1

Assets/BITKit/Unity/Scripts/Physics/IClosePoint.cs

@@ -1,11 +1,14 @@
 using System;
 using System.Collections;
 using System.Collections.Generic;
+using System.Data;
+using System.Linq;
 using UnityEngine;
 namespace BITKit
 {
     public interface IClosePoint
     {
+        Collider Collider { get; }
         bool TryGetClosePoint(out Vector3 vector3);
     }
     [System.Serializable]
@@ -14,12 +17,15 @@ namespace BITKit
         public Transform root;
         public LayerMask layerMask;
         public float distance;
+        public Collider Collider { get; set; }
+
         public bool TryGetClosePoint(out Vector3 vector3)
         {
             vector3 = default;
             if (UnityEngine.Physics.Raycast(root.position, root.forward, out var raycastHit, distance, layerMask))
             {
                 var collider = raycastHit.collider;
+                if (collider.isTrigger) return false;
                 switch (collider)
                 {
                     case MeshCollider meshCollider:
@@ -42,6 +48,8 @@ namespace BITKit
                     if(hit!= collider)
                         return false;
                 }
+                
+                Collider = collider;
                 return true;
                 //return vector3.y >= collider.bounds.center.y + collider.bounds.extents.y;
                 //return true;
@@ -65,14 +73,31 @@ namespace BITKit
 
         public Vector3 StartPosition;
         public Vector3 EndPosition;
+
+        public Collider Collider { get; set; }
+        private Rigidbody rigidbody;
         
+        private bool isInitialized;
+
         public bool TryGetClosePoint(out Vector3 vector3)
         {
+            if (isInitialized is false)
+            {
+                rigidbody = groundReference.GetComponent<Rigidbody>();
+                isInitialized = true;
+            }
+            if (rigidbody)
+            {
+                vector3 = default;
+                if (rigidbody.velocity.GetLength() < 0.1f) return false;
+            }
+     
             var reportBuilder = new System.Text.StringBuilder();
             
             var forward = root.forward;
-            var startPosition = groundReference.position;
-            startPosition.y = root.position.y;
+            var sourceStartPosition = groundReference.position;
+            sourceStartPosition.y = root.position.y;
+            var startPosition = sourceStartPosition;
             
             var collider = UnityEngine.Physics.OverlapSphere(startPosition, radius, layerMask);
             
@@ -80,17 +105,23 @@ namespace BITKit
             
             foreach (var hit in collider)
             {
-                reportBuilder.AppendLine();
-                
                 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 = startPosition+forward*distance;
+                var start = sourceStartPosition+forward*8;
                 //start.y = hit.bounds.center.y;
                 
                 var ray = new Ray(start, -forward);
@@ -105,16 +136,35 @@ namespace BITKit
                 
                 EndPosition = colliderHit.point + colliderHit.normal*0.4f;
                 EndPosition.y = top.y;
-                
-                Debug.DrawLine(ray.origin, colliderHit.point, Color.green, 8);
-                var lineDistance = Vector3.Distance(start, colliderHit.point);
-                if(lineDistance > maxVaultDistance)
+
+
+                try
                 {
-                    reportBuilder.AppendLine("长度超出可翻越距离");
-                    
-                    BIT4Log.Log<GetVaultPointFromCollider>(reportBuilder.ToString());
+                    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;
@@ -126,7 +176,7 @@ namespace BITKit
                 {
                     reportBuilder.AppendLine($"检测到了障碍物{downHit.collider.name}");
                     
-                    BIT4Log.Log<GetVaultPointFromCollider>(reportBuilder.ToString());
+                    //BIT4Log.Log<GetVaultPointFromCollider>(reportBuilder.ToString());
                     continue;
                 }
 
@@ -144,6 +194,19 @@ namespace BITKit
                 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;
                 

Assets/BITKit/Unity/Scripts/Physics/PhysicsBasedAnimation.cs

@@ -4,7 +4,7 @@ using System.Collections.Generic;
 using BITKit.Core.Tuple;
 using UnityEngine;
 
-namespace BITKit.Physics
+namespace BITKit
 {
 	[Serializable]
 	public class JointConfigure

Assets/BITKit/Unity/Scripts/Physics/Prop_Physics.cs

@@ -1,10 +1,9 @@
 using System.Collections;
 using System.Collections.Generic;
 using BITKit.Events;
-using UnityEditor;
 using UnityEngine;
 
-namespace BITKit.Physics
+namespace BITKit
 {
 	public class Prop_Physics : MonoBehaviour
 	{