579 lines
18 KiB
C#
579 lines
18 KiB
C#
using System;
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using NBF;
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using UnityEngine;
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[RequireComponent(typeof(LineRenderer))]
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public class Rope : MonoBehaviour
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{
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[Header("Anchors")] [SerializeField] public Rigidbody startAnchor;
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[SerializeField] public Rigidbody endAnchor;
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/// <summary>鱼线宽度倍数</summary>
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public int LineMultiple = 1;
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[Header("Physics (Dynamic Nodes, Fixed Segment Len)")] [SerializeField, Min(0.01f), Tooltip("物理每段固定长度（越小越细致越耗）")]
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private float physicsSegmentLen = 0.15f;
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[SerializeField, Range(2, 200)] private int minPhysicsNodes = 12;
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[SerializeField, Range(2, 400), Tooltip("物理节点上限（仅用于性能保护；与“最大长度不限制”不是一回事）")]
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private int maxPhysicsNodes = 120;
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[SerializeField] private float gravityStrength = 2.0f;
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[SerializeField, Range(0f, 1f)] private float velocityDampen = 0.95f;
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[SerializeField, Range(0.0f, 1.0f), Tooltip("约束修正强度，越大越硬。0.6~0.9 常用")]
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private float stiffness = 0.8f;
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[SerializeField, Range(1, 80), Tooltip("迭代次数。鱼线 10~30 通常够用")]
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private int iterations = 20;
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[Header("Length Control (No Min/Max Clamp)")]
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[Tooltip("初始总长度（米）。如果为 0，则用 physicsSegmentLen*(minPhysicsNodes-1) 作为初始长度")]
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[SerializeField, Min(0f)]
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private float initialLength = 0f;
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[Tooltip("长度变化平滑时间（越小越跟手，越大越稳）")] [SerializeField, Min(0.0001f)]
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private float lengthSmoothTime = 0.15f;
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[Tooltip("当长度在变化时，额外把速度压掉一些（防抖）。0=不额外处理，1=变化时几乎清速度（建议只在收线生效）")] [SerializeField, Range(0f, 1f)]
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private float lengthChangeVelocityKill = 0.6f;
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[Tooltip("允许的最小松弛余量（避免目标长度刚好等于锚点距离时抖动）")] [SerializeField, Min(0f)]
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private float minSlack = 0.002f;
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[Header("Head Segment Clamp")] [Tooltip("第一段（起点->第1节点）允许的最小长度，避免收线时第一段被压到0导致数值炸")] [SerializeField, Min(0.0001f)]
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private float headMinLen = 0.01f;
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[Header("Node Count Stability")] [SerializeField, Tooltip("节点数切换迟滞（米）。避免长度在临界点抖动导致节点数来回跳 -> 卡顿")]
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private float nodeHysteresis = 0.05f;
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[Header("Simple Ground/Water Constraint (Cheap)")] [SerializeField]
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private bool constrainToGround = true;
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[SerializeField] private LayerMask groundMask = ~0;
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[SerializeField, Min(0f)] private float groundRadius = 0.01f;
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[SerializeField, Min(0f)] private float groundCastHeight = 1.0f;
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[SerializeField, Min(0.01f)] private float groundCastDistance = 2.5f;
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[Header("Render (High Resolution)")] [SerializeField, Min(1), Tooltip("静止时每段物理线段插值加密数量（越大越顺，越耗）")]
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private int renderSubdivisionsIdle = 6;
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[SerializeField, Min(1), Tooltip("甩动时每段物理线段插值加密数量（动态降LOD以防卡顿）")]
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private int renderSubdivisionsMoving = 2;
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[SerializeField, Min(0f), Tooltip("平均速度超过该阈值认为在甩动（用于动态降 subdiv）")]
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private float movingSpeedThreshold = 2.0f;
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[SerializeField, Tooltip("是否使用 Catmull-Rom 平滑（开启更顺，但更耗）")]
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private bool smooth = true;
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[SerializeField, Min(0.0001f)] private float lineWidth = 0.001f;
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[Header("Air Drag (Stable)")] [SerializeField, Range(0f, 5f), Tooltip("空气阻力（Y向），指数衰减，越大越不飘")]
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private float airDrag = 0.9f;
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[SerializeField, Range(0f, 2f), Tooltip("横向额外阻力（XZ），指数衰减，越大越不左右飘")]
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private float airDragXZ = 0.6f;
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private LineRenderer _lineRenderer;
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// physics
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private int _physicsNodes;
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private Vector3[] _pCurr;
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private Vector3[] _pPrev;
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// render (一次性分配到最大，后续不再 new)
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private Vector3[] _rPoints;
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private int _rCapacity;
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private Vector3 _gravity;
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// length control runtime
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private float _targetLength;
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private float _currentLength;
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private float _lengthSmoothVel;
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// rest length head
