397 lines
13 KiB
C#
397 lines
13 KiB
C#
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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using Sirenix.OdinInspector;
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/// <summary>
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/// 马类，用于接受来自玩家的指令、进行物理模拟
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/// </summary>
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public class Horse : MonoBehaviour
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{
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// _____ _ _ _
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// | __ \ | | | (_)
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// | |__) | _| |__ | |_ ___
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// | ___/ | | | '_ \| | |/ __|
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// | | | |_| | |_) | | | (__
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// |_| \__,_|_.__/|_|_|\___|
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/// <summary>
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/// 马的前腿根部
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/// </summary>
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[BoxGroup("必须绑定的物体")][Header("马的前腿根部")]
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public Transform frontLegRoot;
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/// <summary>
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/// 马的后腿根部
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/// </summary>
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[BoxGroup("必须绑定的物体")][Header("马的后腿根部")]
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public Transform backLegRoot;
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/// <summary>
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/// 马伸直腿后前脚底部
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/// </summary>
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[BoxGroup("必须绑定的物体")][Header("马前脚伸直后的最深位置")]
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public Transform frontFoot;
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/// <summary>
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/// 马伸直腿后后脚底部
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/// </summary>
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[BoxGroup("必须绑定的物体")][Header("马后脚伸直后的最深位置")]
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public Transform backFoot;
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/// <summary>
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/// 马脚Transform
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/// </summary>
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[BoxGroup("必须绑定的物体")][Header("马脚Transform，必须按照左前、右前、左后、右后的顺序绑定")]
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public Transform[] footsTransform;
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/// <summary>
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/// 腿做圆周运动的半径
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/// </summary>
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[BoxGroup("马的基本运动信息")][Header("马脚圆周运动半径")]
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public float footMoveRadius;
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/// <summary>
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/// 四条腿分别对输入偏差多少
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/// </summary>
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[ListDrawerSettings] [BoxGroup("马的基本运动信息")][Header("四条腿分别对输入偏差多少")]
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public Vector2[] footOffestOfInput;
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/// <summary>
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/// 马足力量
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/// </summary>
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[BoxGroup("马的基本运动信息")][Header("马足力量")]
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public float footForce;
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/// <summary>
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/// 马蹄推动马身的力度调整值
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/// </summary>
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[BoxGroup("马的基本运动信息")][Header("马前进的力度")]
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public float strength;
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/// <summary>
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/// 马蹄供力有效范围
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/// </summary>
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[BoxGroup("马的基本运动信息")][Header("马蹄供力有效范围")]
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public float effectiveDistance;
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// _____ _ _
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// | __ \ (_) | |
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// | |__) | __ ___ ____ _| |_ ___
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// | ___/ '__| \ \ / / _` | __/ _ \
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// | | | | | |\ V / (_| | || __/
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// |_| |_| |_| \_/ \__,_|\__\___|
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struct foot
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{
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/// <summary>
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/// 腿对输入偏差多少
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/// </summary>
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public Vector2 footOffestOfInput;
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/// <summary>
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/// 马脚控制点，通过transform找到
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/// </summary>
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public Transform footControlPoint;
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/// <summary>
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/// 真实的马脚的Transform
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/// </summary>
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public Transform footRealTransform;
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/// <summary>
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/// 马脚此时目标位置，每帧计算
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/// </summary>
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public Vector3 footTargetPosition;
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/// <summary>
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/// 马蹄刚体组件
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/// </summary>
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public Rigidbody2D footRigidbody2D;
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/// <summary>
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/// 马蹄的碰撞体，但是不绑在马蹄上，而是为了物理计算绑在马身上
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/// </summary>
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public BoxCollider2D footBoxCollider2D;
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/// <summary>
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/// 马蹄前一帧的位置
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/// </summary>
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public Vector3 footPreviousPosition;
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}
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private foot[] foots;
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/// <summary>
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/// 马前腿长度
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/// </summary>
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private float frontLegLength;
