提交测试代码

Assets/Doc/浮漂.md

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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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 MonoBehaviour:
@@ -7505,7 +7306,6 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: f91c9d873c83492ca6d5e3e3a67c1760, type: 3}
   m_Name: 
   m_EditorClassIdentifier: Assembly-CSharp::CapsuleBuoyancyStable
-  WaterBehaviour: {fileID: 820800909}
   buoyancyScale: 1.6
   samplePoints: 9
   submergenceCurve:
@@ -7539,6 +7339,9 @@ MonoBehaviour:
   uprightAxis: 1
   extraDragInWater: 0.8
   extraAngularDragInWater: 0.8
+  Water: {fileID: 2531380344179187550}
+  _Layer: 1
+  _ObjectWidth: 0.2
   drawDebug: 0
 --- !u!153 &8264839114692736908
 ConfigurableJoint:
@@ -8153,7 +7956,6 @@ SceneRoots:
   - {fileID: 3065509872725565573}
   - {fileID: 8114378222086924161}
   - {fileID: 1518432889}
-  - {fileID: 1738432958}
   - {fileID: 909052972}
   - {fileID: 668361904}
   - {fileID: 154764977}

Assets/Scripts/Test/BobberTest.cs

@@ -0,0 +1,24 @@
+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);
+        }
+    }
+}

Assets/Scripts/Test/BobberTest.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 3444ef411bcf4f7fa35c03ec7d800ff8
+timeCreated: 1772525731

Assets/Scripts/Test/BuoyancyCapsuleSphere.cs

@@ -6,219 +6,204 @@ public interface IWaterProvider
     Vector3 GetWaterNormal(Vector3 worldPos);
     Vector3 GetWaterVelocity(Vector3 worldPos);
 }
-
-/// <summary>
-/// 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）
-/// </summary>
-[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<Rigidbody>();
-        rb.useGravity = true;
-        rb.interpolation = RigidbodyInterpolation.Interpolate;
-        rb.collisionDetectionMode = CollisionDetectionMode.Continuous;
-
-        capsule = GetComponent<CapsuleCollider>();
-        sphere = GetComponent<SphereCollider>();
-    }
-
-    void Awake()
-    {
-        rb = GetComponent<Rigidbody>();
-        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);
-    }
-}
+//
+// /// <summary>
+// /// 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）
+// /// </summary>
+// [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<Rigidbody>();
+//         rb.useGravity = true;
+//         rb.interpolation = RigidbodyInterpolation.Interpolate;
+//         rb.collisionDetectionMode = CollisionDetectionMode.Continuous;
+//
+//         capsule = GetComponent<CapsuleCollider>();
+//         sphere = GetComponent<SphereCollider>();
+//     }
+//
+//     void Awake()
+//     {
+//         rb = GetComponent<Rigidbody>();
+//         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;
+//
+//         GetCenterAndHeight(out var centerWorld, out var shapeHeight);
+//
+//         // 水面信息
+//         float waterH = waterProvider?.GetWaterHeight(centerWorld) ?? waterLevel;
+//         Vector3 waterN = 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);
+//     }
+// }

Assets/Scripts/Test/BuoyancyWaterProvider.cs

@@ -1,7 +1,10 @@
 using UnityEngine;
+using WaveHarmonic.Crest;
 
 public class BuoyancyWaterProvider : MonoBehaviour, IWaterProvider
 {
+    public WaterRenderer Water;
+    readonly SampleFlowHelper _SampleFlowHelper = new();
     public float waterLevel = 0f;
 
     public float GetWaterHeight(Vector3 worldPos)

Assets/Scripts/Test/CapsuleBuoyancyStable.cs

@@ -1,46 +1,62 @@
-using UnityEngine;
+using System;
+using Gaia;
+using UnityEngine;
+using WaveHarmonic.Crest;
 
 [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。")]
+    [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("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);
+    [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）。")]
+    [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;
+    [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。")]
+    [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("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;
+    [Header("Water Drag")] public float extraDragInWater = 0.8f;
     public float extraAngularDragInWater = 0.8f;
 
