+ init

23 files changed, 789 insertions, 0 deletions

diff --git a/ActiveRagdoll/Assets/Scripts/BodyDetect.cs b/ActiveRagdoll/Assets/Scripts/BodyDetect.cs
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/BodyDetect.cs
diff --git a/ActiveRagdoll/Assets/Scripts/BodyDetect.cs.meta b/ActiveRagdoll/Assets/Scripts/BodyDetect.cs.meta
new file mode 100644
index 0000000..ee80127
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/BodyDetect.cs.meta
@@ -0,0 +1,11 @@
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+guid: 113f3d270bd46e3418d34ea4ea4509aa
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleName: 
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diff --git a/ActiveRagdoll/Assets/Scripts/BodyParts.meta b/ActiveRagdoll/Assets/Scripts/BodyParts.meta
new file mode 100644
index 0000000..afa6ba0
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/BodyParts.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 412d3da621067054a94fd5c1488bca2b
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/ActiveRagdoll/Assets/Scripts/BodyParts/Head.cs b/ActiveRagdoll/Assets/Scripts/BodyParts/Head.cs
new file mode 100644
index 0000000..a3d1009
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/BodyParts/Head.cs
@@ -0,0 +1,4 @@
+// 仅仅用来标记哪个rig是头部
+public class Head : BodyPart
+{
+}
\ No newline at end of file
diff --git a/ActiveRagdoll/Assets/Scripts/BodyParts/Head.cs.meta b/ActiveRagdoll/Assets/Scripts/BodyParts/Head.cs.meta
new file mode 100644
index 0000000..cf1940f
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/BodyParts/Head.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7bac41de18d827145842c71fd009a6f2
+MonoImporter:
+  externalObjects: {}
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+  defaultReferences: []
+  executionOrder: 0
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diff --git a/ActiveRagdoll/Assets/Scripts/BodyParts/Hip.cs b/ActiveRagdoll/Assets/Scripts/BodyParts/Hip.cs
new file mode 100644
index 0000000..fad2958
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/BodyParts/Hip.cs
@@ -0,0 +1,28 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Hip : MonoBehaviour
+{
+	#region 搴忓垪鍖�
+	
+	#endregion 
+	
+	#region 鍏叡瀛楁
+	
+	#endregion
+	
+	#region 绉佹湁瀛楁
+	
+	#endregion
+	
+	private void Awake() 
+	{
+		// 绉佹湁瀛楁璧嬪��
+		
+		// 鍏叡瀛楁璧嬪��
+		
+		// 鍒濆鍖�
+	}
+
+}
diff --git a/ActiveRagdoll/Assets/Scripts/BodyParts/Hip.cs.meta b/ActiveRagdoll/Assets/Scripts/BodyParts/Hip.cs.meta
new file mode 100644
index 0000000..8bb90d1
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/BodyParts/Hip.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6d2fa03cb7d9224468279869dc56f9a9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/ActiveRagdoll/Assets/Scripts/BodyParts/IBodyPart.cs b/ActiveRagdoll/Assets/Scripts/BodyParts/IBodyPart.cs
new file mode 100644
index 0000000..2208869
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/BodyParts/IBodyPart.cs
@@ -0,0 +1,6 @@
+using UnityEngine;
+
+// 
+public class BodyPart : MonoBehaviour
+{
+}
\ No newline at end of file
diff --git a/ActiveRagdoll/Assets/Scripts/BodyParts/IBodyPart.cs.meta b/ActiveRagdoll/Assets/Scripts/BodyParts/IBodyPart.cs.meta
new file mode 100644
index 0000000..514bd65
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/BodyParts/IBodyPart.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ce6b1ee2c847f9a4d80e2e5b04179f42
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/ActiveRagdoll/Assets/Scripts/CharacterInformation.cs b/ActiveRagdoll/Assets/Scripts/CharacterInformation.cs
new file mode 100644
index 0000000..db3454e
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/CharacterInformation.cs
@@ -0,0 +1,103 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Threading;
+using UnityEngine;
+
+/// <summary>
+/// 角色状态和信息
+/// </summary>
+[DefaultExecutionOrder(-1)]
+public class CharacterInformation : MonoBehaviour
+{
+
+    #region 公有字段
+    [NonSerialized] public Transform rigRoot;
+    [NonSerialized] public Rigidbody[] rigs;
+    [NonSerialized] public Rigidbody head;
+    [NonSerialized] public bool isGrounded = false;
+    [NonSerialized] public float shortestDistanceFromHeadToGround;
+    [NonSerialized] public Vector3 landPosition;
+
+    [NonSerialized] public float sinceGrounded; // 从离开地面开始计时
+    [NonSerialized] public float sinceJumped;
+    [NonSerialized] public float sinceTurn; // 
+    #endregion
+
+    #region 私有字段
+    private Transform m_HeadTransform;
+    private CheckForGroundCollision[] m_GroundCheckers;
+    #endregion
+
+    private void Start()
+    {
+        rigRoot = transform.Find("Rigidbodies");
+        rigs = rigRoot.gameObject.GetComponentsInChildren<Rigidbody>();
+        head = rigRoot.Find("Head").GetComponent<Rigidbody>();
