243 lines
10 KiB
C#
243 lines
10 KiB
C#
using UnityEngine;
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using WaveHarmonic.Crest;
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namespace NBF
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{
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public sealed class BobberFloating : MonoBehaviour
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{
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public WaterRenderer _water;
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[SerializeField] Rigidbody _RigidBody;
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[Tooltip("要瞄准哪一层水的碰撞层。")] [SerializeField]
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CollisionLayer _Layer = CollisionLayer.AfterAnimatedWaves;
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[Header("浮力")]
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[Header("力强度")]
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[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。")]
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[SerializeField]
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float _BuoyancyForceStrength = 10f;
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[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]
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float _BuoyancyTorqueStrength = 8f;
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[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]
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float _MaximumBuoyancyForce = 100f;
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[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]
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float _CenterToBottomOffset = -1f;
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[Tooltip("顺着波浪 “冲浪” 的近似流体动力学效果。")] [Range(0, 1)] [SerializeField]
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float _AccelerateDownhill;
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[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]
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Vector3 _Drag = new(2f, 3f, 1f);
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[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]
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float _AngularDrag = 0.2f;
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[Tooltip("施加拉力的位置的垂直偏移量。")] [SerializeField]
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float _ForceHeightOffset;
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[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]
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float _ObjectWidth = 3f;
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// Debug
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[Space(10)] [SerializeField] DebugFields _Debug = new();
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[System.Serializable]
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sealed class DebugFields
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{
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[SerializeField] internal bool _DrawQueries = false;
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}
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internal const string k_FixedUpdateMarker = "Crest.FloatingObject.FixedUpdate";
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static Unity.Profiling.ProfilerMarker s_FixedUpdateMarker = new(k_FixedUpdateMarker);
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/// <summary>
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/// 这个物体的任何部分是否浸泡在水中？
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/// </summary>
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public bool InWater { get; private set; }
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readonly SampleFlowHelper _SampleFlowHelper = new();
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Vector3[] _QueryPoints;
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Vector3[] _QueryResultDisplacements;
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Vector3[] _QueryResultVelocities;
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Vector3[] _QueryResultNormal;
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// internal FloatingObjectProbe[] _Probe = new FloatingObjectProbe[] { new() { _Weight = 1f } };
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public FloatingObjectProbe[] Probe = new FloatingObjectProbe[] { new() { _Weight = 1f } };
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private void Start()
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{
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if (_RigidBody == null) TryGetComponent(out _RigidBody);
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var points = Probe;
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// Advanced 还需要为中心增设一个位置。
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var length = points.Length;
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_QueryPoints = new Vector3[length];
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_QueryResultDisplacements = new Vector3[length];
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_QueryResultVelocities = new Vector3[length];
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_QueryResultNormal = new Vector3[length];
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}
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private void FixedUpdate()
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{
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s_FixedUpdateMarker.Begin(this);
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var points = Probe;
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// 查询
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var collisions = _water.AnimatedWavesLod.Provider;
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// 更新查询点。
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for (var i = 0; i < points.Length; i++)
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{
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var point = points[i];
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_QueryPoints[i] =
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transform.TransformPoint(point._Position + new Vector3(0, _RigidBody.centerOfMass.y, 0));
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}
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_QueryPoints[^1] = transform.position + new Vector3(0, _RigidBody.centerOfMass.y, 0);
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collisions.Query(GetHashCode(), _ObjectWidth, _QueryPoints, _QueryResultDisplacements,
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_QueryResultNormal, _QueryResultVelocities, _Layer);
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//我们可以将表面速度过滤为最近两帧中的较小值。
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//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——
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//因为此时水面确实会发生极快的运动。
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var surfaceVelocity = _QueryResultVelocities[^1];
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_SampleFlowHelper.Sample(transform.position, out var surfaceFlow, minimumLength: _ObjectWidth);
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surfaceVelocity += new Vector3(surfaceFlow.x, 0, surfaceFlow.y);
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if (_Debug._DrawQueries)
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{
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Debug.DrawLine(transform.position + 5f * Vector3.up,
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transform.position + 5f * Vector3.up + surfaceVelocity, new(1, 1, 1, 0.6f));
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}
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var height = _QueryResultDisplacements[0].y + _water.SeaLevel;
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var bottomDepth = height - transform.position.y - _CenterToBottomOffset;
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var normal = _QueryResultNormal[0];
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if (_Debug._DrawQueries)
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{
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var surfPos = transform.position;
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surfPos.y = height;
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DebugUtility.DrawCross(Debug.DrawLine, surfPos, normal, 1f, Color.red);
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}
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InWater = bottomDepth > 0f;
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if (!InWater)
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{
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s_FixedUpdateMarker.End();
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return;
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}
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var buoyancy = _BuoyancyForceStrength * bottomDepth * bottomDepth * bottomDepth *
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-Physics.gravity.normalized;
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if (_MaximumBuoyancyForce < Mathf.Infinity)
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{
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buoyancy = Vector3.ClampMagnitude(buoyancy, _MaximumBuoyancyForce);
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}
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_RigidBody.AddForce(buoyancy, ForceMode.Acceleration);
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// 在水面上滑行的近似流体动力学
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if (_AccelerateDownhill > 0f)
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{
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_RigidBody.AddForce(_AccelerateDownhill * -Physics.gravity.y * new Vector3(normal.x, 0f, normal.z),
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ForceMode.Acceleration);
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}
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// // 朝向
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// // 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。
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// // 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。
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// // dimensions.
