280 lines
9.7 KiB
C#
280 lines
9.7 KiB
C#
using System;
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using Gaia;
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using UnityEngine;
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using WaveHarmonic.Crest;
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[DisallowMultipleComponent]
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[RequireComponent(typeof(Rigidbody))]
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public class CapsuleBuoyancyStable : MonoBehaviour
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{
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[Header("Buoyancy")] [Tooltip("完全浸没时总浮力 = mass*g*buoyancyScale。>1 更浮。")]
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public float buoyancyScale = 1.6f;
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[Tooltip("沿胶囊轴向采样点数量（建议 7~11）。")] [Range(3, 15)]
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public int samplePoints = 9;
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[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);
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[Header("Damping")] [Tooltip("上浮方向速度阻尼（越大越不弹）。本版本：只在“浮力中心”施加一次，不再在每个采样点施加，避免90°附近转不动。")]
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public float verticalDamping = 0.6f;
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[Tooltip("整体角速度阻尼（只施加一次，不要太大）。")] public float angularDamping = 0.6f;
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[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。")]
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public float uprightSpring = 0.0f;
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[Tooltip("upright 的角速度阻尼。")] public float uprightDamping = 0.5f;
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[Tooltip("胶囊轴向：0=X,1=Y,2=Z（通常 CapsuleCollider.direction 也一样）。")]
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public int uprightAxis = 1;
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[Header("Water Drag")] public float extraDragInWater = 0.8f;
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public float extraAngularDragInWater = 0.8f;
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[Header("Anti-stiction near upright")]
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[Tooltip("在接近竖直(例如90->80度附近)时，降低vertical damping，避免“粘住”。0=关闭。")]
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[Range(0f, 1f)]
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public float nearUprightDampingReduce = 0.6f;
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[Tooltip("接近竖直的判定角度（度）。例如 12 表示在 |angle| < 12° 附近逐步降低阻尼。")] [Range(1f, 30f)]
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public float nearUprightAngleDeg = 12f;
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#region Crest5相关信息
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public WaterRenderer _waterRenderer;
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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("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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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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#endregion
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[Header("Debug")] public bool drawDebug = false;
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Rigidbody _rb;
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CapsuleCollider _cap;
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float _baseDrag, _baseAngularDrag;
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[SerializeField] private bool _init = false;
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void Awake()
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{
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_rb = GetComponent<Rigidbody>();
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_baseDrag = _rb.linearDamping;
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_baseAngularDrag = _rb.angularDamping;
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}
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void Start()
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{
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int length = Mathf.Max(3, samplePoints);
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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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public void InitBobber()
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{
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if (_waterRenderer == null && SceneSettings.Instance)
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{
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_waterRenderer = SceneSettings.Instance.Water;
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}
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_cap = GetComponentInChildren<CapsuleCollider>();
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_init = true;
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}
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void FixedUpdate()
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{
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if (!_init) return;
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if (!_waterRenderer) return;
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GetWorldCapsule(out Vector3 a, out Vector3 b, out float radius);
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int n = Mathf.Max(3, samplePoints);
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if (_QueryPoints == null || _QueryPoints.Length != n)
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{
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_QueryPoints = new Vector3[n];
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_QueryResultDisplacements = new Vector3[n];
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_QueryResultVelocities = new Vector3[n];
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_QueryResultNormal = new Vector3[n];
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}
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float fullBuoyancy = _rb.mass * Physics.gravity.magnitude * buoyancyScale;
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float perPointMax = fullBuoyancy / n;
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// 采样点
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for (int i = 0; i < n; i++)
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{
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float t = (float)i / (n - 1);
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_QueryPoints[i] = Vector3.Lerp(a, b, t);
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}
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// Crest 查询
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var collisions = _waterRenderer.AnimatedWavesLod.Provider;
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collisions.Query(GetHashCode(), _ObjectWidth, _QueryPoints, _QueryResultDisplacements,
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_QueryResultNormal, _QueryResultVelocities, _Layer);
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float subSum = 0f;
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int wetCount = 0;
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// 用于计算“浮力中心”(Center of Buoyancy)与水流速度平均
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Vector3 cobSum = Vector3.zero;
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Vector3 wvSum = Vector3.zero;
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float cobW = 0f;
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// 1) 多点只加浮力（不再在每点加vertical damping）
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for (int i = 0; i < n; i++)
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{
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Vector3 p = _QueryPoints[i];
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float waterH = _QueryResultDisplacements[i].y + _waterRenderer.SeaLevel;
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float depth = waterH - p.y;
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float sub = Mathf.InverseLerp(-radius, radius, depth);
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if (sub <= 0f) continue;
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sub = Mathf.Clamp01(submergenceCurve.Evaluate(sub));
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subSum += sub;
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wetCount++;
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cobSum += p * sub;
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wvSum += _QueryResultVelocities[i] * sub;
