7bbfa625a0
1.让马可以跳跃 （1.测试，如果我给马的刚体一个（1，1）的力代表跳跃，是否可行？ Good Job！通过测试，可以通过给力的方式使马整体起飞，而且控制点和马蹄都会随之起飞，是理想的状态。 （2.让马并拢每一组腿，当按住某键，使该组腿并拢，也就是消除输入偏差。当松开键，重新设置输入偏差，使双腿分开。 DONE （3.从输入中获取信息，当两腿均并拢，进入跳跃模式，否则离开跳跃模式，在跳跃模式下，如何通过输入计算出应该给出多大、哪个方向的的跳跃力是核心和难点 （4.马脚和马脚的控制点很难控制，数据也经常抖动，我不想通过这两个变量来计算跳跃的力。我打算直接通过输入值判断 （5.尝试：首先，若处于跳跃模式，每帧记录上一帧输入，并计算一个瞬时速度，当瞬时速度的y大于0，也就代表此时腿在上升，在预备，不考虑。若瞬时速度的y小于0，说明腿开始下降，可能会跳起。此时判断此瞬时速度的模长是否大于某个阈值，若是，进入戒备状态，此后的若干帧后，有任何一帧再低于阈值，说明输入结束，输出最后的速度，并给予马刚体。若此时瞬时速度的模长小于阈值 ，说明太慢，不记录。在这个戒备状态中的每一帧，需要记录瞬时速度，并累计影响，最终经过乘以调整值、取反（因为是相对作用）操作，得到需要赋予马的力，然后把力赋给马刚体，完成一次跳跃 （6.Good！初步尝试有效。在马着地后，重置跳跃状态，即可完成循环，开始下一次跳跃。 至此，马基本可以跳跃，但是手感极差，并且键鼠几乎没有操作空间，需要后续进一步优化……
570 lines
19 KiB
C#
570 lines
19 KiB
C#
using System.Collections;
|
||
using System.Collections.Generic;
|
||
using UnityEngine;
|
||
using Sirenix.OdinInspector;
|
||
|
||
/// <summary>
|
||
/// 马类，用于接受来自玩家的指令、进行物理模拟
|
||
/// </summary>
|
||
public class Horse : MonoBehaviour
|
||
{
|
||
// _____ _ _ _
|
||
// | __ \ | | | (_)
|
||
// | |__) | _| |__ | |_ ___
|
||
// | ___/ | | | '_ \| | |/ __|
|
||
// | | | |_| | |_) | | | (__
|
||
// |_| \__,_|_.__/|_|_|\___|
|
||
|
||
/// <summary>
|
||
/// 马的前腿根部
|
||
/// </summary>
|
||
[BoxGroup("必须绑定的物体")][Header("马的前腿根部")]
|
||
public Transform frontLegRoot;
|
||
|
||
/// <summary>
|
||
/// 马的后腿根部
|
||
/// </summary>
|
||
[BoxGroup("必须绑定的物体")][Header("马的后腿根部")]
|
||
public Transform backLegRoot;
|
||
|
||
/// <summary>
|
||
/// 马伸直腿后前脚底部
|
||
/// </summary>
|
||
[BoxGroup("必须绑定的物体")][Header("马前脚伸直后的最深位置")]
|
||
public Transform frontFoot;
|
||
|
||
/// <summary>
|
||
/// 马伸直腿后后脚底部
|
||
/// </summary>
|
||
[BoxGroup("必须绑定的物体")][Header("马后脚伸直后的最深位置")]
|
||
public Transform backFoot;
|
||
|
||
/// <summary>
|
||
/// 马脚Transform
|
||
/// </summary>
|
||
[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")]
|
||
public Transform[] footsTransform;
|
||
|
||
/// <summary>
|
||
/// 腿做圆周运动的半径
|
||
/// </summary>
|
||
[BoxGroup("马的基本运动信息")][Header("马脚圆周运动半径")]
|
||
public float footMoveRadius;
|
||
|
||
/// <summary>
|
||
/// 四条腿分别对输入偏差多少
|
||
/// </summary>
|
||
[ListDrawerSettings] [BoxGroup("马的基本运动信息")][Header("四条腿分别对输入偏差多少")]
|
||
public Vector2[] footOffestOfInput;
|
||
|
||
/// <summary>
|
||
/// 马足力量
|
||
/// </summary>
|
||
[BoxGroup("马的基本运动信息")][Header("马足力量")]
|
||
public float footForce;
|
||
|
||
/// <summary>
|
||
/// 马蹄推动马身的力度调整值
|
||
/// </summary>
|
||
[BoxGroup("马的基本运动信息")][Header("马前进的力度")]
|
||
public float strength;
|
||
|
||
/// <summary>
|
||
/// 马蹄供力有效范围
|
||
/// </summary>
|
||
[BoxGroup("马的基本运动信息")][Header("马蹄供力有效范围")]
|
||
public float effectiveDistance;
|
||
|
||
public enum FootType { Front, Back }
|
||
|
||
/// <summary>
|
||
/// 马状态，Stand代表无输入，Move为有输入着地行走，Jump为跳跃，当两对足均并拢时进入
|
||
/// </summary>
|
||
public enum HorseState { Stand, Move, Jump}
|
||
