+ init

1 files changed, 315 insertions, 0 deletions

diff --git a/ActiveRagdoll/Assets/Scripts/PlayerController.cs b/ActiveRagdoll/Assets/Scripts/PlayerController.cs
new file mode 100644
index 0000000..21eaa01
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/PlayerController.cs
@@ -0,0 +1,315 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using Unity.VisualScripting;
+using UnityEngine;
+using UnityEngine.Scripting.APIUpdating;
+
+/// <summary>
+/// 角色控制器
+/// </summary>
+public class PlayerController : MonoBehaviour
+{
+    #region 序列化
+    public Rigidbody[] m_RigsToLift;
+    public ConstantForce m_LeftKneeForce;
+    public ConstantForce m_RightKneeForce;
+    [Header("Gravity")]
+    public Vector3 m_ExtraGravity;
+    [Header("TurnBody")]
+    public float m_TorqueForce;
+    [Header("Stand")]
+    public float m_StandHeight;
+    public float m_StandUpForceMultiplier;
+    public AnimationCurve m_StandUpForceCurve;
+    [Header("Move")]
+    public float m_HorizontalMoveForce;
+    public float m_JumpForce;
+    public float m_SwitchLegInterval;
+    public float m_LegAngle;
+    public float m_TorsoForce;
+    [Header("动画")]
+    public JointAnimation m_MoveAnimation;
+    #endregion
+
+    #region 公有字段
+    [NonSerialized] public CharacterInformation info;
+
+    public Vector3 forward
+    {
+        get
+        {
+            return -transform.forward;
+        }
+    }
+
+    #endregion
+
+    #region 私有字段
+    private Rigidbody[] m_AllRigidBodies;
+    private Rigidbody m_HipRigidBody;
+    private Rigidbody m_HeadRigidBody;
+    private Rigidbody m_TorsoRigidBody;
+    private Rigidbody m_LegLeftRigidBody;
+    private Rigidbody m_LegRightRigidBody;
+
+    private Quaternion m_TowardDirection; // 朝向角度
+
+    private bool m_LastMove;
+    private bool m_DoJump;
+    private bool m_DoMoveLeft;
+    private bool m_DoMoveRight;
+
+    private float m_StepSwitchTimer;
+    private bool m_IsLeftForward;
+
+    private float m_FallenGravityFactor;
+
+    #endregion
+
+    private void Awake()
+    {
+        InitRigidBodies();
+
+        m_HipRigidBody = transform.Find("Rigidbodies/Hip").GetComponent<Rigidbody>();
+        m_HeadRigidBody = transform.Find("Rigidbodies/Head").GetComponent<Rigidbody>();
+        m_TorsoRigidBody = transform.Find("Rigidbodies/Torso").GetComponent<Rigidbody>();
+        m_LegLeftRigidBody = transform.Find("Rigidbodies/Leg_Left").GetComponent<Rigidbody>();
+        m_LegRightRigidBody = transform.Find("Rigidbodies/Leg_Right").GetComponent<Rigidbody>();
+
+        info = GetComponent<CharacterInformation>();
+
+        m_TowardDirection = Quaternion.Euler(0, -90, 0);
+        m_DoJump = false;
+        m_LastMove = false;
+    }
+
+    private void Update()
+    {
+        m_DoMoveLeft = false;
+        m_DoMoveRight = false;
+
+        if (Input.GetKey(KeyCode.A))
+        {
+            m_TowardDirection = Quaternion.Euler(0, -90, 0);
+        }
+        if (Input.GetKey(KeyCode.D))
+        {
+            m_TowardDirection = Quaternion.Euler(0, 90, 0);
+        }
+        if (Input.GetKeyDown(KeyCode.W))
+        {
+            m_DoJump = true;
+        }
+        if (Input.GetKey(KeyCode.A))
+        {
+            m_DoMoveLeft = true;
+        }
+        if (Input.GetKey(KeyCode.D))
+        {
+            m_DoMoveRight = true;
+        }
+
+        m_StepSwitchTimer += Time.deltaTime;
+        if(m_StepSwitchTimer > m_SwitchLegInterval && Vector3.Angle(m_LegLeftRigidBody.transform.up, m_LegRightRigidBody.transform.up) > m_LegAngle)
+        {
+            m_IsLeftForward = !m_IsLeftForward;
+            m_StepSwitchTimer = m_StepSwitchTimer - m_SwitchLegInterval;
+        }
+    }
+
+    private void FixedUpdate()
+    {
+        StandUp();
+        TurnBody();
+        OnMove();
+    }
+
+    private void OnMove()
+    {
+        if (!(m_DoMoveLeft || m_DoMoveRight || m_DoJump))
+        {
+            m_LastMove = false;
+            return;
+        }
+
+        //if (info.sinceTurn != 0)
+        //{
+        //    return;
+        //}
+
+        if (!m_LastMove) // enter move
+        {
+            m_StepSwitchTimer = 0;
+
+            m_LastMove = true;
+        }
+
+        m_MoveAnimation.Animate();
+
+        if(m_DoMoveLeft)
+        {
+            MoveLeft();
+        }
+        if (m_DoMoveRight)
+        {
+            MoveRight();
+        }
+        if (m_DoJump)
+        {
+            Jump();
+            m_DoJump = false;
+        }
+    }
+
+    void MoveLeft()
+    {
+        DoActionToAllRigidbodies((rig, i) => {
