*misc

1 files changed, 111 insertions, 72 deletions

diff --git a/Assets/Scripts/Physics/PhysicsWorld.cs b/Assets/Scripts/Physics/PhysicsWorld.cs
index ba9b1bc1..c5fbe046 100644
--- a/Assets/Scripts/Physics/PhysicsWorld.cs
+++ b/Assets/Scripts/Physics/PhysicsWorld.cs
@@ -52,10 +52,11 @@ public class PhysicsWorld : Singleton<PhysicsWorld>
 	};

 

 	private List<Animator> m_Animators = new List<Animator>();

+#if UNITY_EDITOR

+    private List<Vector3> m_Contacts = new List<Vector3>();

+#endif

 

-	private List<Vector3> m_Contacts = new List<Vector3>();

-

-	private List<PhysicsCollisionInfo> m_CollisionInfo = new List<PhysicsCollisionInfo>();

+    private List<PhysicsCollisionInfo> m_CollisionInfo = new List<PhysicsCollisionInfo>();

 

 	public const float Ground = 0.1f;

 

@@ -113,13 +114,13 @@ public class PhysicsWorld : Singleton<PhysicsWorld>
 		BeforeUpdate();

         float preTime = m_TimeCount;

         m_TimeCount = Time.time;

-        float dt = m_TimeCount - preTime;

-        while (dt > 1f / m_UpdateRate)

+        float deltaTime = m_TimeCount - preTime;

+        while (deltaTime > 1f / m_UpdateRate)

         {

             Tick();

-            dt -= 1f / m_UpdateRate;

+            deltaTime -= 1f / m_UpdateRate;

         }

-        m_TimeCount -= dt;

+        m_TimeCount -= deltaTime;

 		AfterUpdate();

     }

 

@@ -137,7 +138,8 @@ public class PhysicsWorld : Singleton<PhysicsWorld>
 

 	public void DrawGizmos()

 	{

-		if (m_Contacts.Count == 0)

+#if UNITY_EDITOR

+        if (m_Contacts.Count == 0)

 			return;

 

 		for(int i = 0; i < m_Contacts.Count; ++i)

@@ -145,7 +147,8 @@ public class PhysicsWorld : Singleton<PhysicsWorld>
 			Vector3 center = m_Contacts[i];

 			Gizmos.DrawSphere(center, 0.05f);

 		}

-	}

+#endif

+    }

 

 

 	void Tick()

@@ -171,35 +174,39 @@ public class PhysicsWorld : Singleton<PhysicsWorld>
 	// 更新物理系统

 	void UpdatePrimitives(float deltaTime)

 	{

-		m_Contacts.Clear();

+#if UNITY_EDITOR

+        m_Contacts.Clear();

+#endif

 

-		PhysicsCollisionInfo info = new PhysicsCollisionInfo();

+        PhysicsCollisionInfo info = new PhysicsCollisionInfo();

 

-		// 处理动力学

-		for(int i = 0; i < m_Primitives.Count; ++i)

-		{

-			PhysicsPrimitive prim = m_Primitives[i];

-			HandleDynamics(prim, deltaTime);

-		}

+        // 1) 处理刚体的动力学

+        for (int i = 0; i < m_Primitives.Count; ++i)

+        {

+            PhysicsPrimitive prim = m_Primitives[i];

+            PhysicsBody body = prim.Body;

+            if (body == null)

+                continue;

+            HandleDynamics(prim, deltaTime);

+        }

 

-		// 处理碰撞

-		int groupCount = (int)PhysicsGroup.GroupCount;

-		for (int i = 0; i < m_Primitives.Count; ++i)

+        // 2) 处理碰撞

+        for (int i = 0; i < m_Primitives.Count; ++i)

 		{

 			PhysicsPrimitive prim1 = m_Primitives[i];

 			if (!prim1.IsActive)

 				continue;

+

 			for (int j = i + 1; j < m_Primitives.Count; ++j)

 			{

 				PhysicsPrimitive prim2 = m_Primitives[j];

 

-				// group

 				int minGroup = Mathf.Min((int)prim1.Group, (int)prim2.Group);

 				int maxGroup = Mathf.Max((int)prim1.Group, (int)prim2.Group);

-				if (m_CollisionTable[minGroup * groupCount + groupCount - maxGroup - 1] == 0)

+                int index = minGroup * (int)PhysicsGroup.GroupCount + (int)PhysicsGroup.GroupCount - maxGroup - 1;

+                if (m_CollisionTable[index] == 0)

 					continue;

 

-				// label

 				if (prim1.Label == prim2.Label)

 					continue;

 

@@ -208,96 +215,128 @@ public class PhysicsWorld : Singleton<PhysicsWorld>
 					SolveCollision(prim1, info, deltaTime);

 					SolveCollision(prim2, info, deltaTime);

 					m_CollisionInfo.Add(info);

-					m_Contacts.Add(info.contact);

-				}

+

+#if UNITY_EDITOR

+                    m_Contacts.Add(info.contact);

+#endif

+                }

 			}

 		}

-	}

 

-	//没有physics body的primitive将不会被移动，只有那些绑定了physics body的会被施加物理效果，比如角色身体、物品

-	void HandleDynamics(PhysicsPrimitive prim, float dt)