|
||
/// <summary>
|
||
/// 单次跳跃过程中的状态量,Ready表示还没开始累计最终力，Charge表示已经开始蓄力，jump表示已经触发跳跃
|
||
/// </summary>
|
||
public enum JumpState { Ready, Charging, Jump }
|
||
|
||
/// <summary>
|
||
/// 跳跃判定阈值，只有输入的变化大于该值才会触发跳跃的蓄力
|
||
/// </summary>
|
||
[BoxGroup("马的基本运动信息")][Header("马跳跃蓄力阈值")]
|
||
public float jumpChargeThreshold;
|
||
|
||
/// <summary>
|
||
/// 马跳跃力度
|
||
/// </summary>
|
||
[BoxGroup("马的基本运动信息")][Header("马跳跃力度")]
|
||
public float jumpForce;
|
||
|
||
|
||
|
||
|
||
|
||
// _____ _ _
|
||
// | __ \ (_) | |
|
||
// | |__) | __ ___ ____ _| |_ ___
|
||
// | ___/ '__| \ \ / / _` | __/ _ \
|
||
// | | | | | |\ V / (_| | || __/
|
||
// |_| |_| |_| \_/ \__,_|\__\___|
|
||
|
||
struct foot
|
||
{
|
||
/// <summary>
|
||
/// 腿对输入偏差多少
|
||
/// </summary>
|
||
public Vector2 footOffestOfInput;
|
||
|
||
/// <summary>
|
||
/// 马脚控制点，通过transform找到
|
||
/// </summary>
|
||
public Transform footControlPoint;
|
||
|
||
/// <summary>
|
||
/// 真实的马脚的Transform
|
||
/// </summary>
|
||
public Transform footRealTransform;
|
||
|
||
/// <summary>
|
||
/// 马脚此时目标位置，每帧计算
|
||
/// </summary>
|
||
public Vector3 footTargetPosition;
|
||
|
||
/// <summary>
|
||
/// 马蹄刚体组件
|
||
/// </summary>
|
||
public Rigidbody2D footRigidbody2D;
|
||
|
||
/// <summary>
|
||
/// 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
|
||
/// </summary>
|
||
public BoxCollider2D footBoxCollider2D;
|
||
|
||
/// <summary>
|
||
/// 马蹄前一帧的位置
|
||
/// </summary>
|
||
public Vector3 footPreviousPosition;
|
||
}
|
||
|
||
private foot[] foots;
|
||
|
||
/// <summary>
|
||
/// 马前腿长度
|
||
/// </summary>
|
||
private float frontLegLength;
|
||
|
||
/// <summary>
|
||
/// 马后腿长度
|
||
/// </summary>
|
||
private float backLegLength;
|
||
|
||
/// <summary>
|
||
/// 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
|
||
/// </summary>
|
||
private float frontRootDistanceToCenterOfCircle;
|
||
|
||
/// <summary>
|
||
/// 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
|
||
/// </summary>
|
||
private float backRootDistanceToCenterOfCircle;
|
||
|
||
/// <summary>
|
||
/// 输入的马前脚信息
|
||
/// </summary>
|
||
private Vector2 inputFrontVector;
|
||
|
||
/// <summary>
|
||
/// 输入的马后脚信息
|
||
/// </summary>
|
||
private Vector2 inputBackVector;
|
||
|
||
/// <summary>
|
||
/// 前一帧的前马脚输入向量
|
||
/// </summary>
|
||
private Vector2 previousInputFrontVector;
|
||
|
||
/// <summary>
|
||
/// 前一帧的后马脚输入向量
|
||
/// </summary>
|
||
private Vector2 previousInputBackVector;
|
||
|
||
|
||
/// <summary>
|
||
/// 原重力尺度，在Start中通过随意一条腿的刚体获取
|
||
/// </summary>
|
||
private float oriGravityScale;
|
||
|
||
/// <summary>
|
||
/// 马蹄碰撞体数组
|
||
/// </summary>
|
||
private BoxCollider2D[] footBoxColliders;
|
||
|
||
/// <summary>
|
||
/// 马的刚体组件
|
||
/// </summary>
|
||
private Rigidbody2D horseRig;
|
||
|
||
/// <summary>