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// {
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// var normalLatitudinal = normal;
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//
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// if (_Debug._DrawQueries)
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// Debug.DrawLine(transform.position, transform.position + 5f * normalLatitudinal, Color.green);
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//
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// var torqueWidth = Vector3.Cross(transform.up, normalLatitudinal);
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// _RigidBody.AddTorque(torqueWidth * _BuoyancyTorqueStrength, ForceMode.Acceleration);
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// _RigidBody.AddTorque(-_AngularDrag * _RigidBody.angularVelocity);
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// }
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// 朝向（改进的扭矩版本）
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{
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var normalLatitudinal = normal;
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if (_Debug._DrawQueries)
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Debug.DrawLine(transform.position, transform.position + 5f * normalLatitudinal, Color.green);
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// 限制扭矩强度基于物体质量
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var massFactor = Mathf.Clamp(_RigidBody.mass / 0.1f, 0.1f, 1f); // 质量越小，扭矩越弱
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var adjustedTorqueStrength = _BuoyancyTorqueStrength * massFactor;
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var torqueWidth = Vector3.Cross(transform.up, normalLatitudinal);
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// 添加最大扭矩限制
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var maxTorque = 5f; // 根据需要调整
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var finalTorque = Vector3.ClampMagnitude(torqueWidth * adjustedTorqueStrength, maxTorque);
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_RigidBody.AddTorque(finalTorque, ForceMode.Acceleration);
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_RigidBody.AddTorque(-_AngularDrag * _RigidBody.angularVelocity, ForceMode.Acceleration);
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}
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// 相对于水进行拖拽操作
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if (_Drag != Vector3.zero)
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{
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var velocityRelativeToWater = _RigidBody.linearVelocity - surfaceVelocity;
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var forcePosition = _RigidBody.worldCenterOfMass + _ForceHeightOffset * Vector3.up;
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_RigidBody.AddForceAtPosition(
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_Drag.x * Vector3.Dot(transform.right, -velocityRelativeToWater) * transform.right, forcePosition,
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ForceMode.Acceleration);
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_RigidBody.AddForceAtPosition(_Drag.y * Vector3.Dot(Vector3.up, -velocityRelativeToWater) * Vector3.up,
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forcePosition, ForceMode.Acceleration);
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_RigidBody.AddForceAtPosition(
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_Drag.z * Vector3.Dot(transform.forward, -velocityRelativeToWater) * transform.forward,
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forcePosition, ForceMode.Acceleration);
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}
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s_FixedUpdateMarker.End();
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}
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}
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static class DebugUtility
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{
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public delegate void DrawLine(Vector3 position, Vector3 up, Color color, float duration);
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public static void DrawCross(DrawLine draw, Vector3 position, float r, Color color, float duration = 0f)
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{
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draw(position - Vector3.up * r, position + Vector3.up * r, color, duration);
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draw(position - Vector3.right * r, position + Vector3.right * r, color, duration);
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draw(position - Vector3.forward * r, position + Vector3.forward * r, color, duration);
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}
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public static void DrawCross(DrawLine draw, Vector3 position, Vector3 up, float r, Color color,
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float duration = 0f)
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{
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up.Normalize();
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var right = Vector3.Normalize(Vector3.Cross(up, Vector3.forward));
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var forward = Vector3.Cross(up, right);
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draw(position - up * r, position + up * r, color, duration);
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draw(position - right * r, position + right * r, color, duration);
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draw(position - forward * r, position + forward * r, color, duration);
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}
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}
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} |