水, 1=充分在水下）。")]
public AnimationCurve submergenceCurve = AnimationCurve.Linear(0, 0, 1, 1);
[Header("Damping")]
[Tooltip("上浮方向速度阻尼（越大越不弹）。")]
public float verticalDamping = 3.0f;
[Tooltip("整体角速度阻尼（只施加一次，不要太大）。")]
public float angularDamping = 0.6f;
[Header("Optional Upright Stabilizer (Recommended for bobber)")]
[Tooltip("让胶囊轴向更倾向于对齐世界Up。0=关闭。")]
public float uprightSpring = 0.0f;
[Tooltip("upright 的角速度阻尼。")]
public float uprightDamping = 0.5f;
[Tooltip("胶囊轴向：0=X,1=Y,2=Z（通常 CapsuleCollider.direction 也一样）。")]
public int uprightAxis = 1;
[Header("Water Drag")]
public float extraDragInWater = 0.8f;
public float extraAngularDragInWater = 0.8f;
[Header("Debug")]
public bool drawDebug = false;
Rigidbody _rb;
CapsuleCollider _cap;
float _baseDrag, _baseAngularDrag;
void Awake()
{
_rb = GetComponent<Rigidbody>();
_cap = GetComponent<CapsuleCollider>();
_baseDrag = _rb.drag;
_baseAngularDrag = _rb.angularDrag;
if (WaterBehaviour != null && Water == null)
Debug.LogError($"{name}: WaterBehaviour 没有实现 IWaterProvider。", this);
}
void FixedUpdate()
{
if (Water == null) return;
GetWorldCapsule(out Vector3 a, out Vector3 b, out float radius);
int n = Mathf.Max(3, samplePoints);
float fullBuoyancy = _rb.mass * Physics.gravity.magnitude * buoyancyScale;
float perPointMax = fullBuoyancy / n;
float subSum = 0f;
int wetCount = 0;
for (int i = 0; i < n; i++)
{
float t = (float)i / (n - 1);
Vector3 p = Vector3.Lerp(a, b, t);
float waterH = Water.GetWaterHeight(p);
float depth = waterH - p.y; // >0 在水下
float sub = Mathf.InverseLerp(-radius, radius, depth); // 0..1
if (sub <= 0f) continue;
sub = Mathf.Clamp01(submergenceCurve.Evaluate(sub));
subSum += sub;
wetCount++;
Vector3 buoyDir = Vector3.up;
Vector3 waterVel = Water.GetWaterVelocity(p);
Vector3 pointVel = _rb.GetPointVelocity(p);
Vector3 relVel = pointVel - waterVel;
// 浮力
Vector3 buoyForce = buoyDir * (perPointMax * sub);
// 只阻尼上浮方向速度分量（防弹跳）
float vUp = Vector3.Dot(relVel, buoyDir);
Vector3 dampForce = -buoyDir * (vUp * verticalDamping * _rb.mass * sub);
_rb.AddForceAtPosition(buoyForce + dampForce, p, ForceMode.Force);
if (drawDebug)
{
Debug.DrawLine(p, p + buoyForce / (_rb.mass * 10f), Color.cyan, 0f, false);
Debug.DrawLine(p, p + dampForce / (_rb.mass * 10f), Color.yellow, 0f, false);
}
}
float subAvg = (wetCount > 0) ? (subSum / wetCount) : 0f;
// 角阻尼：只加一次（关键修复点）
if (subAvg > 0f)
{
_rb.AddTorque(-_rb.angularVelocity * (angularDamping * _rb.mass * subAvg), ForceMode.Force);
}
// 可选：upright 稳定器（更像“浮漂自动立起来”）
if (subAvg > 0f && uprightSpring > 0f)
{
Vector3 axisWorld = GetAxisWorld(uprightAxis);
Vector3 targetUp = Vector3.up;
// 误差轴：axisWorld 需要对齐 targetUp（也可反过来按你浮漂模型选）
Vector3 errorAxis = Vector3.Cross(axisWorld, targetUp);
float errorMag = errorAxis.magnitude;