|
||
/// 四条腿分别对输入偏差多少,但是是原始值，不会改变，用于还原并拢的脚
|
||
/// </summary>
|
||
private Vector2[] oriFootOffestOfInput;
|
||
|
||
/// <summary>
|
||
/// 马此时的状态
|
||
/// </summary>
|
||
private HorseState horseState;
|
||
|
||
/// <summary>
|
||
/// 此时前腿并拢着吗？
|
||
/// </summary>
|
||
private bool isFrontFootMerged = false;
|
||
|
||
/// <summary>
|
||
/// 此时后腿并拢着吗？
|
||
/// </summary>
|
||
private bool isBackFootMerged = false;
|
||
|
||
/// <summary>
|
||
/// 此时的跳跃状态
|
||
/// </summary>
|
||
private JumpState jumpState = JumpState.Ready;
|
||
|
||
/// <summary>
|
||
/// 跳跃蓄力的速度
|
||
/// </summary>
|
||
private Vector2 jumpChargeVelocity;
|
||
|
||
|
||
void Start()
|
||
{
|
||
//初始化
|
||
Init();
|
||
//找到必要的物体和组件
|
||
FindSth();
|
||
//计算必要的量
|
||
CaculateSth();
|
||
}
|
||
|
||
void Update()
|
||
{
|
||
//更新一些数据
|
||
UpdateDataEarly();
|
||
//计算马脚目标位置
|
||
CaculateTargetPosition();
|
||
//让马脚朝着目标移动
|
||
MoveFoot();
|
||
//让马整体运动
|
||
MoveHorse();
|
||
//跳跃检测和物理实现
|
||
if(horseState == HorseState.Jump) CheckJump();
|
||
//更新一些数据
|
||
UpdateDataLate();
|
||
}
|
||
|
||
private void Jump()
|
||
{
|
||
jumpState = JumpState.Jump;
|
||
Vector2 jumpVelocity = jumpChargeVelocity * jumpForce * -1 * new Vector2(1.5f,1.5f);
|
||
if(jumpVelocity.magnitude > 30f) jumpVelocity *= 0.1f;
|
||
|
||
Debug.Log("Jump Velocity: " + jumpVelocity);
|
||
horseRig.velocity += jumpVelocity;
|
||
jumpChargeVelocity = Vector2.zero;
|
||
}
|
||
|
||
|
||
/// <summary>
|
||
/// 在跳跃状态时每帧执行，用于检测跳跃和实现跳跃的物理
|
||
/// </summary>
|
||
private void CheckJump()
|
||
{
|
||
//通过本帧输入向量减上一帧输入向量得到一个瞬时速度
|
||
Vector2 frontInstantaneousSpeed = inputFrontVector - previousInputFrontVector;
|
||
Vector2 backInstantaneousSpeed = inputBackVector - previousInputBackVector;
|
||
//如果任意一组的y大于0，说明在上升，不考虑它的跳跃
|
||
if(frontInstantaneousSpeed.y > 0 || backInstantaneousSpeed.y > 0) return;
|
||
else
|
||
{
|
||
//此时双腿在下降，开始检测跳跃蓄力
|
||
//首先看前后腿输入变化的瞬时速度的模长和是否大于蓄力标准
|
||
if(frontInstantaneousSpeed.magnitude + backInstantaneousSpeed.magnitude > jumpChargeThreshold)
|
||
{
|
||
//若输入的瞬时速度大于蓄力标准时，看马的跳跃状态，若处于准备态，则转移至蓄力态
|
||
if(jumpState == JumpState.Ready) jumpState = JumpState.Charging;
|
||
//若已处于蓄力态，累计力大小
|
||
if(jumpState == JumpState.Charging)
|
||
{
|
||
jumpChargeVelocity += (frontInstantaneousSpeed + backInstantaneousSpeed);
|
||
}
|
||
}
|
||
else
|
||
{
|
||
//若输入的瞬时速度小于蓄力标准时，看马的跳跃状态，若处于蓄力态，则触发跳跃
|
||
if(jumpState == JumpState.Charging) Jump();
|
||
}
|
||
}
|
||
|
||
}
|
||
|
||
|
||
|
||
|
||
/// <summary>
|
||
/// 在Update之前更新一些数据
|
||
/// </summary>
|
||
private void UpdateDataEarly()
|
||
{
|
||
//判断是否两腿均并拢，若是，进入跳跃状态，否则设置为Stand状态
|
||
if (isFrontFootMerged && isBackFootMerged) horseState = HorseState.Jump;
|
||
else horseState = HorseState.Stand;
|
||
|
||
Debug.Log("jumpState = " + jumpState);
|
||
|
||
}
