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This commit is contained in:
CortexCore
2024-03-31 23:31:00 +08:00
parent e179d2eb53
commit b7b89ee71a
641 changed files with 31286 additions and 22134 deletions
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164
Src/Unity/Scripts/Physics/IClosePoint.cs
View File

@@ -1,5 +1,8 @@
using System;
using System.Collections;
using System.Collections.Generic;
using System.Data;
using System.Linq;
using UnityEngine;
namespace BITKit
{
@@ -36,6 +39,11 @@ namespace BITKit
if(raycastHit2.collider != collider)
return false;
};
foreach(var hit in UnityEngine.Physics.OverlapSphere(vector3, 0.1f, layerMask))
{
if(hit!= collider)
return false;
}
return true;
//return vector3.y >= collider.bounds.center.y + collider.bounds.extents.y;
//return true;
@@ -43,4 +51,160 @@ namespace BITKit
return false;
}
}
/// <summary>
/// 获取碰撞点可以翻越后的点
/// </summary>
[Serializable]
public class GetVaultPointFromCollider : IClosePoint
{
public Transform root;
public Transform groundReference;
public LayerMask layerMask;
public float maxHeight = 1.2f;
public float maxVaultDistance=1;
public float radius;
public float distance;
public Vector3 StartPosition;
public Vector3 EndPosition;
public bool TryGetClosePoint(out Vector3 vector3)
{
var reportBuilder = new System.Text.StringBuilder();
var forward = root.forward;
var sourceStartPosition = groundReference.position;
sourceStartPosition.y = root.position.y;
var startPosition = sourceStartPosition;
var collider = UnityEngine.Physics.OverlapSphere(startPosition, radius, layerMask);
reportBuilder.AppendLine($"检测到了{collider.Length}个碰撞体");
foreach (var hit in collider)
{
var top = hit.bounds.center + hit.bounds.extents;
if(top.y<sourceStartPosition.y)
{
continue;
}
reportBuilder.AppendLine();
reportBuilder.AppendLine($">{hit.name}");
if(top.y>groundReference.transform.position.y+maxHeight)
{
reportBuilder.AppendLine("高度超出可翻越高度");
continue;
}
var start = sourceStartPosition+forward*8;
//start.y = hit.bounds.center.y;
var ray = new Ray(start, -forward);
if (hit.Raycast(ray, out var colliderHit, 8) is false)
{
reportBuilder.AppendLine("未检测到背面,算法错误");
Debug.DrawRay(ray.origin, ray.direction * 8, Color.red, 8);
continue;
}
EndPosition = colliderHit.point + colliderHit.normal*0.4f;
EndPosition.y = top.y;
try
{
foreach (var x in UnityEngine
.Physics
.OverlapSphere(EndPosition, 0.1f, layerMask))
{
if(Equals(x, hit))
continue;
throw new OperationCanceledException($"终点有其他碰撞体{x.name}");
}
}
catch (OperationCanceledException e)
{
reportBuilder.AppendLine(e.Message);
continue;
}
if(UnityEngine.Physics.Raycast(EndPosition,Vector3.down,out _,1.6f,layerMask) is false)
{
Debug.DrawRay(EndPosition, Vector3.down*1.6f, Color.red, 8);
reportBuilder.AppendLine("未检测到地面,跳过");
continue;
//Debug.DrawRay(EndPosition, Vector3.down, Color.red, 8);
}
var fixdPosition = colliderHit.point;
fixdPosition.y=hit.bounds.center.y;
var start2 = fixdPosition;
start2.y += 0.1f;
var end2 = fixdPosition;
end2.y -= 0.1f;
if(UnityEngine.Physics.Linecast(start2,end2,out var downHit,layerMask))
{
reportBuilder.AppendLine($"检测到了障碍物{downHit.collider.name}");
//BIT4Log.Log<GetVaultPointFromCollider>(reportBuilder.ToString());
continue;
}
start = startPosition;
start.y = hit.bounds.center.y;
ray = new Ray(start, forward);
if(hit.Raycast(ray,out colliderHit,8) is false)
{
reportBuilder.AppendLine("未检测到正面,算法错误");
Debug.DrawRay(ray.origin, ray.direction * 8, Color.red, 8);
continue;
}
StartPosition = colliderHit.point;
StartPosition.y = top.y;
StartPosition += colliderHit.normal * 0.4f;
var closeStart = hit.ClosestPoint(StartPosition);
var closeEnd = hit.ClosestPoint(EndPosition);
var lineDistance = Vector3.Distance(closeStart, closeEnd);
if(lineDistance > maxVaultDistance)
{
reportBuilder.AppendLine($"长度{lineDistance}超出可翻越距离{maxVaultDistance}");
Debug.DrawLine(closeStart,closeEnd, Color.yellow, 4);
//BIT4Log.Log<GetVaultPointFromCollider>(reportBuilder.ToString());
continue;
}
vector3 = colliderHit.point;
vector3.y = top.y;
vector3 += colliderHit.normal * 0.4f;
reportBuilder.AppendLine();
BIT4Log.Log<GetVaultPointFromCollider>(reportBuilder.ToString());
return true;
}
reportBuilder.AppendLine($"failed");
BIT4Log.Log<GetVaultPointFromCollider>(reportBuilder.ToString());
vector3 = default;
return false;
}
}
}