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private float _headRestLen;
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// node stability
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private int _lastDesiredNodes = 0;
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// caches
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private Transform _startTr;
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private Transform _endTr;
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// precomputed
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private float _dt;
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private float _dt2;
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private float _kY;
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private float _kXZ;
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private FRod _rod;
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public void Init(FRod rod) => _rod = rod;
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// Catmull t caches（只缓存 idle/moving 两档，减少每帧重复乘法）
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private struct TCaches
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{
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public float[] t;
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public float[] t2;
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public float[] t3;
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}
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private TCaches _tIdle;
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private TCaches _tMoving;
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private void Awake()
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{
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_lineRenderer = GetComponent<LineRenderer>();
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_gravity = new Vector3(0f, -gravityStrength, 0f);
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_startTr = startAnchor ? startAnchor.transform : null;
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_endTr = endAnchor ? endAnchor.transform : null;
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InitLengthSystem();
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AllocateAndInitNodes();
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// ✅ 渲染点一次性分配到最大： (maxNodes-1)*idle + 1
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int maxSubdiv = Mathf.Max(1, renderSubdivisionsIdle);
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_rCapacity = (maxPhysicsNodes - 1) * maxSubdiv + 1;
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_rPoints = new Vector3[_rCapacity];
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BuildTCaches(renderSubdivisionsIdle, ref _tIdle);
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BuildTCaches(renderSubdivisionsMoving, ref _tMoving);
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}
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private void OnValidate()
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{
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renderSubdivisionsIdle = Mathf.Max(renderSubdivisionsIdle, 1);
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renderSubdivisionsMoving = Mathf.Max(renderSubdivisionsMoving, 1);
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iterations = Mathf.Clamp(iterations, 1, 80);
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groundCastDistance = Mathf.Max(groundCastDistance, 0.01f);
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groundCastHeight = Mathf.Max(groundCastHeight, 0f);
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lineWidth = Mathf.Max(lineWidth, 0.0001f);
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lengthSmoothTime = Mathf.Max(lengthSmoothTime, 0.0001f);
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physicsSegmentLen = Mathf.Max(physicsSegmentLen, 0.01f);
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minPhysicsNodes = Mathf.Max(minPhysicsNodes, 2);
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maxPhysicsNodes = Mathf.Max(maxPhysicsNodes, minPhysicsNodes);
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headMinLen = Mathf.Max(headMinLen, 0.0001f);
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nodeHysteresis = Mathf.Max(0f, nodeHysteresis);
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}
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private void InitLengthSystem()
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{
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float defaultLen = physicsSegmentLen * (Mathf.Max(minPhysicsNodes, 2) - 1);
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_currentLength = (initialLength > 0f) ? initialLength : defaultLen;
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_targetLength = _currentLength;
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}
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private void AllocateAndInitNodes()
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{
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_physicsNodes = Mathf.Clamp(ComputeDesiredNodesStable(_currentLength), 2, maxPhysicsNodes);
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_pCurr = new Vector3[maxPhysicsNodes];
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_pPrev = new Vector3[maxPhysicsNodes];
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Vector3 start = startAnchor ? startAnchor.position : transform.position;
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Vector3 dir = Vector3.down;
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for (int i = 0; i < _physicsNodes; i++)
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{
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Vector3 pos = start + dir * (physicsSegmentLen * i);
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_pCurr[i] = pos;
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_pPrev[i] = pos;
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}
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UpdateHeadRestLenFromCurrentLength();
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if (startAnchor && endAnchor)
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LockAnchorsHard();
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}
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private int ComputeDesiredNodes(float lengthMeters)
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{
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int desired = Mathf.FloorToInt(Mathf.Max(0f, lengthMeters) / physicsSegmentLen) + 1;
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desired = Mathf.Clamp(desired, minPhysicsNodes, maxPhysicsNodes);