|
||
|
||
|
||
|
||
/// <summary>
|
||
/// 使马并拢输入的双腿，
|
||
/// </summary>
|
||
public void MergeFoot(FootType type)
|
||
{
|
||
//根据输入的组类型，判断需要更改偏移值的是那一个索引下的脚
|
||
int index = type == FootType.Front ? 1 : 3;
|
||
footOffestOfInput[index] = Vector2.zero;
|
||
if(type == FootType.Front) isFrontFootMerged = true;
|
||
else isBackFootMerged = true;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 恢复输入的并拢的双腿至有偏移状态
|
||
/// </summary>
|
||
/// <param name="type">需要恢复的是哪一组腿</param>
|
||
public void RecoverFoot(FootType type)
|
||
{
|
||
//根据输入的组类型，判断需要更改偏移值的是那一个索引下的脚
|
||
int index = type == FootType.Front ? 1 : 3;
|
||
footOffestOfInput[index] = oriFootOffestOfInput[index];
|
||
if(type == FootType.Front) isFrontFootMerged = false;
|
||
else isBackFootMerged = false;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 移动马身体
|
||
/// </summary>
|
||
private void MoveHorse()
|
||
{
|
||
Vector2 v = new Vector2();
|
||
|
||
for(int i = 0; i < 4; i++)
|
||
{
|
||
//仅在有输入的情况下，会考虑给速度
|
||
//看此时该脚是否有输入
|
||
bool hasInput = i < 2 ? inputFrontVector.magnitude > 0.1f : inputBackVector.magnitude > 0.1f;
|
||
if(!hasInput) continue;
|
||
//从足底向正下方发射射线，获取碰撞到的物体
|
||
RaycastHit2D hit = Physics2D.Raycast(
|
||
foots[i].footRealTransform.position,
|
||
Vector2.down,
|
||
1000f,
|
||
LayerMask.NameToLayer("foot")
|
||
);
|
||
//如果击中物体的距离已经超过了有效范围，则不贡献速度
|
||
if(hit.distance > effectiveDistance) continue;
|
||
//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
|
||
//根位置
|
||
Vector3 rootPosition = i < 2 ? frontLegRoot.position : backLegRoot.position;
|
||
//L
|
||
float L = i < 2 ? frontLegLength : backLegLength;
|
||
//圆心y坐标
|
||
float centerY = L - footMoveRadius;
|
||
centerY += effectiveDistance;
|
||
//仅低于时，需要计算影响
|
||
if(foots[i].footRealTransform.position.y >= centerY) continue;
|
||
//本帧位置减上帧位置
|
||
Vector3 trans = foots[i].footRealTransform.position - foots[i].footPreviousPosition;
|
||
Vector2 v_ = trans;
|
||
//把本足的影响加到速度中
|
||
v += v_;
|
||
}
|
||
|
||
//给速度乘以力量，得到最终理论速度
|
||
v *= strength;
|
||
//取反，因为是模拟反作用力
|
||
v*=-1;
|
||
//减弱y轴的影响，不要让马在平地上起飞
|
||
v *= new Vector2(1,0.2f);
|
||
|
||
// Debug.Log(v);
|
||
|
||
//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
|
||
if(v.magnitude > 10f) v = Vector2.zero;
|
||
|
||
//把速度加给马的刚体
|
||
horseRig.velocity += v;
|
||
}
|
||
|
||
private void UpdateDataLate()
|
||
{
|
||
//更新四足的上帧位置
|
||
for(int i = 0; i < 4; i++)
|
||
foots[i].footPreviousPosition = foots[i].footRealTransform.position;
|
||
|
||
//更新上帧输入
|
||
previousInputFrontVector = inputFrontVector;
|
||
previousInputBackVector = inputBackVector;
|
||
}
|
||
|
||
void Init()
|
||
{
|
||
foots = new foot[4];
|
||
oriFootOffestOfInput = new Vector2[4];
|
||
footBoxColliders = new BoxCollider2D[4];
|
||
for(int i = 0; i < 4; i++) foots[i].footPreviousPosition = transform.position;