+
+        m_GroundCheckers = GetComponentsInChildren<CheckForGroundCollision>();
+        m_HeadTransform = GetComponentInChildren<Head>().transform;
+
+        shortestDistanceFromHeadToGround = float.MaxValue;
+    }
+
+    public float GetTotalMass()
+    {
+        float mass = 0;
+        for(int i = 0; i < rigs.Length; ++i)
+        {
+            mass += rigs[i].mass;
+        }
+        return mass;
+    }
+
+    void FixedUpdate()
+    {
+        sinceTurn += Time.deltaTime;
+
+        isGrounded = false;
+        shortestDistanceFromHeadToGround = float.MaxValue;
+
+        for (int i = 0; i < m_GroundCheckers.Length; i++)
+        {
+            if (m_GroundCheckers[i].isGrounded)
+            {
+                float dist = Vector3.Distance(m_HeadTransform.position, m_GroundCheckers[i].collisionPosition);
+                if (dist < shortestDistanceFromHeadToGround)
+                {
+                    shortestDistanceFromHeadToGround = dist;
+                    landPosition = m_GroundCheckers[i].collisionPosition;
+                }
+                isGrounded = true;
+            }
+        }
+
+        if(!isGrounded)
+        {
+            sinceGrounded += Time.deltaTime;
+        }
+        else
+        {
+            sinceGrounded = 0;
+        }
+    }
+
+    public float HeadRayCast()
+    {
+        Ray ray = new Ray(head.transform.position, Vector3.down);
+        RaycastHit mhit;
+        if (Physics.Raycast(ray, out mhit, 20, 1 << 8))
+        {
+            float height = head.transform.position.y - mhit.point.y;
+            return height;
+        }
+        return shortestDistanceFromHeadToGround;
+    }
+
+    private void OnDrawGizmos()
+    {
+        //Gizmos.DrawSphere(m_HeadTransform.position, 0.1f);
+        //Gizmos.DrawSphere(landPosition, 0.1f);
+    }
+
+}
diff --git a/ActiveRagdoll/Assets/Scripts/CharacterInformation.cs.meta b/ActiveRagdoll/Assets/Scripts/CharacterInformation.cs.meta
new file mode 100644
index 0000000..4d9328d
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/CharacterInformation.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 5740205186bdf76449e9e0fead6546ce
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/ActiveRagdoll/Assets/Scripts/CheckForGroundCollision.cs b/ActiveRagdoll/Assets/Scripts/CheckForGroundCollision.cs
new file mode 100644
index 0000000..055f1ac
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/CheckForGroundCollision.cs
@@ -0,0 +1,59 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class CheckForGroundCollision : MonoBehaviour
+{
+    [NonSerialized] public bool isGrounded;
+    [NonSerialized] public Vector3 collisionPosition;
+    [NonSerialized] public Vector3 collisionNormal;
+    [NonSerialized] public Collider collider;
+
+    private bool sensorGround;
+
+    private void FixedUpdate()
+    {
+        // 根据上一次物理模拟(Physics Update)结果设置isGround参数
+        if(!sensorGround) 
+        {
+            isGrounded = false;
+        }
+        sensorGround = false;
+    }
+
+    void Collide(Collision collision)
+    {
+        if(collision.transform.root == transform.root) // 自己碰撞自己
+        {
+            return;
+        }
+
+        float surfaceAngel = Vector3.Angle(Vector3.up, collision.contacts[0].normal);
+
+        collider = collision.collider;
+
+        if (surfaceAngel > 75f) // wall 
+        {
+
+        } 
+        else // ground
+        {
+            sensorGround = true;
+            isGrounded = true;
+            collisionPosition = collision.contacts[0].point;
+            collisionNormal = collision.contacts[0].normal;
+        }
+    }
+
+    public void OnCollisionEnter(Collision collision)
+    {
+        Collide(collision);
+    }
+
+    public void OnCollisionStay(Collision collision)
+    {
+        Collide(collision);
+    }
+
+}
diff --git a/ActiveRagdoll/Assets/Scripts/CheckForGroundCollision.cs.meta b/ActiveRagdoll/Assets/Scripts/CheckForGroundCollision.cs.meta
new file mode 100644
index 0000000..d0cfb89
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/CheckForGroundCollision.cs.meta
@@ -0,0 +1,11 @@
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+guid: c07854afe58ee6c4d97210d9a51c366b
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diff --git a/ActiveRagdoll/Assets/Scripts/JointAnimation.cs b/ActiveRagdoll/Assets/Scripts/JointAnimation.cs
new file mode 100644
index 0000000..a38dc50
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/JointAnimation.cs
@@ -0,0 +1,48 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class JointAnimation : MonoBehaviour
+{
+	#region 搴忓垪鍖�
+	public new string name;
+	public JointMotion[] motions;
+	public Rigidbody hips;
+
+    //public bool auto = false;
+    #endregion
+
+    #region 鍏叡瀛楁