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return desired;
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}
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private int ComputeDesiredNodesStable(float lengthMeters)
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{
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int desired = ComputeDesiredNodes(lengthMeters);
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if (_lastDesiredNodes == 0)
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{
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_lastDesiredNodes = desired;
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return desired;
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}
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if (desired == _lastDesiredNodes)
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return desired;
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float boundary = (_lastDesiredNodes - 1) * physicsSegmentLen;
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if (Mathf.Abs(lengthMeters - boundary) < nodeHysteresis)
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return _lastDesiredNodes;
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_lastDesiredNodes = desired;
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return desired;
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}
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public void SetTargetLength(float lengthMeters) => _targetLength = Mathf.Max(0f, lengthMeters);
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public float GetCurrentLength() => _currentLength;
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public float GetTargetLength() => _targetLength;
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private void FixedUpdate()
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{
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if (!startAnchor || !endAnchor) return;
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// cache dt
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_dt = Time.fixedDeltaTime;
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if (_dt < 1e-6f) _dt = 1e-6f;
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_dt2 = _dt * _dt;
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// gravity
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_gravity.y = -gravityStrength;
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// drag caches（exp 比较贵，但这里每 FixedUpdate 一次，OK）
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_kY = Mathf.Exp(-airDrag * _dt);
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_kXZ = Mathf.Exp(-airDragXZ * _dt);
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UpdateLengthSmooth();
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UpdateNodesFromLength();
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UpdateHeadRestLenFromCurrentLength();
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Simulate_VerletFast();
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// anchors
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LockAnchorsHard();
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// constraints
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for (int it = 0; it < iterations; it++)
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SolveDistanceConstraints_HeadOnly_Fast();
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LockAnchorsHard();
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if (constrainToGround)
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ConstrainToGround();
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LockAnchorsHard();
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}
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private void LateUpdate()
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{
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if (!startAnchor || !endAnchor || _pCurr == null || _physicsNodes < 2) return;
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int last = _physicsNodes - 1;
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// 用缓存 transform，避免多次属性链
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Vector3 s = _startTr.position;
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Vector3 e = _endTr.position;
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_pCurr[0] = s;
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_pPrev[0] = s;
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_pCurr[last] = e;
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_pPrev[last] = e;
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DrawHighResLine_Fast();
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}
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private void UpdateLengthSmooth()
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{
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float minFeasible = 0.01f;
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float desired = Mathf.Max(_targetLength, minFeasible);
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_currentLength = Mathf.SmoothDamp(
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_currentLength,
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desired,
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ref _lengthSmoothVel,
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lengthSmoothTime,
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Mathf.Infinity,
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Time.fixedDeltaTime
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);
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}
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private void UpdateNodesFromLength()
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{
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int desired = ComputeDesiredNodesStable(_currentLength);
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desired = Mathf.Clamp(desired, 2, maxPhysicsNodes);
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if (desired == _physicsNodes) return;
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if (desired > _physicsNodes) AddNodesAtStart(desired - _physicsNodes);
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else RemoveNodesAtStart(_physicsNodes - desired);
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_physicsNodes = desired;
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}
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private void AddNodesAtStart(int addCount)
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{
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if (addCount <= 0) return;
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int oldCount = _physicsNodes;