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/// <summary>
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/// 马后腿长度
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/// </summary>
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private float backLegLength;
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/// <summary>
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/// 从前腿根骨骼到马脚运动圆心的距离，用来推算最终马脚位置
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/// </summary>
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private float frontRootDistanceToCenterOfCircle;
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/// <summary>
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/// 从后腿根骨骼到马脚运动圆心的距离，用来推算最终马脚位置
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/// </summary>
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private float backRootDistanceToCenterOfCircle;
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/// <summary>
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/// 输入的马前脚信息
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/// </summary>
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private Vector2 inputFrontVector;
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/// <summary>
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/// 输入的马后脚信息
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/// </summary>
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private Vector2 inputBackVector;
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/// <summary>
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/// 原重力尺度，在Start中通过随意一条腿的刚体获取
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/// </summary>
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private float oriGravityScale;
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/// <summary>
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/// 马蹄碰撞体数组
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/// </summary>
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private BoxCollider2D[] footBoxColliders;
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/// <summary>
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/// 马的刚体组件
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/// </summary>
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private Rigidbody2D horseRig;
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void Start()
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{
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//初始化
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Init();
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//找到必要的物体和组件
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FindSth();
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//计算必要的量
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CaculateSth();
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}
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void Update()
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{
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//计算马脚目标位置
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CaculateTargetPosition();
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//让马脚朝着目标移动
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MoveFoot();
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//让马整体运动
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MoveHorse();
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//更新一些数据
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UpdateData();
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}
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/// <summary>
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/// 移动马身体
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/// </summary>
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private void MoveHorse()
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{
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Vector2 v = new Vector2();
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for(int i = 0; i < 4; i++)
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{
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//仅在有输入的情况下，会考虑给速度
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//看此时该脚是否有输入
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bool hasInput = i < 2 ? inputFrontVector.magnitude > 0.1f : inputBackVector.magnitude > 0.1f;
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if(!hasInput) continue;
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//从足底向正下方发射射线，获取碰撞到的物体
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RaycastHit2D hit = Physics2D.Raycast(
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foots[i].footRealTransform.position,
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Vector2.down,
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1000f,
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LayerMask.NameToLayer("foot")
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);
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//如果击中物体的距离已经超过了有效范围，则不贡献速度
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if(hit.distance > effectiveDistance) continue;
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//判断本帧中，马足位置是否低于圆心+调整值，仅低于时，需要计算影响
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//根位置
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Vector3 rootPosition = i < 2 ? frontLegRoot.position : backLegRoot.position;
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//L
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float L = i < 2 ? frontLegLength : backLegLength;
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//圆心y坐标
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float centerY = L - footMoveRadius;
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centerY += effectiveDistance;
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//仅低于时，需要计算影响
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if(foots[i].footRealTransform.position.y >= centerY) continue;
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//本帧位置减上帧位置
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Vector3 trans = foots[i].footRealTransform.position - foots[i].footPreviousPosition;
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Vector2 v_ = trans;
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//把本足的影响加到速度中
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v += v_;
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}
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//给速度乘以力量，得到最终理论速度
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v *= strength;
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//取反，因为是模拟反作用力
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v*=-1;
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//减弱y轴的影响，不要让马在平地上起飞
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v *= new Vector2(1,0.2f);
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Debug.Log(v);
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//如果模长超过5，那必是触发了什么逆天Bug，会导致马起飞，需要避免这些错误
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if(v.magnitude > 10f) v = Vector2.zero;
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//把速度加给马的刚体
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horseRig.velocity += v;
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}
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private void UpdateData()
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{
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//更新四足的上帧位置
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for(int i = 0; i < 4; i++)
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foots[i].footPreviousPosition = foots[i].footRealTransform.position;
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}
