diff --git a/Assets/Doc/浮漂.md b/Assets/Doc/浮漂.md new file mode 100644 index 000000000..63aefa122 --- /dev/null +++ b/Assets/Doc/浮漂.md @@ -0,0 +1,237 @@ +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(); + _cap = GetComponent(); + _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）。 diff --git a/Assets/Doc/浮漂.md.meta b/Assets/Doc/浮漂.md.meta new file mode 100644 index 000000000..95d1934fc --- /dev/null +++ b/Assets/Doc/浮漂.md.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 55d482dca23741a48523966428073ce1 +timeCreated: 1772525626 \ No newline at end of file diff --git a/Assets/Scenes/BobberTest.unity b/Assets/Scenes/BobberTest.unity index ac37e88ad..a019c98e1 100644 --- a/Assets/Scenes/BobberTest.unity +++ b/Assets/Scenes/BobberTest.unity @@ -2002,7 +2002,6 @@ GameObject: - 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