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int newCount = Mathf.Min(oldCount + addCount, maxPhysicsNodes);
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addCount = newCount - oldCount;
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if (addCount <= 0) return;
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Array.Copy(_pCurr, 1, _pCurr, 1 + addCount, oldCount - 1);
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Array.Copy(_pPrev, 1, _pPrev, 1 + addCount, oldCount - 1);
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Vector3 s = _startTr ? _startTr.position : startAnchor.position;
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Vector3 dir = Vector3.down;
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int firstOld = 1 + addCount;
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if (oldCount >= 2 && firstOld < maxPhysicsNodes)
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{
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Vector3 toOld1 = (_pCurr[firstOld] - s);
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float sq = toOld1.sqrMagnitude;
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if (sq > 1e-6f) dir = toOld1 / Mathf.Sqrt(sq);
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}
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// inherit displacement (Verlet)
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Vector3 inheritDisp = Vector3.zero;
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if (oldCount >= 2 && firstOld < maxPhysicsNodes)
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inheritDisp = (_pCurr[firstOld] - _pPrev[firstOld]);
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for (int k = 1; k <= addCount; k++)
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{
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Vector3 pos = s + dir * (physicsSegmentLen * k);
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_pCurr[k] = pos;
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_pPrev[k] = pos - inheritDisp; // 保持动感
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}
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LockAnchorsHard();
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}
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private void RemoveNodesAtStart(int removeCount)
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{
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if (removeCount <= 0) return;
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int oldCount = _physicsNodes;
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int newCount = Mathf.Max(oldCount - removeCount, 2);
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removeCount = oldCount - newCount;
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if (removeCount <= 0) return;
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Array.Copy(_pCurr, 1 + removeCount, _pCurr, 1, newCount - 2);
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Array.Copy(_pPrev, 1 + removeCount, _pPrev, 1, newCount - 2);
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LockAnchorsHard();
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}
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private void UpdateHeadRestLenFromCurrentLength()
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{
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int fixedSegCount = Mathf.Max(0, _physicsNodes - 2);
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float baseLen = fixedSegCount * physicsSegmentLen;
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_headRestLen = _currentLength - baseLen;
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_headRestLen = Mathf.Clamp(_headRestLen, headMinLen, physicsSegmentLen * 1.5f);
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}
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/// <summary>
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/// ✅ 更快的 Verlet：去掉 /dt 和 *dt 抵消的无效计算
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/// </summary>
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private void Simulate_VerletFast()
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{
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// displacement = curr - prev
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// next = curr + displacement*drag*dampen + gravity*dt^2
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for (int i = 1; i < _physicsNodes - 1; i++)
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{
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Vector3 disp = _pCurr[i] - _pPrev[i];
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disp.x *= _kXZ;
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disp.z *= _kXZ;
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disp.y *= _kY;
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disp *= velocityDampen;
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Vector3 next = _pCurr[i] + disp + _gravity * _dt2;
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_pPrev[i] = _pCurr[i];
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_pCurr[i] = next;
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}
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}
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private void LockAnchorsHard()
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{
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if (!startAnchor || !endAnchor || _pCurr == null || _pPrev == null || _physicsNodes < 2) return;
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Vector3 s = _startTr ? _startTr.position : startAnchor.position;
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Vector3 e = _endTr ? _endTr.position : endAnchor.position;
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_pCurr[0] = s;
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_pPrev[0] = s - startAnchor.linearVelocity * _dt;
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int last = _physicsNodes - 1;
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_pCurr[last] = e;
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_pPrev[last] = e - endAnchor.linearVelocity * _dt;
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}
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/// <summary>
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/// ✅ 约束：减少临时变量、用 sqrMagnitude + invDist
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/// </summary>
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private void SolveDistanceConstraints_HeadOnly_Fast()
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{
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int last = _physicsNodes - 1;