|
||
for(int i = 0; i < 4; i++) oriFootOffestOfInput[i] = footOffestOfInput[i];
|
||
horseState = HorseState.Stand;
|
||
}
|
||
|
||
|
||
void FindSth()
|
||
{
|
||
//把四只脚的目标点找到，0：左前 1：右前 2：左后 3：右后
|
||
foots[0].footControlPoint = transform.Find("左前脚").GetChild(0);
|
||
foots[1].footControlPoint = transform.Find("右前脚").GetChild(0);
|
||
foots[2].footControlPoint = transform.Find("左后脚").GetChild(0);
|
||
foots[3].footControlPoint = transform.Find("右后脚").GetChild(0);
|
||
|
||
//同步四只脚的输入偏差
|
||
for (int i = 0; i < 4; i++) foots[i].footOffestOfInput = footOffestOfInput[i];
|
||
|
||
//找到马蹄刚体组件
|
||
for(int i = 0; i < 4; i++) foots[i].footRigidbody2D = foots[i].footControlPoint.GetComponent<Rigidbody2D>();
|
||
|
||
//找到马蹄的真实Transform
|
||
for(int i = 0; i < 4; i++) foots[i].footRealTransform = footsTransform[i];
|
||
|
||
//找到马蹄的碰撞体
|
||
footBoxColliders = GetComponents<BoxCollider2D>();
|
||
|
||
//给foots的碰撞体赋值
|
||
for (int i = 0; i < 4; i++)
|
||
{
|
||
foots[i].footBoxCollider2D = footBoxColliders[i];
|
||
footBoxColliders[i].offset = foots[i].footControlPoint.localPosition ;
|
||
}
|
||
|
||
//找到马的刚体
|
||
horseRig = GetComponent<Rigidbody2D>();
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// 计算一些不会变的必要的量
|
||
/// </summary>
|
||
void CaculateSth()
|
||
{
|
||
//计算前后腿马腿长度
|
||
frontLegLength = Vector3.Distance(frontLegRoot.position, frontFoot.position);
|
||
backLegLength = Vector3.Distance(backLegRoot.position, backFoot.position);
|
||
//计算从腿根骨骼到马脚运动圆心的距离
|
||
frontRootDistanceToCenterOfCircle = frontLegLength - footMoveRadius;
|
||
backRootDistanceToCenterOfCircle = backLegLength - footMoveRadius;
|
||
//取得原始重力尺度
|
||
oriGravityScale = foots[0].footRigidbody2D.gravityScale;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 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
|
||
/// </summary>
|
||
private void CaculateTargetPosition()
|
||
{
|
||
//循环4次
|
||
for(int i = 0; i < 4; i++)
|
||
{
|
||
//整体公式为：Target = 根位置 - V（0，L - r） + inputdir * offest * r
|
||
//根位置
|
||
Vector3 rootPosition = i < 2 ? frontLegRoot.position : backLegRoot.position;
|
||
//L
|
||
float L = i < 2 ? frontLegLength : backLegLength;
|
||
//中间向量
|
||
Vector3 middleVector = new Vector3(0,L - footMoveRadius,0);
|
||
//inputdir
|
||
Vector2 inputVector = i < 2 ? inputFrontVector : inputBackVector;
|
||
//inputTrans
|
||
Vector3 inputTrans = new Vector3
|
||
(
|
||
inputVector.x * ( footOffestOfInput[i].x + 1),
|
||
inputVector.y * ( footOffestOfInput[i].y + 1),
|
||
0
|
||
)
|
||
* 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;
|
||
|
||
|
||
//撞击地面后，修改跳跃状态
|
||
void OnCollisionEnter2D(Collision2D collision)
|
||
{
|
||
if(collision.gameObject.tag == "Ground")
|
||
{
|
||
jumpState = JumpState.Ready;
|
||
}
|
||
}
|
||
|
||
|
||
}
|