59
Src/Unity/Scripts/Physics/PhysicsBasedAnimation.cs
View File

@@ -26,10 +26,12 @@ namespace BITKit.Physics
[Range(0, 1)] public float Blend;
[SerializeField] public bool allowFixedJoints;
[SerializeField] public bool allowGravity;
[SerializeField] public bool disablePhysics;
[Header(Constant.Header.Components)]
[SerializeField] private JointConfigure[] fixedJointConfigures;
[SerializeField] private JointConfigure[] jointConfigures;
[SerializeField] public JointConfigure[] fixedJointConfigures;
[SerializeField] public JointConfigure[] jointConfigures;
[Header(Constant.Header.Settings)]
[SerializeField] private float positionSpring;
@@ -83,7 +85,20 @@ namespace BITKit.Physics
private void FixedUpdate()
{
allowFixedJoint.SetElements(this,allowFixedJoints);
if (disablePhysics && allowFixedJoints)
{
foreach (var x in jointConfigures)
{
var jointTransform = x.joint.transform;
jointTransform.localPosition = x.animate.localPosition;
jointTransform.localRotation = x.animate.localRotation;
x.Rigidbody.isKinematic = true;
x.Rigidbody.useGravity = false;
}
return;
}
allowFixedJoint.SetElements(1,allowFixedJoints);
allowPhysicsAnimation.SetElements(this,Blend is not 0);
//var spring = Mathf.Lerp(Blend,0,angularSprint);
@@ -93,15 +108,41 @@ namespace BITKit.Physics
positionSpring =Mathf.Lerp(0,positionSpring,Blend),
maximumForce = maximumForce,
};
var emptyDrive = new JointDrive
{
positionDamper = 0,
positionSpring = 0,
maximumForce = 0,
};
var blendTorqueForce = Mathf.Lerp(0,this.torqueForce,Blend);
foreach (var jointConfigure in jointConfigures)
{
jointConfigure.joint.angularXDrive = drive;
jointConfigure.joint.angularYZDrive = drive;
jointConfigure.joint.xDrive = drive;
jointConfigure.joint.yDrive = drive;
jointConfigure.joint.zDrive = drive;
if (Blend is not 0)
{
jointConfigure.joint.angularXDrive = drive;
jointConfigure.joint.angularYZDrive = drive;
}
else
{
jointConfigure.joint.angularXDrive = emptyDrive;
jointConfigure.joint.angularYZDrive = emptyDrive;
}
if (allowGravity is false)
{
jointConfigure.joint.xDrive = drive;
jointConfigure.joint.yDrive = drive;
jointConfigure.joint.zDrive = drive;
}
else
{
jointConfigure.joint.xDrive = emptyDrive;
jointConfigure.joint.yDrive = emptyDrive;
jointConfigure.joint.zDrive = emptyDrive;
}
jointConfigure.joint.targetRotation =
Quaternion.Lerp(
@@ -139,7 +180,7 @@ namespace BITKit.Physics
// jointConfigure.Rigidbody.AddForce(
// jointConfigure.animate.localPosition - jointConfigure.Rigidbody.position,ForceMode.VelocityChange
// );
jointConfigure.Rigidbody.useGravity =Blend is 0;
jointConfigure.Rigidbody.useGravity = allowGravity;
//jointConfigure.Rigidbody.MoveRotation(jointConfigure.animate.rotation);
}

4
Src/Unity/Scripts/Physics/PhysicsHelper.cs
View File

@@ -10,7 +10,7 @@ namespace BITKit
public static async UniTask AddForceAtPositionAsync(this Rigidbody rigidbody, Vector3 force, Vector3 position,ForceMode forceMode=ForceMode.Force)
{
if (rigidbody is null) return;
await UniTask.DelayFrame(8);
await UniTask.DelayFrame(2);
try
{
rigidbody.AddForceAtPosition(force, position,forceMode);
@@ -20,7 +20,7 @@ namespace BITKit
}
public static async void Explosion(Vector3 position,float radius,LayerMask layerMask,float force)
{
await UniTask.DelayFrame(8);
await UniTask.DelayFrame(2);
foreach (var x in UnityEngine.Physics.OverlapSphere(position,radius,layerMask))
{
if(x.attachedRigidbody is null)continue;