-    [Header("Debug")]
-    public bool drawDebug = false;
+    #region Crest5相关信息
+
+    public Transform Water;
+
+    private WaterRenderer _waterRenderer;
+
+    [Tooltip("要瞄准哪一层水的碰撞层。")] [SerializeField]
+    CollisionLayer _Layer = CollisionLayer.AfterAnimatedWaves;
+
+    [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;
+
+    readonly SampleFlowHelper _SampleFlowHelper = new();
+
+    /// <summary>
+    /// 查询水面信息点位
+    /// </summary>
+    Vector3[] _QueryPoints;
+
+    Vector3[] _QueryResultDisplacements;
+    Vector3[] _QueryResultVelocities;
+    Vector3[] _QueryResultNormal;
+
+    #endregion
+
+    [Header("Debug")] public bool drawDebug = false;
 
     Rigidbody _rb;
     CapsuleCollider _cap;
@@ -52,15 +68,30 @@ public class CapsuleBuoyancyStable : MonoBehaviour
         _cap = GetComponent<CapsuleCollider>();
         _baseDrag = _rb.linearDamping;
         _baseAngularDrag = _rb.angularDamping;
+    }
 
-        if (WaterBehaviour != null && Water == null)
-            Debug.LogError($"{name}: WaterBehaviour 没有实现 IWaterProvider。", this);
+    private void Start()
+    {
+        int length = Mathf.Max(3, samplePoints);
+        _QueryPoints = new Vector3[length];
+        _QueryResultDisplacements = new Vector3[length];
+        _QueryResultVelocities = new Vector3[length];
+        _QueryResultNormal = new Vector3[length];
+        if(Water)
+            _waterRenderer = Water.GetComponent<WaterRenderer>();
     }
 
     void FixedUpdate()
     {
-        if (Water == null) return;
+        if (Water)
+        {
+            
+        }
 
+        if (!_waterRenderer)
+        {
+            return;
+        }
         GetWorldCapsule(out Vector3 a, out Vector3 b, out float radius);
 
         int n = Mathf.Max(3, samplePoints);
@@ -70,12 +101,27 @@ public class CapsuleBuoyancyStable : MonoBehaviour
         float subSum = 0f;
         int wetCount = 0;
 
+        for (int i = 0; i < _QueryPoints.Length; i++)
+        {
+            float t = (float)i / (n - 1);
+            Vector3 p = Vector3.Lerp(a, b, t);
+            _QueryPoints[i] = p;
+        }
+
+
+        // 查询
+        var collisions = _waterRenderer.AnimatedWavesLod.Provider;
+        collisions.Query(GetHashCode(), _ObjectWidth, _QueryPoints, _QueryResultDisplacements,
+            _QueryResultNormal, _QueryResultVelocities, _Layer);
+
+
         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 waterH =
+                _QueryResultDisplacements[i].y + _waterRenderer.SeaLevel; //GaiaConstants.Water.GetWaterHeight(p);
             float depth = waterH - p.y; // >0 在水下
 
             float sub = Mathf.InverseLerp(-radius, radius, depth); // 0..1
@@ -87,7 +133,8 @@ public class CapsuleBuoyancyStable : MonoBehaviour
 
             Vector3 buoyDir = Vector3.up;
 
-            Vector3 waterVel = Water.GetWaterVelocity(p);
+            // Vector3 waterVel = GaiaConstants.Water.GetWaterVelocity(p);
+            Vector3 waterVel = _QueryResultVelocities[i];
             Vector3 pointVel = _rb.GetPointVelocity(p);
             Vector3 relVel = pointVel - waterVel;
 
@@ -184,8 +231,8 @@ public class CapsuleBuoyancyStable : MonoBehaviour
         a = center - half;
         b = center + half;
     }
-    
-    
+
+
     private void OnDrawGizmosSelected()
     {
         if (drawDebug)