+
+    #endregion
+
+    #region 绉佹湁瀛楁
+
+    #endregion
+
+    private void Awake() 
+	{
+		// 绉佹湁瀛楁璧嬪��
+		
+		// 鍏叡瀛楁璧嬪��
+		
+		// 鍒濆鍖�
+	}
+
+    public void Start()
+    {
+    }
+
+    private void FixedUpdate()
+    {
+    }
+
+    public void Animate()
+	{
+		for(int i = 0; i < motions.Length; ++i)
+		{
+			motions[i].Animate(hips);
+		}
+	}
+
+}
diff --git a/ActiveRagdoll/Assets/Scripts/JointAnimation.cs.meta b/ActiveRagdoll/Assets/Scripts/JointAnimation.cs.meta
new file mode 100644
index 0000000..049720f
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/JointAnimation.cs.meta
@@ -0,0 +1,11 @@
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+guid: fc08bc60c93c5614abaa96793e36f1c0
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diff --git a/ActiveRagdoll/Assets/Scripts/JointMotion.cs b/ActiveRagdoll/Assets/Scripts/JointMotion.cs
new file mode 100644
index 0000000..50d043f
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/JointMotion.cs
@@ -0,0 +1,51 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Events;
+
+[Serializable]
+public class MotionCondition : SerializableCallback<bool> { }
+
+[Serializable]
+public class JointMotion
+{
+    #region 搴忓垪鍖�
+    public string desc;
+    public JointMotionInfo info;
+    public MotionCondition condition;
+    #endregion
+
+    #region 绉佹湁瀛楁
+    public Rigidbody m_Rig;
+    #endregion
+
+    public void Animate(Rigidbody hip)
+    {
+        if (condition.target != null && condition.Invoke() == false)
+            return;
+
+        Vector3 dir = Vector3.zero;
+
+        if (info.direction == JointMotionInfo.MoveDirection.Swing)
+        {
+            dir = m_Rig.transform.right;
+        }
+
+        if (info.direction == JointMotionInfo.MoveDirection.FollowHip)
+        {
+            dir = hip.velocity.normalized;
+        }
+
+        if (info.type == JointMotionInfo.MotionType.Torque)
+        {
+            m_Rig.AddTorque(dir * Time.deltaTime * info.forceMultiplier, ForceMode.Acceleration);
+        }
+
+        if (info.type == JointMotionInfo.MotionType.Force)
+        {
+            m_Rig.AddForce(dir * Time.deltaTime * info.forceMultiplier, ForceMode.Acceleration);
+        }
+    }
+
+}
diff --git a/ActiveRagdoll/Assets/Scripts/JointMotion.cs.meta b/ActiveRagdoll/Assets/Scripts/JointMotion.cs.meta
new file mode 100644
index 0000000..f05be76
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/JointMotion.cs.meta
@@ -0,0 +1,11 @@
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+guid: 89d664c2adc472349866fa2dbdc6ff27
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diff --git a/ActiveRagdoll/Assets/Scripts/JointMotionInfo.cs b/ActiveRagdoll/Assets/Scripts/JointMotionInfo.cs
new file mode 100644
index 0000000..7c7ed4a
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/JointMotionInfo.cs
@@ -0,0 +1,26 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+[Serializable]
+public class JointMotionInfo
+{
+    public enum MotionType
+    {
+        Torque, // drived by torque
+        Force, // drived by force
+    }
+
+    public enum MoveDirection
+    {
+        FollowHip, // 鍜岃函骞叉柟鍚戜竴鑷�
+        Swing, // 鍗曠嫭鎽嗗姩
+    }
+
+    public MotionType type;
+    public MoveDirection direction;
+
+    public float forceMultiplier;
+
+}
diff --git a/ActiveRagdoll/Assets/Scripts/JointMotionInfo.cs.meta b/ActiveRagdoll/Assets/Scripts/JointMotionInfo.cs.meta
new file mode 100644
index 0000000..4140531
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/JointMotionInfo.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/ActiveRagdoll/Assets/Scripts/MatColor.cs b/ActiveRagdoll/Assets/Scripts/MatColor.cs
new file mode 100644
index 0000000..a12c653
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/MatColor.cs
@@ -0,0 +1,20 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+
+public class MatColor : MonoBehaviour
+{
+    public Color color;
+
+
+    private void Start()
+    {
+        var renderer = GetComponent<Renderer>();
+        if(renderer != null)
+        {
+            renderer.material.color = color;
+        }
+        
+    }
+}
diff --git a/ActiveRagdoll/Assets/Scripts/MatColor.cs.meta b/ActiveRagdoll/Assets/Scripts/MatColor.cs.meta
new file mode 100644
index 0000000..1c661c9
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/MatColor.cs.meta
@@ -0,0 +1,11 @@
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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
diff --git a/ActiveRagdoll/Assets/Scripts/PlayerController.cs.meta b/ActiveRagdoll/Assets/Scripts/PlayerController.cs.meta
new file mode 100644
index 0000000..00b10d4
--- /dev/null
+++ b/ActiveRagdoll/Assets/Scripts/PlayerController.cs.meta
@@ -0,0 +1,11 @@
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