+        // 3) 处理刚体的约束，必须在最后处理

+        for (int i = 0; i < m_Primitives.Count; ++i)

+        {

+            PhysicsPrimitive prim = m_Primitives[i];

+            PhysicsBody body = prim.Body;

+            if (body == null)

+                continue;

+            HandleConstrain(prim, deltaTime);

+        }

+

+    }

+

+    /// <summary>

+    /// 处理有物体的动力学运动

+    /// </summary>

+    /// <param name="prim"></param>

+    /// <param name="deltaTime"></param>

+	void HandleDynamics(PhysicsPrimitive prim, float deltaTime)

 	{

 		PhysicsBody body = prim.Body;

 		if (body == null)

 			return;

-		if (!body.UseGravity)

-			return;

 

 		Vector3 position = body.transform.position;

-

 		Vector3 velocity = body.Velocity;

-		velocity += m_Gravity * dt;

-		body.Velocity = velocity;

 

-        // impluse = d(mv) = m*dv

-        Vector3 impluse = body.Force * dt;

+        // 重力

+        if(body.UseGravity)

+        {

+		    velocity += m_Gravity * deltaTime;

+        }

+

+        // 受力（冲量）

+        Vector3 impluse = body.Force * deltaTime;

         Vector3 deltaV = impluse / body.Weight;

         velocity += deltaV;

-        body.Velocity = velocity;

-

-        position += velocity * dt;

-

-        body.transform.position = position;

 

         if (prim.IsOnGround)

-		{

-            // pos=0, Vy=0

-			position.y = 0.1f;

-			body.transform.position = position;

-

+        {

             // 地面摩擦力

-            if(body.Velocity.x != 0 && body.GroundFriction != 0)

+            if (body.Velocity.x != 0 && body.GroundFriction != 0)

             {

-                float dv = body.GroundFriction * dt;

+                float dv = body.GroundFriction * deltaTime;

                 dv = Mathf.Min(dv, Mathf.Abs(body.Velocity.x));

                 dv = body.Velocity.x > 0 ? -dv : dv;

                 velocity.x += dv;

             }

-            velocity.y = 0;

-            body.Velocity = velocity;

         }

-        else if(prim.IsInAir) // 空气摩擦力

+

+        if (prim.IsInAir)

         {

+            // 空气阻力

             if(body.Velocity.x != 0 && body.AirFriction != 0)

             {

-                float dv = body.AirFriction * dt;

+                float dv = body.AirFriction * deltaTime;

                 dv = Mathf.Min(dv, Mathf.Abs(body.Velocity.x));

                 dv = body.Velocity.x > 0 ? -dv : dv;

                 velocity.x += dv;

-                body.Velocity = velocity;

             }

         }

 

+        position += velocity * deltaTime;

+

+        body.Velocity = velocity;

+        body.transform.position = position;

         body.SetForce(Vector3.zero);

     }

-	

-	void SolveCollision(PhysicsPrimitive prim, PhysicsCollisionInfo collision, float dt)

+

+    /// <summary>

+    /// 处理物体的环境（地面、墙体）约束

+    /// </summary>

+    /// <param name="prim"></param>

+    /// <param name="deltaTime"></param>

+    void HandleConstrain(PhysicsPrimitive prim, float deltaTime)

+    {

+        PhysicsBody body = prim.Body;

+        if (body == null)

+            return;

+

+        Vector3 position = body.transform.position;

+        Vector3 velocity = body.Velocity;

+

+        if (prim.IsOnGround)

+        {

+            position.y = PhysicsWorld.Ground;

+            velocity.y = 0;

+        }

+

+        body.transform.position = position;

+        body.Velocity = velocity;

+    }

+

+    void SolveCollision(PhysicsPrimitive prim, PhysicsCollisionInfo collision, float deltaTime)

 	{

         PhysicsPrimitive other = collision.prim1 == prim ? collision.prim2 : collision.prim1;

-        if(prim.Body != null && other.Body != null)

+

+        // 1. 对于刚体，根据碰撞对位置进行约束

+        if(prim.Body != null)

         {

             Vector3 pos = prim.Body.transform.position;

-            pos.x += pos.x > collision.contact.x ? collision.size.x / 2f : - collision.size.x / 2f;

+            if(collision.size.x <= collision.size.y)

+            {

+                float offsetX = Mathf.Min(collision.size.x / 2f, 0.8f);

+                pos.x += prim.Position.x > collision.contact.x ? offsetX : -offsetX;

+            }

+            else

+            {

+                float offsetY = Mathf.Min(collision.size.y / 2f, 0.1f);

+                pos.y += prim.Position.y > collision.contact.y ? offsetY : -offsetY;

+            }

             prim.Body.transform.position = pos;

         }

 

         return;

-

-		PhysicsBody body = prim.Body;

-		if (body == null)

-			return;

-		if (!body.UseGravity)

-			return;

-		Vector3 contact = collision.contact;

-		Vector3 dir = (prim.Position - contact).normalized;

-		dir.z = 0;

-

-		float mag = Mathf.Max(0.3f, body.Velocity.magnitude);

-

-		Vector3 position = body.transform.position;

-		position += mag * dir * dt;

-		body.Velocity = Vector3.zero;

-		body.transform.position = position;

 	}

 

 	// prim在当前帧是否有碰撞