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for (int i = 0; i < last; i++)
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{
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float rest = (i == 0) ? _headRestLen : physicsSegmentLen;
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Vector3 a = _pCurr[i];
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Vector3 b = _pCurr[i + 1];
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Vector3 delta = b - a;
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float sq = delta.sqrMagnitude;
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if (sq < 1e-12f) continue;
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float dist = Mathf.Sqrt(sq);
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float diff = (dist - rest) / dist; // = 1 - rest/dist
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Vector3 corr = delta * (diff * stiffness);
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// i==0 锚点固定；last 锚点固定
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if (i != 0) _pCurr[i] = a + corr * 0.5f;
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if (i + 1 != last) _pCurr[i + 1] = b - corr * 0.5f;
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}
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}
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private void ConstrainToGround()
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{
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if (groundMask == 0) return;
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// RaycastHit 是 struct，这里不会 GC
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for (int i = 1; i < _physicsNodes - 1; i++)
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{
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Vector3 p = _pCurr[i];
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Vector3 origin = p + Vector3.up * groundCastHeight;
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if (Physics.Raycast(origin, Vector3.down, out RaycastHit hit, groundCastDistance, groundMask,
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QueryTriggerInteraction.Ignore))
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{
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float minY = hit.point.y + groundRadius;
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if (p.y < minY) p.y = minY;
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}
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_pCurr[i] = p;
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}
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}
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private void DrawHighResLine_Fast()
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{
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if (_pCurr == null || _physicsNodes < 2) return;
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float w = lineWidth * LineMultiple;
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_lineRenderer.startWidth = w;
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_lineRenderer.endWidth = w;
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if (!smooth)
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{
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_lineRenderer.positionCount = _physicsNodes;
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_lineRenderer.SetPositions(_pCurr);
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return;
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}
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int subdiv = PickRenderSubdivisions_Fast();
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TCaches tc = (subdiv == renderSubdivisionsMoving) ? _tMoving : _tIdle;
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int needed = (_physicsNodes - 1) * subdiv + 1;
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if (needed > _rCapacity)
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{
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// 理论上不该发生（_rCapacity 用 maxNodes & idle 分配）
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// 保险扩容一次
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_rCapacity = needed;
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_rPoints = new Vector3[_rCapacity];
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}
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int idx = 0;
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int last = _physicsNodes - 1;
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|
||
for (int seg = 0; seg < last; seg++)
|
||
{
|
||
int i0 = seg - 1; if (i0 < 0) i0 = 0;
|
||
int i1 = seg;
|
||
int i2 = seg + 1;
|
||
int i3 = seg + 2; if (i3 > last) i3 = last;
|
||
|
||
Vector3 p0 = _pCurr[i0];
|
||
Vector3 p1 = _pCurr[i1];
|
||
Vector3 p2 = _pCurr[i2];
|
||
Vector3 p3 = _pCurr[i3];
|
||
|
||
for (int s = 0; s < subdiv; s++)
|
||
{
|
||
float t = tc.t[s];
|
||
float t2 = tc.t2[s];
|
||
float t3 = tc.t3[s];
|
||
|
||
// inline CatmullRom（少一次函数调用）
|
||
Vector3 cr =
|
||
0.5f * (
|
||
(2f * p1) +
|
||
(-p0 + p2) * t +
|
||
(2f * p0 - 5f * p1 + 4f * p2 - p3) * t2 +
|
||
(-p0 + 3f * p1 - 3f * p2 + p3) * t3
|
||
);
|
||
|
||
// Linear Y
|
||
cr.y = p1.y + (p2.y - p1.y) * t;
|
||
|
||
_rPoints[idx++] = cr;
|
||
}
|
||
}
|
||
|
||
_rPoints[idx++] = _pCurr[last];
|
||
|
||
_lineRenderer.positionCount = idx;
|
||
_lineRenderer.SetPositions(_rPoints);
|
||
}
|
||
|
||
/// <summary>
|
||
/// ✅ 用 sqrMagnitude 比较阈值，避免 sqrt
|
||
/// </summary>
|
||
private int PickRenderSubdivisions_Fast()
|
||
{
|
||
int idle = Mathf.Max(1, renderSubdivisionsIdle);
|
||
int moving = Mathf.Max(1, renderSubdivisionsMoving);
|
||
|
||
float thr = movingSpeedThreshold;
|
||
float thrSq = (thr * _dt) * (thr * _dt); // 因为我们用 disp = curr-prev（单位是米/step），所以阈值要乘 dt
|
||
|
||
float sumSq = 0f;
|
||
int count = Mathf.Max(1, _physicsNodes - 2);
|
||
|
||
for (int i = 1; i < _physicsNodes - 1; i++)
|
||
{
|
||
Vector3 disp = _pCurr[i] - _pPrev[i];
|
||
sumSq += disp.sqrMagnitude;
|
||
}
|
||
|
||
float avgSq = sumSq / count;
|
||
|
||
return (avgSq > thrSq) ? moving : idle;
|
||
}
|
||
|
||
private static void BuildTCaches(int subdiv, ref TCaches caches)
|
||
{
|
||
subdiv = Mathf.Max(1, subdiv);
|
||
caches.t = new float[subdiv];
|
||
caches.t2 = new float[subdiv];
|
||
caches.t3 = new float[subdiv];
|
||
|
||
float inv = 1f / subdiv;
|
||
for (int s = 0; s < subdiv; s++)
|
||
{
|
||
float t = s * inv;
|
||
float t2 = t * t;
|
||
caches.t[s] = t;
|
||
caches.t2[s] = t2;
|
||
caches.t3[s] = t2 * t;
|
||
}
|
||
}
|
||
|
||
private void OnDrawGizmosSelected()
|
||
{
|
||
if (_pCurr == null) return;
|
||
Gizmos.color = Color.yellow;
|
||
for (int i = 0; i < _physicsNodes; i++)
|
||
Gizmos.DrawSphere(_pCurr[i], 0.01f);
|
||
}
|
||
} |