if (errorMag > 1e-6f)
{
errorAxis /= errorMag;
// “弹簧”力矩 + 阻尼（防止在两个角度间抽动）
Vector3 springTorque = errorAxis * (uprightSpring * errorMag * _rb.mass);
Vector3 dampTorque = -_rb.angularVelocity * (uprightDamping * _rb.mass);
_rb.AddTorque((springTorque + dampTorque) * subAvg, ForceMode.Force);
}
}
// 入水整体 drag
if (subAvg > 0.001f)
{
_rb.drag = _baseDrag + extraDragInWater * subAvg;
_rb.angularDrag = _baseAngularDrag + extraAngularDragInWater * subAvg;
}
else
{
_rb.drag = _baseDrag;
_rb.angularDrag = _baseAngularDrag;
}
}
Vector3 GetAxisWorld(int axis)
{
return axis switch
{
0 => transform.right,
2 => transform.forward,
_ => transform.up,
};
}
void GetWorldCapsule(out Vector3 a, out Vector3 b, out float radius)
{
Vector3 lossy = transform.lossyScale;
int dir = _cap.direction; // 0=X,1=Y,2=Z
float scaleAlong = (dir == 0) ? Mathf.Abs(lossy.x) : (dir == 1) ? Mathf.Abs(lossy.y) : Mathf.Abs(lossy.z);
float scaleR;
if (dir == 0) scaleR = Mathf.Max(Mathf.Abs(lossy.y), Mathf.Abs(lossy.z));
else if (dir == 1) scaleR = Mathf.Max(Mathf.Abs(lossy.x), Mathf.Abs(lossy.z));
else scaleR = Mathf.Max(Mathf.Abs(lossy.x), Mathf.Abs(lossy.y));
radius = _cap.radius * scaleR;
Vector3 center = transform.TransformPoint(_cap.center);
Vector3 axisWorld = (dir == 0) ? transform.right : (dir == 1) ? transform.up : transform.forward;
float heightWorld = Mathf.Max(0f, _cap.height * scaleAlong);
float cylinderLen = Mathf.Max(0f, heightWorld - 2f * radius);
Vector3 half = axisWorld * (cylinderLen * 0.5f);
a = center - half;
b = center + half;
}
}
```
---
## 你该怎么调（针对“两个角度来回变”）
先用这组“稳的起步值”：
* `samplePoints = 9`
* `buoyancyScale = 1.4 ~ 2.2`
* `verticalDamping = 2.0 ~ 6.0`（弹跳就加）
* `angularDamping = 0.3 ~ 1.0`（摆动就加，但别太大）
* 如果你是浮漂想要“自动立漂”：
* `uprightSpring = 0.5 ~ 3.0`
* `uprightDamping = 0.3 ~ 1.5`
---
## 额外一句：为什么 upright 会明显改善“两个角度抽动”
纯“浮力点分布”产生的扶正力矩在水面附近会很敏感（浸没量一点点变化就翻转力矩方向），尤其你做的是**超小物体**，数值抖动更明显。upright 相当于给了一个“低频、连续”的姿态回正控制，配合阻尼，就不会在两个角度之间来回抽。
如果你把你当前浮漂的 **CapsuleCollider 参数（height/radius/center/direction）+ Rigidbody mass + drag/angularDrag + 模型 pivot 在哪** 发我，我可以直接按你的尺度给一套“几乎不用调”的默认参数（针对 0.01 级尺寸那种）。

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Assets/Scripts/Test/BobberTest.cs Normal file
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using System;
using NBF;
using UnityEngine;
namespace Test
{
public class BobberTest : MonoBehaviour
{
public Rigidbody rb;
public FLine line;
public float lineLength = 1f;
public float floatLength = 0.5f;
public void Start()
{
line.InitTest(rb);
//有浮漂
line.Lure.SetJointDistance(floatLength);
line.Bobber.SetJointDistance(lineLength - floatLength);
line.SetObiRopeStretch(lineLength - floatLength);
}
}
}

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