+            rig.AddForce(Vector3.left * m_HorizontalMoveForce *  Time.fixedDeltaTime, ForceMode.Acceleration);
+        });
+        m_TorsoRigidBody.AddForce(Vector3.left * m_TorsoForce, ForceMode.Force);
+    }
+
+    void MoveRight()
+    {
+        DoActionToAllRigidbodies((rig, i) =>
+        {
+            rig.AddForce(Vector3.right * m_HorizontalMoveForce * Time.fixedDeltaTime, ForceMode.Acceleration);
+        });
+        m_TorsoRigidBody.AddForce(Vector3.right * m_TorsoForce, ForceMode.Force);
+    }
+
+    void Jump()
+    {
+        if(info.isGrounded || info.sinceGrounded < 0.2f)
+        {
+            Debug.Log("Jump");
+            DoActionToAllRigidbodies((rig) => {
+                rig.AddForce(Vector3.up * m_JumpForce * Time.fixedDeltaTime, ForceMode.VelocityChange);
+            });
+        }
+    }
+
+    private void StandUp()
+    {
+        if (!info.isGrounded) // air
+        {
+            m_FallenGravityFactor += Time.fixedDeltaTime;
+            //m_FallenGravityFactor = Mathf.Clamp(m_FallenGravityFactor, 0, 1);
+
+            ApplyExtraGravity();
+        }
+        else // grounded
+        {
+            m_FallenGravityFactor = 0;
+
+            //Vector3 standUpForce = m_StandUpForce * Vector3.up * (m_StandHeight - info.shortestDistanceFromHeadToGround);
+            float headHeight = info.HeadRayCast();
+            if(headHeight < m_StandHeight)
+            {
+                float t = 1 - (m_StandHeight - headHeight) / m_StandHeight;
+                t = Mathf.Clamp(t, 0, 1);
+                //Debug.Log(t);
+                Vector3 standUpForce = m_StandUpForceMultiplier * m_StandUpForceCurve.Evaluate(t) * Vector3.up;
+                for (int i = 0; i < m_RigsToLift.Length; i++)
+                {
+                    m_RigsToLift[i].AddForce(info.GetTotalMass() * standUpForce + info.GetTotalMass() * -Physics.gravity, ForceMode.Force);
+                }
+            }
+        }
+
+        if(info.sinceGrounded < 0.3f)
+        {
+            m_LeftKneeForce.enabled = true;
+            m_RightKneeForce.enabled = true;
+        }
+        else
+        {
+            m_LeftKneeForce.enabled = false;
+            m_RightKneeForce.enabled = false;
+        }
+    }
+
+    private void TurnBody()
+    {
+        Vector3 properForward = m_TowardDirection * -Vector3.forward;
+        float angel = Vector3.Angle(m_HipRigidBody.transform.forward, properForward);
+        Vector3 dir = Vector3.Cross(m_HipRigidBody.transform.forward, properForward);
+        if(Mathf.Abs(angel) < 5f)
+        {
+            info.sinceTurn = 0;
+        }
+        if(dir.y > 0)
+        {
+            m_HipRigidBody.AddTorque(Vector3.up * angel * m_TorqueForce, ForceMode.Acceleration) ;
+        }
+        else if(dir.y < 0)
+        {
+            m_HipRigidBody.AddTorque(-Vector3.up * angel * m_TorqueForce, ForceMode.Acceleration);
+        }
+    }
+
+    /// <summary>
+    /// 初始化rigidbody
+    /// </summary>
+    private void InitRigidBodies() //初始化刚体，编号
+    {
+        this.m_AllRigidBodies = base.GetComponentsInChildren<Rigidbody>();
+        DoActionToAllRigidbodies((rig, i) => { 
+        });
+
+        IgnoreCollision();
+    }
+
+    /// <summary>
+    /// 屏蔽身体各部件之间的碰撞 
+    /// </summary>
+    public void IgnoreCollision()
+    {
+        for (int i = 0; i < m_AllRigidBodies.Length - 1; i++)
+        {
+            for (int j = i + 1; j < m_AllRigidBodies.Length; j++)
+            {
+                Collider collider1 = m_AllRigidBodies[i].GetComponent<Collider>();
+                Collider collider2 = m_AllRigidBodies[j].GetComponent<Collider>();
+                Physics.IgnoreCollision(collider1, collider2, true);
+            }
+        }
+    }
+
+    private void ApplyExtraGravity()
+    {
+        DoActionToAllRigidbodies((rig) => {
+            rig.AddForce(m_ExtraGravity * m_FallenGravityFactor, ForceMode.Acceleration);
+        });
+    }
+
+    private void DoActionToAllRigidbodies(Action<Rigidbody> action)
+    {
+        DoActionToAllRigidbodies((rig, i) => {
+            action(rig);
+        });
+    }
+
+    private void DoActionToAllRigidbodies(Action<Rigidbody, int> action)
+    {
+        for (int i = 0; i < m_AllRigidBodies.Length; ++i)
+        {
+            if (action != null)
+            {
+                action(m_AllRigidBodies[i], i);
+            }
+        }
+    }
+
+    public bool StepLeft()
+    {
+        return m_IsLeftForward;
+    }
+
+    public bool StepRight()
+    {
+        return !m_IsLeftForward;
+    }
+
+}
\ No newline at end of file