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cobW += sub;
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Vector3 buoyForce = Vector3.up * (perPointMax * sub);
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_rb.AddForceAtPosition(buoyForce, p, ForceMode.Force);
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if (drawDebug)
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{
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Debug.DrawLine(p, p + buoyForce / (_rb.mass * 10f), Color.cyan, 0f, false);
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}
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}
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float subAvg = (wetCount > 0) ? (subSum / wetCount) : 0f;
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// 2) vertical damping：只在“浮力中心”施加一次（关键修复：不再产生抑制旋转的力矩）
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if (subAvg > 0f && cobW > 1e-6f)
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{
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Vector3 cob = cobSum / cobW;
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Vector3 waterVelAvg = wvSum / cobW;
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// 接近竖直时降低vertical damping，避免90->80度“粘住”
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float vdScale = 1f;
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if (nearUprightDampingReduce > 0f)
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{
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Vector3 axisWorld = GetAxisWorld(uprightAxis);
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float angleFromUp = Vector3.Angle(axisWorld, Vector3.up); // 0=竖直
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float t = Mathf.Clamp01(angleFromUp / Mathf.Max(0.001f, nearUprightAngleDeg));
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// t=0(很竖直) -> 1(离开竖直)
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vdScale = Mathf.Lerp(1f - nearUprightDampingReduce, 1f, t);
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}
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Vector3 pointVel = _rb.GetPointVelocity(cob);
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Vector3 relVel = pointVel - waterVelAvg;
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float vUp = Vector3.Dot(relVel, Vector3.up);
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Vector3 dampForce = -Vector3.up * (vUp * verticalDamping * _rb.mass * subAvg * vdScale);
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_rb.AddForceAtPosition(dampForce, cob, ForceMode.Force);
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if (drawDebug)
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{
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Debug.DrawLine(cob, cob + dampForce / (_rb.mass * 10f), Color.yellow, 0f, false);
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}
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}
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// 3) 角阻尼：只加一次
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if (subAvg > 0f)
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{
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_rb.AddTorque(-_rb.angularVelocity * (angularDamping * _rb.mass * subAvg), ForceMode.Force);
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}
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// 4) upright（保持你原逻辑）
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if (subAvg > 0f && uprightSpring > 0f)
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{
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Vector3 axisWorld = GetAxisWorld(uprightAxis);
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Vector3 targetUp = Vector3.up;
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Vector3 errorAxis = Vector3.Cross(axisWorld, targetUp);
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float errorMag = errorAxis.magnitude;
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if (errorMag > 1e-6f)
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{
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errorAxis /= errorMag;
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Vector3 springTorque = errorAxis * (uprightSpring * errorMag * _rb.mass);
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Vector3 dampTorque = -_rb.angularVelocity * (uprightDamping * _rb.mass);
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_rb.AddTorque((springTorque + dampTorque) * subAvg, ForceMode.Force);
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}
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}
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// 5) 入水 drag
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if (subAvg > 0.001f)
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{
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_rb.linearDamping = _baseDrag + extraDragInWater * subAvg;
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_rb.angularDamping = _baseAngularDrag + extraAngularDragInWater * subAvg;
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}
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else
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{
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_rb.linearDamping = _baseDrag;
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_rb.angularDamping = _baseAngularDrag;
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}
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}
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Vector3 GetAxisWorld(int axis)
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{
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return axis switch
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{
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0 => transform.right,
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2 => transform.forward,
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_ => transform.up,
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};
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}
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void GetWorldCapsule(out Vector3 a, out Vector3 b, out float radius)
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{
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Vector3 lossy = transform.lossyScale;
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int dir = _cap.direction;
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float scaleAlong = (dir == 0) ? Mathf.Abs(lossy.x) : (dir == 1) ? Mathf.Abs(lossy.y) : Mathf.Abs(lossy.z);
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float scaleR;
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if (dir == 0) scaleR = Mathf.Max(Mathf.Abs(lossy.y), Mathf.Abs(lossy.z));
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else if (dir == 1) scaleR = Mathf.Max(Mathf.Abs(lossy.x), Mathf.Abs(lossy.z));
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else scaleR = Mathf.Max(Mathf.Abs(lossy.x), Mathf.Abs(lossy.y));
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radius = _cap.radius * scaleR;
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Vector3 center = transform.TransformPoint(_cap.center);
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Vector3 axisWorld = (dir == 0) ? transform.right : (dir == 1) ? transform.up : transform.forward;
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float heightWorld = Mathf.Max(0f, _cap.height * scaleAlong);
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float cylinderLen = Mathf.Max(0f, heightWorld - 2f * radius);
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Vector3 half = axisWorld * (cylinderLen * 0.5f);
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a = center - half;
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b = center + half;
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}
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void OnDrawGizmosSelected()
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{
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if (!drawDebug) return;
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if (_rb == null) _rb = GetComponent<Rigidbody>();
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Vector3 centerOfMassWorld = transform.TransformPoint(_rb != null ? _rb.centerOfMass : Vector3.zero);
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Gizmos.color = Color.cyan;
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Gizmos.DrawSphere(centerOfMassWorld, 0.1f);
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Gizmos.DrawLine(centerOfMassWorld, centerOfMassWorld + Vector3.up * 0.5f);
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}
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} |