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void Init()
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{
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foots = new foot[4];
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footBoxColliders = new BoxCollider2D[4];
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for(int i = 0; i < 4; i++) foots[i].footPreviousPosition = transform.position;
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}
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void FindSth()
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{
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//把四只脚的目标点找到，0：左前 1：右前 2：左后 3：右后
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foots[0].footControlPoint = transform.Find("左前脚").GetChild(0);
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foots[1].footControlPoint = transform.Find("右前脚").GetChild(0);
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foots[2].footControlPoint = transform.Find("左后脚").GetChild(0);
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foots[3].footControlPoint = transform.Find("右后脚").GetChild(0);
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//同步四只脚的输入偏差
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for (int i = 0; i < 4; i++) foots[i].footOffestOfInput = footOffestOfInput[i];
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//找到马蹄刚体组件
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for(int i = 0; i < 4; i++) foots[i].footRigidbody2D = foots[i].footControlPoint.GetComponent<Rigidbody2D>();
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//找到马蹄的真实Transform
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for(int i = 0; i < 4; i++) foots[i].footRealTransform = footsTransform[i];
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//找到马蹄的碰撞体
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footBoxColliders = GetComponents<BoxCollider2D>();
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//给foots的碰撞体赋值
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for (int i = 0; i < 4; i++)
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{
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foots[i].footBoxCollider2D = footBoxColliders[i];
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footBoxColliders[i].offset = foots[i].footControlPoint.localPosition ;
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}
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//找到马的刚体
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horseRig = GetComponent<Rigidbody2D>();
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}
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/// <summary>
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/// 计算一些不会变的必要的量
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/// </summary>
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void CaculateSth()
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{
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//计算前后腿马腿长度
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frontLegLength = Vector3.Distance(frontLegRoot.position, frontFoot.position);
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backLegLength = Vector3.Distance(backLegRoot.position, backFoot.position);
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//计算从腿根骨骼到马脚运动圆心的距离
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frontRootDistanceToCenterOfCircle = frontLegLength - footMoveRadius;
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backRootDistanceToCenterOfCircle = backLegLength - footMoveRadius;
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//取得原始重力尺度
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oriGravityScale = foots[0].footRigidbody2D.gravityScale;
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}
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/// <summary>
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/// 根据记录的输入向量计算马脚本帧的目标位置，保存到footTargetPoints数组中
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/// </summary>
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private void CaculateTargetPosition()
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{
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//循环4次
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for(int i = 0; i < 4; i++)
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{
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//整体公式为：Target = 根位置 - V（0，L - r） + inputdir * offest * r
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//根位置
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Vector3 rootPosition = i < 2 ? frontLegRoot.position : backLegRoot.position;
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//L
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float L = i < 2 ? frontLegLength : backLegLength;
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//中间向量
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Vector3 middleVector = new Vector3(0,L - footMoveRadius,0);
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//inputdir
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Vector2 inputVector = i < 2 ? inputFrontVector : inputBackVector;
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//inputTrans
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Vector3 inputTrans = new Vector3
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(
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inputVector.x * ( footOffestOfInput[i].x + 1),
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inputVector.y * ( footOffestOfInput[i].y + 1),
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0
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)
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* footMoveRadius;
|
|||
|
|
//最终计算
|
|||
|
|
//footTargetPoints[i] = rootPosition - middleVector + inputTrans;
|
|||
|
|
foots[i].footTargetPosition = rootPosition - middleVector + inputTrans;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// 把马脚朝着算好的目标点移动
|
|||
|
|
/// </summary>
|
|||
|
|
private void MoveFoot()
|
|||
|
|
{
|
|||
|
|
//循环4次
|
|||
|
|
for(int i = 0; i < 4; i++)
|
|||
|
|
{
|
|||
|
|
//看此时该脚是否有输入
|
|||
|
|
bool hasInput = i < 2 ? inputFrontVector.magnitude > 0.1f : inputBackVector.magnitude > 0.1f;
|
|||
|
|
//如果有输入，则把马脚朝着目标移动
|
|||
|
|
// if(hasInput)
|
|||
|
|
if(true)
|
|||
|
|
{
|
|||
|
|
//若无输入，则把目标定在可以使马腿伸直的地方
|
|||
|
|
Vector3 targetPosition = hasInput ?
|
|||
|
|
foots[i].footTargetPosition :
|
|||
|
|
foots[i].footTargetPosition - new Vector3(0,footMoveRadius + 0.5f,0);
|
|||
|
|
//给刚体以target位置-自身位置作为力的方向
|
|||
|
|
Vector2 Dir = targetPosition - foots[i].footControlPoint.position;
|
|||
|
|
//如果已经很接近目标点了，则不再给速度，同时解除重力，防止出现抖动问题
|
|||
|
|
if(Dir.magnitude < 0.1f)
|
|||
|
|
{
|
|||
|
|
foots[i].footRigidbody2D.gravityScale = 0;
|
|||
|
|
foots[i].footRigidbody2D.velocity = Vector2.zero;
|
|||
|
|
continue;
|
|||
|
|
}
|
|||
|
|
//标准化马脚移动方向
|
|||
|
|
Dir.Normalize();
|
|||
|
|
//最终计算应有的速度
|
|||
|
|
Vector2 force = Dir * footForce * (horseRig.velocity.magnitude * 0.5f + 1);
|
|||
|
|
//赋予脚的刚体以速度
|
|||
|
|
foots[i].footRigidbody2D.velocity = foots[i].footRigidbody2D.velocity * 0.8f + force * 0.2f;
|
|||
|
|
//foots[i].footRigidbody2D.velocity = force;
|
|||
|
|
//foots[i].footRigidbody2D.AddForce(force);
|
|||
|
|
}
|
|||
|
|
// // 强制把马脚移到目标点
|
|||
|
|
//foots[i].footControlPoint.position = foots[i].footTargetPosition;
|
|||
|
|
// 恢复重力
|
|||
|
|
foots[i].footRigidbody2D.gravityScale = oriGravityScale;
|
|||
|
|
// 刷新碰撞体位置
|
|||
|
|
footBoxColliders[i].offset = foots[i].footRealTransform.position - transform.position;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public void SetInputFrontVector(Vector2 input) => inputFrontVector = input;
|
|||
|
|
|
|||
|
|
public void SetInputBackVector(Vector2 input) => inputBackVector = input;
|
|||
|
|
|
|||
|
|
|
|||
|
|
}
|