247 lines
8.3 KiB
C#
247 lines
8.3 KiB
C#
using System;
|
||
using Gaia;
|
||
using UnityEngine;
|
||
using WaveHarmonic.Crest;
|
||
|
||
[DisallowMultipleComponent]
|
||
[RequireComponent(typeof(Rigidbody), typeof(CapsuleCollider))]
|
||
public class CapsuleBuoyancyStable : MonoBehaviour
|
||
{
|
||
[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;
|
||
|
||
#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;
|
||
float _baseDrag, _baseAngularDrag;
|
||
|
||
void Awake()
|
||
{
|
||
_rb = GetComponent<Rigidbody>();
|
||
_cap = GetComponent<CapsuleCollider>();
|
||
_baseDrag = _rb.linearDamping;
|
||
_baseAngularDrag = _rb.angularDamping;
|
||
}
|
||
|
||
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)
|
||
{
|
||
|
||
}
|
||
|
||
if (!_waterRenderer)
|
||
{
|
||
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 < _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 =
|
||
_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
|
||
if (sub <= 0f) continue;
|
||
|
||
sub = Mathf.Clamp01(submergenceCurve.Evaluate(sub));
|
||
subSum += sub;
|
||
wetCount++;
|
||
|
||
Vector3 buoyDir = Vector3.up;
|
||
|
||
// Vector3 waterVel = GaiaConstants.Water.GetWaterVelocity(p);
|
||
Vector3 waterVel = _QueryResultVelocities[i];
|
||
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.linearDamping = _baseDrag + extraDragInWater * subAvg;
|
||
_rb.angularDamping = _baseAngularDrag + extraAngularDragInWater * subAvg;
|
||
}
|
||
else
|
||
{
|
||
_rb.linearDamping = _baseDrag;
|
||
_rb.angularDamping = _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;
|
||
}
|
||
|
||
|
||
private void OnDrawGizmosSelected()
|
||
{
|
||
if (drawDebug)
|
||
{
|
||
// 绘制 Rigidbody 的重心点位
|
||
Vector3 centerOfMassWorld = transform.TransformPoint(_rb != null ? _rb.centerOfMass : Vector3.zero);
|
||
Gizmos.color = Color.cyan;
|
||
Gizmos.DrawSphere(centerOfMassWorld, 0.1f);
|
||
Gizmos.DrawLine(centerOfMassWorld, centerOfMassWorld + Vector3.up * 0.5f);
|
||
}
|
||
}
|
||
} |